添加发射

CMakeLists.txt

@@ -75,9 +75,18 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/motor_lz.c
     User/device/motor_rm.c
     
+    # User/module sources
+    User/module/config.c
+    User/module/shoot.c
+
     # User/task sources
     User/task/atti_esit.c
+    User/task/blink.c
+    User/task/ctrl_chassis.c
+    User/task/ctrl_gimbal.c
+    User/task/ctrl_shoot.c
     User/task/init.c
+    User/task/monitor.c
     User/task/rc.c
     User/task/user_task.c
 )

Core/Inc/main.h

@@ -67,6 +67,8 @@ void Error_Handler(void);
 #define ACCL_CS_GPIO_Port GPIOC
 #define GYRO_CS_Pin GPIO_PIN_3
 #define GYRO_CS_GPIO_Port GPIOC
+#define WS2812_Pin GPIO_PIN_7
+#define WS2812_GPIO_Port GPIOA
 #define DCMI_PWDN_Pin GPIO_PIN_5
 #define DCMI_PWDN_GPIO_Port GPIOC
 #define IMU_HEAT_Pin GPIO_PIN_1

Core/Src/tim.c

@@ -180,6 +180,10 @@ void MX_TIM3_Init(void)
   sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
   if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
   {
     Error_Handler();
@@ -336,10 +340,19 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 
   /* USER CODE END TIM3_MspPostInit 0 */
 
+    __HAL_RCC_GPIOA_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();
     /**TIM3 GPIO Configuration
+    PA7     ------> TIM3_CH2
     PB1     ------> TIM3_CH4
     */
+    GPIO_InitStruct.Pin = WS2812_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
+    HAL_GPIO_Init(WS2812_GPIO_Port, &GPIO_InitStruct);
+
     GPIO_InitStruct.Pin = IMU_HEAT_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;

CtrBoard-H7_ALL.ioc

@@ -182,63 +182,64 @@ Mcu.Pin12=PA1
 Mcu.Pin13=PA2
 Mcu.Pin14=PA3
 Mcu.Pin15=PA5
-Mcu.Pin16=PC4
+Mcu.Pin16=PA7
-Mcu.Pin17=PC5
+Mcu.Pin17=PC4
-Mcu.Pin18=PB0
+Mcu.Pin18=PC5
-Mcu.Pin19=PB1
+Mcu.Pin19=PB0
 Mcu.Pin2=PC13
-Mcu.Pin20=PB2
+Mcu.Pin20=PB1
-Mcu.Pin21=PE7
+Mcu.Pin21=PB2
-Mcu.Pin22=PE8
+Mcu.Pin22=PE7
-Mcu.Pin23=PE9
+Mcu.Pin23=PE8
-Mcu.Pin24=PE10
+Mcu.Pin24=PE9
-Mcu.Pin25=PE11
+Mcu.Pin25=PE10
-Mcu.Pin26=PE12
+Mcu.Pin26=PE11
-Mcu.Pin27=PE13
+Mcu.Pin27=PE12
-Mcu.Pin28=PE15
+Mcu.Pin28=PE13
-Mcu.Pin29=PB10
+Mcu.Pin29=PE15
 Mcu.Pin3=PC14-OSC32_IN
-Mcu.Pin30=PB11
+Mcu.Pin30=PB10
-Mcu.Pin31=PB12
+Mcu.Pin31=PB11
-Mcu.Pin32=PB13
+Mcu.Pin32=PB12
-Mcu.Pin33=PB14
+Mcu.Pin33=PB13
-Mcu.Pin34=PB15
+Mcu.Pin34=PB14
-Mcu.Pin35=PD8
+Mcu.Pin35=PB15
-Mcu.Pin36=PD9
+Mcu.Pin36=PD8
-Mcu.Pin37=PD10
+Mcu.Pin37=PD9
-Mcu.Pin38=PD11
+Mcu.Pin38=PD10
-Mcu.Pin39=PD12
+Mcu.Pin39=PD11
 Mcu.Pin4=PC15-OSC32_OUT
-Mcu.Pin40=PD13
+Mcu.Pin40=PD12
-Mcu.Pin41=PA8
+Mcu.Pin41=PD13
-Mcu.Pin42=PA9
+Mcu.Pin42=PA8
-Mcu.Pin43=PA10
+Mcu.Pin43=PA9
-Mcu.Pin44=PA11
+Mcu.Pin44=PA10
-Mcu.Pin45=PA12
+Mcu.Pin45=PA11
-Mcu.Pin46=PA13(JTMS/SWDIO)
+Mcu.Pin46=PA12
-Mcu.Pin47=PA14(JTCK/SWCLK)
+Mcu.Pin47=PA13(JTMS/SWDIO)
-Mcu.Pin48=PA15(JTDI)
+Mcu.Pin48=PA14(JTCK/SWCLK)
-Mcu.Pin49=PC12
+Mcu.Pin49=PA15(JTDI)
 Mcu.Pin5=PH0-OSC_IN
-Mcu.Pin50=PD0
+Mcu.Pin50=PC12
-Mcu.Pin51=PD1
+Mcu.Pin51=PD0
-Mcu.Pin52=PD2
+Mcu.Pin52=PD1
-Mcu.Pin53=PD4
+Mcu.Pin53=PD2
-Mcu.Pin54=PD5
+Mcu.Pin54=PD4
-Mcu.Pin55=PD6
+Mcu.Pin55=PD5
-Mcu.Pin56=PD7
+Mcu.Pin56=PD6
-Mcu.Pin57=PB3(JTDO/TRACESWO)
+Mcu.Pin57=PD7
-Mcu.Pin58=PB5
+Mcu.Pin58=PB3(JTDO/TRACESWO)
-Mcu.Pin59=PB6
+Mcu.Pin59=PB5
 Mcu.Pin6=PH1-OSC_OUT
-Mcu.Pin60=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin60=PB6
-Mcu.Pin61=VP_OCTOSPI1_VS_octo
+Mcu.Pin61=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin62=VP_SYS_VS_tim23
+Mcu.Pin62=VP_OCTOSPI1_VS_octo
-Mcu.Pin63=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin63=VP_SYS_VS_tim23
+Mcu.Pin64=VP_MEMORYMAP_VS_MEMORYMAP
 Mcu.Pin7=PC0
 Mcu.Pin8=PC1
 Mcu.Pin9=PC2_C
-Mcu.PinsNb=64
+Mcu.PinsNb=65
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H723VGTx
@@ -306,6 +307,10 @@ PA3.Mode=OCTOSPI1_IOL_Port1L
 PA3.Signal=OCTOSPIM_P1_IO2
 PA5.Locked=true
 PA5.Signal=ADCx_INP19
+PA7.GPIOParameters=GPIO_Label
+PA7.GPIO_Label=WS2812
+PA7.Locked=true
+PA7.Signal=S_TIM3_CH2
 PA8.Locked=true
 PA8.Mode=Clock-out-1
 PA8.Signal=RCC_MCO_1
@@ -609,6 +614,8 @@ SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
 SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
+SH.S_TIM3_CH2.ConfNb=1
 SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
 SH.S_TIM3_CH4.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
@@ -647,8 +654,9 @@ TIM2.Prescaler=24
 TIM2.Pulse-PWM\ Generation1\ CH1=5000
 TIM2.Pulse-PWM\ Generation3\ CH3=5000
 TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
+TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload
+TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload,Channel-PWM Generation2 CH2
 TIM3.Period=10000-1
 TIM3.Prescaler=24-1
 UART5.BaudRate=100000
@@ -683,3 +691,4 @@ VP_OCTOSPI1_VS_octo.Signal=OCTOSPI1_VS_octo
 VP_SYS_VS_tim23.Mode=TIM23
 VP_SYS_VS_tim23.Signal=SYS_VS_tim23
 board=custom
+rtos.0.ip=FREERTOS

User/bsp/bsp_config.yaml

@@ -92,6 +92,10 @@ pwm:
     custom_name: TIM2_CH3
     label: TIM2_CH3
     timer: TIM2
+  - channel: TIM_CHANNEL_2
+    custom_name: WS2812
+    label: WS2812
+    timer: TIM3
   - channel: TIM_CHANNEL_4
     custom_name: IMU_HEAT
     label: IMU_HEAT

User/bsp/pwm.c

@@ -27,6 +27,7 @@ typedef struct {
 static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
   {&htim2, TIM_CHANNEL_1},
   {&htim2, TIM_CHANNEL_3},
+  {&htim3, TIM_CHANNEL_2},
   {&htim3, TIM_CHANNEL_4},
   {&htim12, TIM_CHANNEL_2},
   {&htim1, TIM_CHANNEL_3},

User/bsp/pwm.h

@@ -25,6 +25,7 @@ extern "C" {
 typedef enum {
   BSP_PWM_TIM2_CH1,
   BSP_PWM_TIM2_CH3,
+  BSP_PWM_WS2812,
   BSP_PWM_IMU_HEAT,
   BSP_PWM_BUZZER,
   BSP_PWM_TIM1_CH3,

User/device/device_config.yaml

@@ -8,7 +8,7 @@ bmi088:
   enabled: true
 buzzer:
   bsp_config:
-    BSP_PWM_BUZZER: BSP_PWM_TIM2_CH1
+    BSP_PWM_BUZZER: BSP_PWM_BUZZER
   enabled: true
 dr16:
   bsp_config:

User/module/config.c

@@ -0,0 +1,112 @@
+/*
+ * 配置相关
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "module/config.h"
+
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+/* Exported variables ------------------------------------------------------- */
+
+/**
+ * @brief 机器人参数配置
+ * @note 在此配置机器人参数
+ */
+Config_RobotParam_t robot_config = {
+    /* USER CODE BEGIN robot_config */
+    .shoot_param = {
+            .trig_step_angle=M_2PI/8,
+            .shot_delay_time=0.05f,
+            .shot_burst_num=1,
+            .fric_motor_param[0] = {
+                .can = BSP_CAN_2,
+                .id = 0x201,
+                .module = MOTOR_M3508,
+                .reverse = true,
+                .gear=false,
+            },
+            .fric_motor_param[1] = {
+                .can = BSP_CAN_2,
+                .id = 0x202,
+                .module = MOTOR_M3508,
+                .reverse = false,
+                .gear=false,
+            },
+            .trig_motor_param = {
+                .can = BSP_CAN_1,
+                .id = 0x201,
+                .module = MOTOR_M2006,
+                .reverse = true,
+                .gear=true,
+            },
+            .fric_follow = {
+                .k=1.0f,
+                .p=1.8f,
+                .i=0.0f,
+                .d=0.0f,
+                .i_limit=0.0f,
+                .out_limit=0.9f, 
+                .d_cutoff_freq=30.0f,
+                .range=-1.0f,
+            },
+            
+            .fric_err = {
+                .k=1.0f,
+                .p=4.0f,
+                .i=0.4f,
+                .d=0.04f,
+                .i_limit=0.25f,
+                .out_limit=0.25f, 
+                .d_cutoff_freq=40.0f,
+                .range=-1.0f, 
+            },
+            .trig_omg = {
+            .k=1.0f,
+            .p=1.5f,
+            .i=0.3f,
+            .d=0.5f,
+            .i_limit=0.2f,
+            .out_limit=0.9f,
+            .d_cutoff_freq=-1.0f,
+            .range=-1.0f,
+            },
+            .trig = {
+                .k=1.0f,
+                .p=1.0f,
+                .i=0.1f,
+                .d=0.05f,
+                .i_limit=0.8f,
+                .out_limit=0.5f,
+                .d_cutoff_freq=-1.0f,
+                .range=M_2PI,
+            },
+            .filter.fric = {
+                .in = 30.0f,
+                .out = 30.0f,
+            },
+            .filter.trig = {
+                .in = 30.0f,
+                .out = 30.0f,
+            },
+            
+        
+        },
+        
+    /* USER CODE END robot_config */
+};
+
+/* Private function prototypes ---------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 获取机器人配置参数
+ * @return 机器人配置参数指针
+ */
+Config_RobotParam_t* Config_GetRobotParam(void) {
+    return &robot_config;
+}

User/module/config.h

@@ -0,0 +1,35 @@
+/*
+ * 配置相关
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "module/shoot.h"
+/**
+ * @brief 机器人参数配置结构体
+ * @note 在此添加您的配置参数
+ */
+typedef struct {
+    /* USER CODE BEGIN Config_RobotParam */
+    Shoot_Params_t shoot_param;
+    
+    /* USER CODE END Config_RobotParam */
+} Config_RobotParam_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 获取机器人配置参数
+ * @return 机器人配置参数指针
+ */
+Config_RobotParam_t* Config_GetRobotParam(void);
+
+#ifdef __cplusplus
+}
+#endif

User/module/shoot.c

@@ -0,0 +1,305 @@
+
+#include "shoot.h"
+#include <string.h>
+#include "component/filter.h"
+#include "component/user_math.h"
+#include <math.h>
+#include "bsp/time.h"
+
+static bool last_firecmd;
+
+static inline void ScaleSumTo1(float *a, float *b) {
+    float sum = *a + *b;
+    if (sum > 1.0f) {
+        float scale = 1.0f / sum;
+        *a *= scale;
+        *b *= scale;
+    }
+}
+
+
+int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode)
+{
+    if (s == NULL) {
+        return -1; // 参数错误
+    }
+    s->mode=mode;
+    return 0;
+}
+
+int8_t Shoot_ResetIntegral(Shoot_t *s)
+{
+    if (s == NULL) {
+        return -1; // 参数错误
+    }
+    for(int i=0;i<SHOOT_FRIC_NUM;i++)
+    {	
+        PID_ResetIntegral(&s->pid.fric_follow[i]);
+        PID_ResetIntegral(&s->pid.fric_err[i]);
+    }
+    PID_ResetIntegral(&s->pid.trig);
+    PID_ResetIntegral(&s->pid.trig_omg);
+    return 0;
+}
+
+int8_t Shoot_ResetCalu(Shoot_t *s)
+{
+    if (s == NULL) {
+        return -1; // 参数错误
+    }
+    for(int i=0;i<SHOOT_FRIC_NUM;i++)
+    {	
+        PID_Reset(&s->pid.fric_follow[i]);
+        PID_Reset(&s->pid.fric_err[i]);
+        LowPassFilter2p_Reset(&s->filter.fric.in[i], 0.0f);
+        LowPassFilter2p_Reset(&s->filter.fric.out[i], 0.0f);
+    }
+    PID_Reset(&s->pid.trig);
+    PID_Reset(&s->pid.trig_omg);
+    LowPassFilter2p_Reset(&s->filter.trig.in, 0.0f);
+    LowPassFilter2p_Reset(&s->filter.trig.out, 0.0f);
+    return 0;
+}
+
+int8_t Shoot_ResetOutput(Shoot_t *s)
+{
+    if (s == NULL) {
+        return -1; // 参数错误
+    }
+    for(int i=0;i<SHOOT_FRIC_NUM;i++)
+    {	
+        s->output.out_follow[i]=0.0f;
+        s->output.out_err[i]=0.0f;
+        s->output.out_fric[i]=0.0f;
+        s->output.lpfout_fric[i]=0.0f;
+    }
+	s->output.outagl_trig=0.0f;
+	s->output.outomg_trig=0.0f;
+    s->output.outlpf_trig=0.0f;
+    return 0;
+}
+
+int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
+{
+    if (s == NULL) {
+        return -1; // 参数错误
+    }
+    s->target_variable.target_rpm=4000.0f/MAX_FRIC_RPM;
+    return 0;
+}
+/**
+ * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
+ *
+ * \param s 包含发射数据的结构体
+ * \param num 需要发射的弹丸数量
+ */
+int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
+{
+    if (s == NULL  || s->shoot_Anglecalu.num_to_shoot == 0) {
+        return -1; 
+    }
+    if(s->now - s->shoot_Anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd)
+    {
+        s->shoot_Anglecalu.time_last_shoot=s->now;
+        s->target_variable.target_angle += s->param->trig_step_angle;
+		if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI;
+		else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI;
+		s->shoot_Anglecalu.num_to_shoot--;
+    }
+    return 0;
+}
+
+int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
+{
+    if (s == NULL || param == NULL || target_freq <= 0.0f) {
+        return -1; // 参数错误
+    }
+    s->param=param;
+
+    BSP_CAN_Init();
+    for(int i=0;i<SHOOT_FRIC_NUM;i++){
+	MOTOR_RM_Register(&param->fric_motor_param[i]);
+    PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
+    LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
+    LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
+    }
+	MOTOR_RM_Register(&param->trig_motor_param);
+    PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig);
+    PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg);
+
+    LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
+    LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
+	
+    memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu));
+    memset(&s->output,0,sizeof(s->output));
+    s->target_variable.target_rpm=5000.0f;
+
+	return 0;
+}
+
+int8_t Shoot_UpdateFeedback(Shoot_t *s)
+{
+    if (s == NULL) {
+        return -1; // 参数错误
+    }
+    float rpm_sum=0.0f;
+    for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
+        /* 更新摩擦电机反馈 */
+        MOTOR_RM_Update(&s->param->fric_motor_param[i]);
+		MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]);
+		if(motor_fed!=NULL)
+		{
+			s->feedback.fric[i]=motor_fed->motor.feedback;
+		}
+        /* 滤波反馈rpm */
+        s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
+        /* 归一化rpm */
+        s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
+        if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f;
+        if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f;
+        /* 计算平均rpm */
+        rpm_sum+=s->feedback.fric_rpm[i];
+    }
+    s->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM;
+	/* 更新拨弹电机反馈 */
+    MOTOR_RM_Update(&s->param->trig_motor_param);
+	MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param);
+		if(motor_fed!=NULL)
+		{
+			s->feedback.trig=motor_fed->feedback;
+		}
+    /* 将多圈角度归化到单圈 (-M_PI, M_PI) */
+		s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle;
+		s->feedback.trig_angle_cicle = fmod(s->feedback.trig_angle_cicle, M_2PI); // 将角度限制在 [-2π, 2π]
+		if (s->feedback.trig_angle_cicle > M_PI) {
+		s->feedback.trig_angle_cicle -= M_2PI; // 调整到 [-π, π]
+		}else if (s->feedback.trig_angle_cicle < -M_PI) {
+		s->feedback.trig_angle_cicle += M_2PI; // 调整到 [-π, π]
+		}
+    
+    s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
+    s->feedback.trig_rpm = s->feedback.trig.rotor_speed / MAX_TRIG_RPM;
+    if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f;  //如果单环效果好就删
+    if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f;
+    
+    s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed;
+	return 0;
+}
+
+int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
+{
+    if (s == NULL || cmd == NULL) {
+        return -1; // 参数错误
+    }
+    s->now = BSP_TIME_Get_us() / 1000000.0f;
+    s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
+    s->lask_wakeup = BSP_TIME_Get_us();
+	s->online = cmd->online;
+    if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
+        for(int i=0;i<SHOOT_FRIC_NUM;i++)
+        {	
+            MOTOR_RM_Relax(&s->param->fric_motor_param[i]);
+        }
+        MOTOR_RM_Relax(&s->param->trig_motor_param);
+    }
+    else{
+        switch(s->running_state)
+        {
+            case SHOOT_STATE_IDLE:/*熄火等待*/
+                for(int i=0;i<SHOOT_FRIC_NUM;i++)
+                {	
+                    PID_ResetIntegral(&s->pid.fric_follow[i]);
+                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
+                    s->output.out_fric[i]=s->output.out_follow[i];
+                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
+                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
+                }
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
+                s->output.outomg_trig  =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+                s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
+                MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
+                if(cmd->ready)
+                    {   
+                        Shoot_ResetCalu(s);
+                        Shoot_ResetIntegral(s);
+                        Shoot_ResetOutput(s);
+                        s->running_state=SHOOT_STATE_READY;
+                    }
+                break;
+            case SHOOT_STATE_READY:/*准备射击*/
+                
+                for(int i=0;i<SHOOT_FRIC_NUM;i++)
+                {	/* 计算跟随输出、计算修正输出 */ 
+                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
+                    s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
+                    /* 按比例缩放并加和输出 */
+                    ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);                    
+                    s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
+                    /* 滤波 */
+                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
+                    /* 输出 */
+                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
+                }
+                /* 拨弹电机输出 */
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
+                s->output.outomg_trig  =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+                s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
+                MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
+                
+                /* 检查状态机 */
+                if(!cmd->ready)
+                    {
+                        Shoot_ResetCalu(s);
+                        Shoot_ResetOutput(s);
+                        s->running_state=SHOOT_STATE_IDLE;
+                    }
+                    else if(last_firecmd==false&&cmd->firecmd==true)
+                    {
+                        Shoot_ResetCalu(s);
+                        Shoot_ResetOutput(s);
+                        s->running_state=SHOOT_STATE_FIRE;
+                        s->shoot_Anglecalu.num_to_shoot+=s->param->shot_burst_num;
+					
+                    }
+                break;
+            case SHOOT_STATE_FIRE:
+				Shoot_CaluTargetAngle(s, cmd);
+                for(int i=0;i<SHOOT_FRIC_NUM;i++)
+                {	
+                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
+                    s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
+                    ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
+                    s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
+                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
+                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
+                }
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
+                s->output.outomg_trig  =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+                s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
+                MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
+                if(!cmd->firecmd)
+                    {
+                        Shoot_ResetCalu(s);
+                        Shoot_ResetOutput(s);
+                        s->running_state=SHOOT_STATE_READY;
+                    }
+                break;
+            default:
+                s->running_state=SHOOT_STATE_IDLE;
+                break;
+        }
+    }
+	MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
+    MOTOR_RM_Ctrl(&s->param->trig_motor_param);
+    last_firecmd = cmd->firecmd;
+    return 0;
+}
+
+
+
+
+
+
+
+
+

User/module/shoot.h

@@ -0,0 +1,200 @@
+/*
+ * far蛇模组
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "main.h"
+#include <stdbool.h>
+#include "component/pid.h"
+#include "device/motor_rm.h"
+
+
+/* Exported constants ------------------------------------------------------- */
+#define SHOOT_OK (0)        /* 运行正常 */
+#define SHOOT_ERR (-1)      /* 运行时发现了其他错误 */
+#define SHOOT_ERR_NULL (-2) /* 运行时发现NULL指针 */
+#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */
+#define SHOOT_ERR_TYPE (-4) /* 运行时配置了错误的Chassis_Type_t */
+
+#define SHOOT_FRIC_NUM (2) /* 摩擦轮数量 */
+#define MAX_FRIC_RPM 7000.0f
+#define MAX_TRIG_RPM 5000.0f
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+typedef enum {
+    SHOOT_STATE_IDLE = 0,      // 熄火
+    SHOOT_STATE_READY,         // 准备射击
+    SHOOT_STATE_FIRE           // 射击
+} Shoot_State_t;
+
+typedef enum {
+    SHOOT_MODE_SAFE = 0,      // 安全模式
+    SHOOT_MODE_SINGLE,         // 单发模式
+    SHOOT_MODE_BURST,          // 多发模式
+    SHOOT_MODE_CONTINUE         // 连发模式
+} Shoot_Mode_t;
+typedef struct {
+  bool online;	
+	
+  bool ready;                    /* 准备射击 */
+  bool firecmd;                  /* 射击指令 */
+
+} Shoot_CMD_t;
+typedef struct {
+  MOTOR_Feedback_t fric[SHOOT_FRIC_NUM]; /* 摩擦轮电机反馈 */
+  MOTOR_Feedback_t trig; /* 拨弹电机反馈 */
+
+  float fil_fric_rpm[SHOOT_FRIC_NUM]; /* 滤波后的摩擦轮转速 */
+  float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
+
+  float trig_angle_cicle; /* 拨弹电机减速输出轴单圈角度（0~M_2PI） */
+
+  float fric_rpm[SHOOT_FRIC_NUM]; /* 归一化摩擦轮转速 */
+  float fric_avgrpm; /* 归一化摩擦轮平均转速*/
+  float trig_rpm; /* 归一化拨弹电机转速*/
+
+}Shoot_Feedback_t;
+
+typedef struct{
+  float   time_last_shoot;
+  uint8_t num_to_shoot;
+  uint8_t num_shooted;
+}Shoot_AngleCalu_t;
+
+typedef struct {
+  float out_follow[SHOOT_FRIC_NUM];
+  float out_err[SHOOT_FRIC_NUM];
+  float out_fric[SHOOT_FRIC_NUM];
+  float lpfout_fric[SHOOT_FRIC_NUM];
+
+  
+  float outagl_trig;
+  float outomg_trig;
+  float outlpf_trig;
+}Shoot_Output_t;
+
+
+/* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
+typedef struct {
+  float trig_step_angle; /* 每发弹丸拨弹电机转动的角度 */
+  float shot_delay_time; /* 射击间隔时间，单位秒 */
+  uint8_t shot_burst_num; /* 多发模式下一次射击的发数 */
+
+  MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM];
+  MOTOR_RM_Param_t trig_motor_param;
+  
+
+  KPID_Params_t fric_follow;               /* 摩擦轮电机PID控制参数，用于跟随目标速度 */
+  KPID_Params_t fric_err;               /* 摩擦轮电机PID控制参数，用于消除转速误差 */
+  KPID_Params_t trig;              /* 拨弹电机PID控制参数 */
+  KPID_Params_t trig_omg;              /* 拨弹电机PID控制参数 */
+
+  /* 低通滤波器截止频率 */
+  struct {
+    struct{
+    float in;  /* 反馈值滤波器 */
+    float out; /* 输出值滤波器 */
+    }fric;
+    struct{
+    float in;  /* 反馈值滤波器 */
+    float out; /* 输出值滤波器 */
+    }trig;
+  } filter;
+} Shoot_Params_t;
+
+/*
+ * 运行的主结构体，所有这个文件里的函数都在操作这个结构体
+ * 包含了初始化参数，中间变量，输出变量
+ */
+typedef struct {
+  bool online;
+
+  float    now;
+  uint64_t lask_wakeup;
+  float    dt;
+
+  Shoot_Params_t *param; /* */
+  /* 模块通用 */
+  Shoot_State_t running_state; /* 运行状态机 */
+  Shoot_Mode_t  mode;
+  /* 反馈信息 */
+  Shoot_Feedback_t feedback;
+  /* 控制信息*/
+  Shoot_AngleCalu_t shoot_Anglecalu;
+  Shoot_Output_t output;
+  /* 目标控制量 */
+  struct {
+    float target_rpm; /* 目标摩擦轮转速 */
+    float target_angle; /* 目标拨弹位置 */
+  }target_variable;
+
+  /* 反馈控制用的PID */
+  struct {
+    KPID_t fric_follow[SHOOT_FRIC_NUM]; /* */
+    KPID_t fric_err[SHOOT_FRIC_NUM];    /*  */
+    KPID_t trig;
+    KPID_t trig_omg;
+  } pid;
+
+  /* 滤波器 */
+  struct {
+        struct{
+    LowPassFilter2p_t in[SHOOT_FRIC_NUM];  /* 反馈值滤波器 */
+    LowPassFilter2p_t out[SHOOT_FRIC_NUM]; /* 输出值滤波器 */
+    }fric;
+    struct{
+    LowPassFilter2p_t in;  /* 反馈值滤波器 */
+    LowPassFilter2p_t out; /* 输出值滤波器 */
+    }trig;
+  } filter;
+
+  float errtosee; /*调试用*/
+
+} Shoot_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * \brief 初始化发射
+ *
+ * \param s 包含发射数据的结构体
+ * \param param 包含发射参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq);
+
+/**
+ * \brief 更新反馈
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_UpdateFeedback(Shoot_t *s);
+
+/**
+ * \brief 初始化发射
+ *
+ * \param s 包含发射数据的结构体
+ * \param cmd 包含发射命令的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+

User/task/atti_esit.c

@@ -49,6 +49,7 @@ static const KPID_Params_t imu_temp_ctrl_pid_param = {
 void Task_atti_esit(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
 
+  
   osDelay(ATTI_ESIT_INIT_DELAY); /* 延时一段时间再开启任务 */
 
   /* USER CODE INIT BEGIN */
@@ -86,4 +87,5 @@ void Task_atti_esit(void *argument) {
 
     /* USER CODE END */
   }
+  
 }

User/task/blink.c

@@ -0,0 +1,57 @@
+/*
+    blink Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/buzzer.h"
+#include <stdint.h>
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+BUZZER_t buzzer;
+static uint16_t count;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_blink(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / BLINK_FREQ;
+
+  osDelay(BLINK_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+  /* 播放启动音乐 */
+  BUZZER_Init(&buzzer, BSP_PWM_BUZZER);
+  BUZZER_PlayMusic(&buzzer, MUSIC_RM);
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    count++;
+    uint16_t phase = count % 1000;
+    if (phase == 0) {
+      /* 每秒开始播放C4音符 */
+      BUZZER_Set(&buzzer, 261.63f, 0.5f); // C4音符频率约261.63Hz
+      BUZZER_Start(&buzzer);
+    } else if (phase == 50) {
+      /* 播放100ms后停止 (50/500Hz = 0.1s) */
+      BUZZER_Stop(&buzzer);
+    }
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/config.yaml

@@ -11,3 +11,38 @@
   function: Task_atti_esit
   name: atti_esit
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_ctrl_chassis
+  name: ctrl_chassis
+  stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_ctrl_gimbal
+  name: ctrl_gimbal
+  stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_monitor
+  name: monitor
+  stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_blink
+  name: blink
+  stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_ctrl_shoot
+  name: ctrl_shoot
+  stack: 256

User/task/ctrl_chassis.c

@@ -0,0 +1,60 @@
+/*
+    ctrl_chassis Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "bsp/can.h"
+#include "device/motor.h"
+#include "device/motor_lk.h"
+#include "device/motor_lz.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+MOTOR_LZ_Param_t motor_lz_param = {
+    .can = BSP_CAN_3,
+    .motor_id = 125,
+    .host_id = 0xFF,
+    .module = MOTOR_LZ_RSO3,
+    .reverse = false,
+    .mode = MOTOR_LZ_MODE_MOTION,
+};
+
+float out = 0.0f;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_ctrl_chassis(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_CHASSIS_FREQ;
+
+  osDelay(CTRL_CHASSIS_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+  BSP_CAN_Init();
+  MOTOR_LZ_Init();
+  MOTOR_LZ_Register(&motor_lz_param);
+
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    MOTOR_LZ_Enable(&motor_lz_param);
+
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/ctrl_gimbal.c

@@ -0,0 +1,53 @@
+/*
+    ctrl_gimbal Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "bsp/can.h"
+#include "device/motor.h"
+#include "device/motor_dm.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+MOTOR_DM_Param_t motor_dm_yaw = {
+    .can = BSP_CAN_1,
+    .can_id = 0x1,
+    .master_id = 0x11,
+    .module = MOTOR_DM_J4310,
+    .reverse = false,
+};
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_ctrl_gimbal(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_GIMBAL_FREQ;
+
+  osDelay(CTRL_GIMBAL_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+  BSP_CAN_Init();
+  MOTOR_DM_Register(&motor_dm_yaw);
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    MOTOR_DM_Enable(&motor_dm_yaw);
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/ctrl_shoot.c

@@ -0,0 +1,51 @@
+/*
+    ctrl_shoot Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/motor_rm.h"
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "module/shoot.h"
+#include "module/config.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+Shoot_t shoot;
+Shoot_CMD_t shoot_cmd;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_ctrl_shoot(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_SHOOT_FREQ;
+
+  osDelay(CTRL_SHOOT_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+  Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,CTRL_SHOOT_FREQ);
+
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    osMessageQueueGet(task_runtime.msgq.shoot.shoot_cmd, &shoot_cmd, NULL, 0);
+    Shoot_UpdateFeedback(&shoot);
+    //  Shoot_Test(&shoot);
+    Shoot_Control(&shoot,&shoot_cmd);
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/init.c

@@ -7,7 +7,7 @@
 #include "task/user_task.h"
 
 /* USER INCLUDE BEGIN */
-
+#include "module/shoot.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -32,10 +32,16 @@ void Task_Init(void *argument) {
   /* 创建任务线程 */
   task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
   task_runtime.thread.atti_esit = osThreadNew(Task_atti_esit, NULL, &attr_atti_esit);
+  task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
+  task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
+  task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor);
+  task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
+  task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
   task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
+  task_runtime.msgq.shoot.shoot_cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/monitor.c

@@ -0,0 +1,44 @@
+/*
+    monitor Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_monitor(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / MONITOR_FREQ;
+
+  osDelay(MONITOR_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/rc.c

@@ -4,10 +4,10 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
-#include "device/dr16.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "device/dr16.h"
+#include "module/shoot.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -16,6 +16,8 @@
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
 DR16_t dr16;
+Shoot_CMD_t for_shoot;
+
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -40,9 +42,86 @@ void Task_rc(void *argument) {
     DR16_StartDmaRecv(&dr16);
     if (DR16_WaitDmaCplt(20)) {
       DR16_ParseData(&dr16);
+
     } else {
       DR16_Offline(&dr16);
     }
+
+    // switch (dr16.data.sw_l) {
+    // case DR16_SW_UP:
+    //   cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
+    //   break;
+    // case DR16_SW_MID:
+    //   // cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
+    //   cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
+    //   break;
+    // case DR16_SW_DOWN:
+    //   // cmd_for_chassis.mode = CHASSIS_MODE_ROTOR;
+    //   // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
+    //   cmd_for_chassis.mode = CHASSIS_MODE_JUMP;
+    //   break;
+    // default:
+    //   cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
+    //   break;
+    // }
+    // cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y;
+    // cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x;
+    // cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
+    // cmd_for_chassis.height = dr16.data.ch_res;
+
+    // osMessageQueueReset(
+    //     task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞
+    // osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0,
+    //                   0); // 非阻塞发送底盘控制命令
+
+    // switch (dr16.data.sw_l) {
+    // case DR16_SW_UP:
+    //   cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
+    //   cmd_for_gimbal.delta_yaw = 0.0f;
+    //   cmd_for_gimbal.delta_pit = 0.0f;
+    //   break;
+    // case DR16_SW_MID:
+    //   cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+    //   cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
+    //   cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
+    //   break;
+    // case DR16_SW_DOWN:
+    //   cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+    //   cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
+    //   cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
+    //   break;
+    // default:
+    //   cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
+    //   cmd_for_gimbal.delta_yaw = 0.0f;
+    //   cmd_for_gimbal.delta_pit = 0.0f;
+    //   break;
+    // }
+
+    // osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
+    // osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0);
+
+    for_shoot.online = dr16.header.online;
+    switch (dr16.data.sw_r) {
+    case DR16_SW_UP:
+      for_shoot.ready = false;
+      for_shoot.firecmd = false;
+      break;
+    case DR16_SW_MID:
+      for_shoot.ready = true;
+      for_shoot.firecmd = false;
+      break;
+    case DR16_SW_DOWN:
+      for_shoot.ready = true;
+      for_shoot.firecmd = true;
+      break;
+    default:
+      for_shoot.ready = false;
+      for_shoot.firecmd = false;
+      break;
+    }
+    osMessageQueueReset(task_runtime.msgq.shoot.shoot_cmd);
+    osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd, &for_shoot, 0, 0);
+
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/user_task.c

@@ -19,3 +19,28 @@ const osThreadAttr_t attr_atti_esit = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
+const osThreadAttr_t attr_ctrl_chassis = {
+    .name = "ctrl_chassis",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_ctrl_gimbal = {
+    .name = "ctrl_gimbal",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_monitor = {
+    .name = "monitor",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_blink = {
+    .name = "blink",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_ctrl_shoot = {
+    .name = "ctrl_shoot",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};

User/task/user_task.h

@@ -14,11 +14,21 @@ extern "C" {
 /* Exported constants ------------------------------------------------------- */
 /* 任务运行频率 */
 #define RC_FREQ (500.0)
+#define CTRL_CHASSIS_FREQ (500.0)
+#define CTRL_GIMBAL_FREQ (500.0)
+#define MONITOR_FREQ (500.0)
+#define BLINK_FREQ (500.0)
+#define CTRL_SHOOT_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
 #define RC_INIT_DELAY (0)
 #define ATTI_ESIT_INIT_DELAY (0)
+#define CTRL_CHASSIS_INIT_DELAY (0)
+#define CTRL_GIMBAL_INIT_DELAY (0)
+#define MONITOR_INIT_DELAY (0)
+#define BLINK_INIT_DELAY (0)
+#define CTRL_SHOOT_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -30,11 +40,39 @@ typedef struct {
     struct {
         osThreadId_t rc;
         osThreadId_t atti_esit;
+        osThreadId_t ctrl_chassis;
+        osThreadId_t ctrl_gimbal;
+        osThreadId_t monitor;
+        osThreadId_t blink;
+        osThreadId_t ctrl_shoot;
     } thread;
 
     /* USER MESSAGE BEGIN */
     struct {
         osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
+        struct {
+            osMessageQueueId_t imu;
+            osMessageQueueId_t cmd;
+            osMessageQueueId_t yaw;
+        }chassis;
+        struct {
+            osMessageQueueId_t imu;
+            osMessageQueueId_t cmd;
+        }gimbal;
+        struct {
+            osMessageQueueId_t shoot_cmd; /* 发射命令队列 */
+        }shoot;
+        struct {
+            osMessageQueueId_t rc;
+            osMessageQueueId_t ref;
+            osMessageQueueId_t ai;
+        }cmd;   
+        struct {
+            osMessageQueueId_t quat;
+            osMessageQueueId_t move_vec;
+            osMessageQueueId_t eulr;
+            osMessageQueueId_t fire;
+        }ai;
     } msgq;
     /* USER MESSAGE END */
 
@@ -53,16 +91,31 @@ typedef struct {
     struct {
         UBaseType_t rc;
         UBaseType_t atti_esit;
+        UBaseType_t ctrl_chassis;
+        UBaseType_t ctrl_gimbal;
+        UBaseType_t monitor;
+        UBaseType_t blink;
+        UBaseType_t ctrl_shoot;
     } stack_water_mark;
 
     /* 各任务运行频率 */
     struct {
         float rc;
+        float ctrl_chassis;
+        float ctrl_gimbal;
+        float monitor;
+        float blink;
+        float ctrl_shoot;
     } freq;
 
     /* 任务最近运行时间 */
     struct {
         float rc;
+        float ctrl_chassis;
+        float ctrl_gimbal;
+        float monitor;
+        float blink;
+        float ctrl_shoot;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -74,11 +127,21 @@ extern Task_Runtime_t task_runtime;
 extern const osThreadAttr_t attr_init;
 extern const osThreadAttr_t attr_rc;
 extern const osThreadAttr_t attr_atti_esit;
+extern const osThreadAttr_t attr_ctrl_chassis;
+extern const osThreadAttr_t attr_ctrl_gimbal;
+extern const osThreadAttr_t attr_monitor;
+extern const osThreadAttr_t attr_blink;
+extern const osThreadAttr_t attr_ctrl_shoot;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
 void Task_rc(void *argument);
 void Task_atti_esit(void *argument);
+void Task_ctrl_chassis(void *argument);
+void Task_ctrl_gimbal(void *argument);
+void Task_monitor(void *argument);
+void Task_blink(void *argument);
+void Task_ctrl_shoot(void *argument);
 
 #ifdef __cplusplus
 }