优化freertos堆

CMakeLists.txt

@@ -71,10 +71,10 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/dm_imu.c
     User/device/dr16.c
     User/device/motor.c
-    User/device/motor_lk.c
     User/device/motor_dm.c
-    User/device/motor_rm.c
+    User/device/motor_lk.c
     User/device/motor_lz.c
+    User/device/motor_rm.c
 
     # User/module sources
     User/module/balance_chassis.c

Core/Inc/FreeRTOSConfig.h

@@ -73,7 +73,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)0x6000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0x10000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configGENERATE_RUN_TIME_STATS            1
 #define configUSE_TRACE_FACILITY                 1
@@ -187,6 +187,7 @@ standard names. */
 
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
+// #define configAPPLICATION_ALLOCATED_HEAP         1
 /* USER CODE END Defines */
 
 #endif /* FREERTOS_CONFIG_H */

Core/Src/freertos.c

@@ -47,7 +47,7 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN Variables */
-
+uint8_t ucHeap[configTOTAL_HEAP_SIZE] __attribute__((section(".ccmram")));
 /* USER CODE END Variables */
 /* Definitions for defaultTask */
 osThreadId_t defaultTaskHandle;

DevC.ioc

@@ -141,14 +141,15 @@ FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1
 FREERTOS.INCLUDE_xTaskAbortDelay=1
 FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
 FREERTOS.INCLUDE_xTaskGetHandle=1
-FREERTOS.IPParameters=Tasks01,FootprintOK,configENABLE_FPU,configENABLE_BACKWARD_COMPATIBILITY,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configTOTAL_HEAP_SIZE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources
+FREERTOS.IPParameters=Tasks01,FootprintOK,configENABLE_FPU,configENABLE_BACKWARD_COMPATIBILITY,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configTOTAL_HEAP_SIZE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources,configUSE_APPLICATION_TASK_TAG
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
 FREERTOS.configENABLE_BACKWARD_COMPATIBILITY=0
 FREERTOS.configENABLE_FPU=1
 FREERTOS.configGENERATE_RUN_TIME_STATS=1
 FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
-FREERTOS.configTOTAL_HEAP_SIZE=0x6000
+FREERTOS.configTOTAL_HEAP_SIZE=0x10000
+FREERTOS.configUSE_APPLICATION_TASK_TAG=0
 FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals

MDK-ARM/DevC.uvprojx

@@ -49,7 +49,7 @@
             <NotGenerated>0</NotGenerated>
             <InvalidFlash>1</InvalidFlash>
           </TargetStatus>
-          <OutputDirectory>DevC\</OutputDirectory>
+          <OutputDirectory>.\DevC\</OutputDirectory>
           <OutputName>DevC</OutputName>
           <CreateExecutable>1</CreateExecutable>
           <CreateLib>0</CreateLib>
@@ -82,7 +82,7 @@
           </BeforeMake>
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
-            <RunUserProg2>1</RunUserProg2>
+            <RunUserProg2>0</RunUserProg2>
             <UserProg1Name></UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>

MDK-ARM/DevC/DevC.lnp

@@ -1,99 +1,99 @@
 --cpu=Cortex-M4.fp.sp
-"devc\startup_stm32f407xx.o"
-"devc\main.o"
-"devc\gpio.o"
-"devc\freertos.o"
-"devc\adc.o"
-"devc\can.o"
-"devc\crc.o"
-"devc\dma.o"
-"devc\i2c.o"
-"devc\rng.o"
-"devc\spi.o"
-"devc\tim.o"
-"devc\usart.o"
-"devc\stm32f4xx_it.o"
-"devc\stm32f4xx_hal_msp.o"
-"devc\usb_device.o"
-"devc\usbd_desc.o"
-"devc\usbd_cdc_if.o"
-"devc\usbd_conf.o"
-"devc\stm32f4xx_hal_pcd.o"
-"devc\stm32f4xx_hal_pcd_ex.o"
-"devc\stm32f4xx_ll_usb.o"
-"devc\stm32f4xx_hal_rcc.o"
-"devc\stm32f4xx_hal_rcc_ex.o"
-"devc\stm32f4xx_hal_flash.o"
-"devc\stm32f4xx_hal_flash_ex.o"
-"devc\stm32f4xx_hal_flash_ramfunc.o"
-"devc\stm32f4xx_hal_gpio.o"
-"devc\stm32f4xx_hal_dma_ex.o"
-"devc\stm32f4xx_hal_dma.o"
-"devc\stm32f4xx_hal_pwr.o"
-"devc\stm32f4xx_hal_pwr_ex.o"
-"devc\stm32f4xx_hal_cortex.o"
-"devc\stm32f4xx_hal.o"
-"devc\stm32f4xx_hal_exti.o"
-"devc\stm32f4xx_hal_adc.o"
-"devc\stm32f4xx_hal_adc_ex.o"
-"devc\stm32f4xx_ll_adc.o"
-"devc\stm32f4xx_hal_can.o"
-"devc\stm32f4xx_hal_crc.o"
-"devc\stm32f4xx_hal_i2c.o"
-"devc\stm32f4xx_hal_i2c_ex.o"
-"devc\stm32f4xx_hal_rng.o"
-"devc\stm32f4xx_hal_spi.o"
-"devc\stm32f4xx_hal_tim.o"
-"devc\stm32f4xx_hal_tim_ex.o"
-"devc\stm32f4xx_hal_uart.o"
-"devc\system_stm32f4xx.o"
-"devc\croutine.o"
-"devc\event_groups.o"
-"devc\list.o"
-"devc\queue.o"
-"devc\stream_buffer.o"
-"devc\tasks.o"
-"devc\timers.o"
-"devc\cmsis_os2.o"
-"devc\heap_4.o"
-"devc\port.o"
-"devc\usbd_core.o"
-"devc\usbd_ctlreq.o"
-"devc\usbd_ioreq.o"
-"devc\usbd_cdc.o"
-"devc\can_1.o"
-"devc\dwt.o"
-"devc\gpio_1.o"
-"devc\mm.o"
-"devc\pwm.o"
-"devc\spi_1.o"
-"devc\time.o"
-"devc\uart.o"
-"devc\ahrs.o"
-"devc\cmd.o"
-"devc\filter.o"
-"devc\limiter.o"
-"devc\pid.o"
-"devc\user_math.o"
-"devc\kinematics.o"
-"devc\lqr.o"
-"devc\vmc.o"
-"devc\buzzer.o"
-"devc\dm_imu.o"
-"devc\dr16.o"
-"devc\motor.o"
-"devc\motor_lk.o"
-"devc\motor_lz.o"
-"devc\config.o"
-"devc\balance_chassis.o"
-"devc\blink.o"
-"devc\init.o"
-"devc\rc.o"
-"devc\user_task.o"
-"devc\atti_esti.o"
-"devc\ctrl_chassis.o"
-"devc\ctrl_gimbal.o"
---strict --scatter "DevC\DevC.sct"
+".\devc\startup_stm32f407xx.o"
+".\devc\main.o"
+".\devc\gpio.o"
+".\devc\freertos.o"
+".\devc\adc.o"
+".\devc\can.o"
+".\devc\crc.o"
+".\devc\dma.o"
+".\devc\i2c.o"
+".\devc\rng.o"
+".\devc\spi.o"
+".\devc\tim.o"
+".\devc\usart.o"
+".\devc\stm32f4xx_it.o"
+".\devc\stm32f4xx_hal_msp.o"
+".\devc\usb_device.o"
+".\devc\usbd_desc.o"
+".\devc\usbd_cdc_if.o"
+".\devc\usbd_conf.o"
+".\devc\stm32f4xx_hal_pcd.o"
+".\devc\stm32f4xx_hal_pcd_ex.o"
+".\devc\stm32f4xx_ll_usb.o"
+".\devc\stm32f4xx_hal_rcc.o"
+".\devc\stm32f4xx_hal_rcc_ex.o"
+".\devc\stm32f4xx_hal_flash.o"
+".\devc\stm32f4xx_hal_flash_ex.o"
+".\devc\stm32f4xx_hal_flash_ramfunc.o"
+".\devc\stm32f4xx_hal_gpio.o"
+".\devc\stm32f4xx_hal_dma_ex.o"
+".\devc\stm32f4xx_hal_dma.o"
+".\devc\stm32f4xx_hal_pwr.o"
+".\devc\stm32f4xx_hal_pwr_ex.o"
+".\devc\stm32f4xx_hal_cortex.o"
+".\devc\stm32f4xx_hal.o"
+".\devc\stm32f4xx_hal_exti.o"
+".\devc\stm32f4xx_hal_adc.o"
+".\devc\stm32f4xx_hal_adc_ex.o"
+".\devc\stm32f4xx_ll_adc.o"
+".\devc\stm32f4xx_hal_can.o"
+".\devc\stm32f4xx_hal_crc.o"
+".\devc\stm32f4xx_hal_i2c.o"
+".\devc\stm32f4xx_hal_i2c_ex.o"
+".\devc\stm32f4xx_hal_rng.o"
+".\devc\stm32f4xx_hal_spi.o"
+".\devc\stm32f4xx_hal_tim.o"
+".\devc\stm32f4xx_hal_tim_ex.o"
+".\devc\stm32f4xx_hal_uart.o"
+".\devc\system_stm32f4xx.o"
+".\devc\croutine.o"
+".\devc\event_groups.o"
+".\devc\list.o"
+".\devc\queue.o"
+".\devc\stream_buffer.o"
+".\devc\tasks.o"
+".\devc\timers.o"
+".\devc\cmsis_os2.o"
+".\devc\heap_4.o"
+".\devc\port.o"
+".\devc\usbd_core.o"
+".\devc\usbd_ctlreq.o"
+".\devc\usbd_ioreq.o"
+".\devc\usbd_cdc.o"
+".\devc\can_1.o"
+".\devc\dwt.o"
+".\devc\gpio_1.o"
+".\devc\mm.o"
+".\devc\pwm.o"
+".\devc\spi_1.o"
+".\devc\time.o"
+".\devc\uart.o"
+".\devc\ahrs.o"
+".\devc\cmd.o"
+".\devc\filter.o"
+".\devc\limiter.o"
+".\devc\pid.o"
+".\devc\user_math.o"
+".\devc\kinematics.o"
+".\devc\lqr.o"
+".\devc\vmc.o"
+".\devc\buzzer.o"
+".\devc\dm_imu.o"
+".\devc\dr16.o"
+".\devc\motor.o"
+".\devc\motor_lk.o"
+".\devc\motor_lz.o"
+".\devc\config.o"
+".\devc\balance_chassis.o"
+".\devc\blink.o"
+".\devc\init.o"
+".\devc\rc.o"
+".\devc\user_task.o"
+".\devc\atti_esti.o"
+".\devc\ctrl_chassis.o"
+".\devc\ctrl_gimbal.o"
+--strict --scatter ".\DevC\DevC.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers
---list "DevC.map" -o DevC\DevC.axf
+--list "DevC.map" -o .\DevC\DevC.axf

User/bsp/can.c

@@ -680,7 +680,6 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
             }
         }
         
-        // 短暂延时，避免占用过多CPU
         osDelay(1);
     }
 }

User/device/motor_lz.c

@@ -378,6 +378,7 @@ int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param) {
     if (param == NULL) return DEVICE_ERR_NULL;
     
     // 构建扩展ID - 使能命令
+    // 格式: 0x300FF7X, 其中X是motor_id的低4位
     uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_ENABLE, param->host_id, param->motor_id);
     
     // 数据区清零

User/module/balance_chassis.c

@@ -14,11 +14,13 @@
  */
 static int8_t Chassis_MotorEnable(Chassis_t *c) {
     if (c == NULL) return CHASSIS_ERR_NULL;
-     BSP_TIME_Delay_us(400);
+    
     for (int i = 0; i < 4; i++) {
         MOTOR_LZ_Enable(&c->param->joint_motors[i]);
     }
-        BSP_TIME_Delay_us(200);
+
+    BSP_TIME_Delay_us(200);
+
     for (int i = 0; i < 2; i++) {
         MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
     }
@@ -121,7 +123,7 @@ int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq){
         MOTOR_LK_Register(&c->param->wheel_motors[i]);
     }
 
-    Chassis_MotorEnable(c);
+    // Chassis_MotorEnable(c);
     
     /*初始化VMC控制器*/
     VMC_Init(&c->vmc_[0], &param->vmc_param[0], target_freq);
@@ -262,14 +264,14 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
             fn = -20.0f;
 
 
-            tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt);
-            tp2 = 3*PID_Calc(&c->pid.tp[1], 0.0f, c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt);
+            // tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt);
+            // tp2 = 3*PID_Calc(&c->pid.tp[1], 0.0f, c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt);
 
             VMC_InverseSolve(&c->vmc_[0], fn, 0.0f);
             VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
             VMC_InverseSolve(&c->vmc_[1], fn, 0.0f);
             VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque);
-
+            // Chassis_MotorEnable(c);
             c->output.wheel[0] = 0.0f;
             c->output.wheel[1] = 0.0f;
             Chassis_Output(c); // 统一输出
@@ -330,18 +332,15 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
 
 void Chassis_Output(Chassis_t *c) {
     if (c == NULL) return;
-
-
     for (int i = 0; i < 4; i++) {
         MOTOR_LZ_MotionParam_t param = {0};
         param.torque = c->output.joint[i].torque;
         MOTOR_LZ_MotionControl(&c->param->joint_motors[i], &param);
     }
     BSP_TIME_Delay_us(200); // 等待CAN总线空闲，确保前面的命令发送完成
-
     for (int i = 0; i < 2; i++) {
-        // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
-        MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
+        MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
+        // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
     }
     
 
@@ -381,7 +380,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     xhat = c->chassis_state.position_x;
     
     // 目标设定
-    target_dot_x = c_cmd->move_vec.vx;
+    target_dot_x = c_cmd->move_vec.vx*2;
     // target_dot_x = SpeedLimit_TargetSpeed(300.0f, c->chassis_state.velocity_x, target_dot_x, c->dt); // 速度限制器，假设最大加速度为1 m/s²
     c->chassis_state.target_x += target_dot_x * c->dt;
     
@@ -405,7 +404,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
         target_state.d_theta = 0.0f; // 目标摆杆角速度
         // target_state.x = 0; // 目标位置
         // target_state.d_x = 0.0f; // 目标速度
-        target_state.phi = -0.2f; // 目标俯仰角
+        target_state.phi = -0.1f; // 目标俯仰角
         target_state.d_phi = 0.0f; // 目标俯仰角速度
         // target_state.theta = -0.8845f * leg_L0[leg] + 0.40663f; // 目标摆杆角度
         // target_state.d_theta = 0.0f; // 目标摆杆角速度
@@ -474,8 +473,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     float roll_compensation = PID_Calc(&c->pid.roll, 0.0f, c->feedback.imu.euler.rol, c->feedback.imu.gyro.x, c->dt);
     
     // 目标腿长设定
-    target_L0[0] = 0.15f + c_cmd->height * 0.01f + roll_compensation; // 左腿：基础腿长 + 高度调节 + 横滚角补偿
-    target_L0[1] = 0.15f + c_cmd->height * 0.01f - roll_compensation; // 右腿：基础腿长 + 高度调节 - 横滚角补偿
+    target_L0[0] = 0.15f + c_cmd->height * 0.2f + roll_compensation; // 左腿：基础腿长 + 高度调节 + 横滚角补偿
+    target_L0[1] = 0.15f + c_cmd->height * 0.2f - roll_compensation; // 右腿：基础腿长 + 高度调节 - 横滚角补偿
     
     // 获取腿长变化率
     VMC_GetVirtualLegState(&c->vmc_[0], NULL, NULL, &leg_d_length[0], NULL);
@@ -495,7 +494,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
         
         // 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力
         virtual_force[leg] = (Tp[leg]) * sinf(leg_theta[leg]) + 
-                            pid_output + 20.0f;
+                            pid_output + 25.0f;
                             //  + // PID腿长控制输出
                             // 45.0f; // 基础支撑力
         
@@ -503,8 +502,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
         // virtual_force[leg] = 0.0f; // 暂时屏蔽虚拟力输出，避免VMC逆解算失败
         // Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
         // Delta_Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
-        // if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg] + Delta_Tp[leg]) == 0) {
-        if (VMC_InverseSolve(&c->vmc_[leg], 0.0, Tp[leg] + Delta_Tp[leg]) == 0) {
+        if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg] + Delta_Tp[leg]) == 0) {
+        // if (VMC_InverseSolve(&c->vmc_[leg], 0.0, Tp[leg] + Delta_Tp[leg]) == 0) {
             if (leg == 0) {
                 VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
             } else {

User/module/config.c

@@ -22,51 +22,7 @@ Config_RobotParam_t robot_config = {
         .device_id = 0x42,   
         .master_id = 0x43,   
     },
-    .joint_motors[0] = { // 左膝关节
-        .can = BSP_CAN_1,
-        .motor_id = 124,
-        .host_id = 130,
-        .module = MOTOR_LZ_RSO3,
-        .reverse = false,
-        .mode = MOTOR_LZ_MODE_MOTION,
-    },
-    .joint_motors[1] = { // 左髋关节
-        .can = BSP_CAN_1,
-        .motor_id = 125,
-        .host_id = 130,
-        .module = MOTOR_LZ_RSO3,
-        .reverse = false,
-        .mode = MOTOR_LZ_MODE_MOTION,
-    },
-    .joint_motors[2] = { // 右髋关节
-        .can = BSP_CAN_1,
-        .motor_id = 126,
-        .host_id = 130,
-        .module = MOTOR_LZ_RSO3,
-        .reverse = false,
-        .mode = MOTOR_LZ_MODE_MOTION,
-    },
-    .joint_motors[3] = { // 右膝关节
-        .can = BSP_CAN_1,
-        .motor_id = 127,
-        .host_id = 130,
-        .module = MOTOR_LZ_RSO3,
-        .reverse = false,
-        .mode = MOTOR_LZ_MODE_MOTION,
-    },
-    .wheel_motors[0] = { // 左轮电机
-        .can = BSP_CAN_1,
-        .id = 1,  // 电机ID为1，对应命令ID=0x141，反馈ID=0x181
-        .module = MOTOR_LK_MF9025,
-        .reverse = false,
-    },
-    .wheel_motors[1] = { // 右轮电机
-        .can = BSP_CAN_1,
-        .id = 2,  // 电机ID为2，对应命令ID=0x142，反馈ID=0x182
-        .module = MOTOR_LK_MF9025,
-        .reverse = true,
-    },
-    
+
     .chassis_param = {
         .yaw={
             .k=1.0f,
@@ -92,7 +48,7 @@ Config_RobotParam_t robot_config = {
 
         .leg_length={
             .k = 20.0f,
-            .p = 1.0f,
+            .p = 10.0f,
             .i = 0.0f,
             .d = 0.0f,
             .i_limit = 0.0f,
@@ -131,7 +87,7 @@ Config_RobotParam_t robot_config = {
             { // 左髋关节
                 .can = BSP_CAN_1,
                 .motor_id = 124,
-                .host_id = 130,
+                .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
                 .reverse = false,
                 .mode = MOTOR_LZ_MODE_MOTION,
@@ -139,7 +95,7 @@ Config_RobotParam_t robot_config = {
             { // 左膝关节
                 .can = BSP_CAN_1,
                 .motor_id = 125,
-                .host_id = 130,
+                .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
                 .reverse = false,
                 .mode = MOTOR_LZ_MODE_MOTION,
@@ -147,7 +103,7 @@ Config_RobotParam_t robot_config = {
             { // 右膝关节
                 .can = BSP_CAN_1,
                 .motor_id = 126,
-                .host_id = 130,
+                .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
                 .reverse = true,
                 .mode = MOTOR_LZ_MODE_MOTION,
@@ -155,7 +111,7 @@ Config_RobotParam_t robot_config = {
             { // 右髋关节
                 .can = BSP_CAN_1,
                 .motor_id = 127,
-                .host_id = 130,
+                .host_id = 0xFF,
                 .module = MOTOR_LZ_RSO3,
                 .reverse = true,
                 .mode = MOTOR_LZ_MODE_MOTION,

User/task/ctrl_chassis.c

@@ -30,9 +30,7 @@ Chassis_CMD_t chassis_cmd = {
     .height = 0.0f,
 };
 Chassis_IMU_t chassis_imu;
-
-MOTOR_Feedback_t left_wheel_fb;
-MOTOR_Feedback_t right_wheel_fb;
+Chassis_t chassis1;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */

compile_commands.json

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infantry.jdebug

@@ -22,12 +22,12 @@ void OnProjectLoad (void) {
   //
   // Dialog-generated settings
   //
-  Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)");
-  Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)");
   Project.SetDevice ("STM32F407IG");
   Project.SetHostIF ("USB", "207400620");
   Project.SetTargetIF ("SWD");
   Project.SetTIFSpeed ("4 MHz");
+  Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)");
+  Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)");
   Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd");
   //
   // User settings