.github/copilot-instructions.md

@@ -1,6 +0,0 @@
----
-description: 当助手已完成当前请求的工作、准备结束回复或不再有明确下一步可执行内容时，必须先调用提问工具 askQuestions 获取进一步指示；不得直接结束对话。 / When the assistant has completed the current task and is about to end the reply or has no clear next action, it must call the askQuestions tool to obtain further instructions instead of ending the conversation.
-applyTo: ‘当检测到回复将以收尾语句结束或无后续动作时 / When a reply is about to end with a closing statement or has no follow-up action’
----
-当你完成工作时，请调用提问工具（askQuestions）来获取进一步的指示，而不是直接结束对话。
-When you finish the task, call the askQuestions tool to request further instructions instead of ending the conversation.

CMakeLists.txt

@@ -69,7 +69,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/component/pid.c
     User/component/user_math.c
     User/component/vmc.c
-    User/component/ui.c
 
     # User/device sources
     User/device/bmi088.c
@@ -84,8 +83,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/vision_bridge.c
     User/device/vofa.c
     User/device/mrobot.c
-    User/device/referee.c
-    User/device/supercap.c
 
     # User/module sources
     User/module/balance_chassis.c

Core/Inc/stm32h7xx_it.h

@@ -58,7 +58,6 @@ void DMA1_Stream2_IRQHandler(void);
 void DMA1_Stream3_IRQHandler(void);
 void DMA1_Stream4_IRQHandler(void);
 void DMA1_Stream5_IRQHandler(void);
-void DMA1_Stream6_IRQHandler(void);
 void FDCAN1_IT0_IRQHandler(void);
 void FDCAN2_IT0_IRQHandler(void);
 void FDCAN1_IT1_IRQHandler(void);
@@ -68,7 +67,6 @@ void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
-void DMA1_Stream7_IRQHandler(void);
 void UART5_IRQHandler(void);
 void UART7_IRQHandler(void);
 void ADC3_IRQHandler(void);

Core/Src/dma.c

@@ -61,12 +61,6 @@ void MX_DMA_Init(void)
   /* DMA1_Stream5_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
-  /* DMA1_Stream6_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
-  /* DMA1_Stream7_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);
 
 }
 

Core/Src/stm32h7xx_it.c

@@ -68,8 +68,6 @@ extern SPI_HandleTypeDef hspi2;
 extern DMA_HandleTypeDef hdma_uart5_rx;
 extern DMA_HandleTypeDef hdma_usart1_tx;
 extern DMA_HandleTypeDef hdma_usart1_rx;
-extern DMA_HandleTypeDef hdma_usart10_rx;
-extern DMA_HandleTypeDef hdma_usart10_tx;
 extern UART_HandleTypeDef huart5;
 extern UART_HandleTypeDef huart7;
 extern UART_HandleTypeDef huart1;
@@ -264,20 +262,6 @@ void DMA1_Stream5_IRQHandler(void)
   /* USER CODE END DMA1_Stream5_IRQn 1 */
 }
 
-/**
-  * @brief This function handles DMA1 stream6 global interrupt.
-  */
-void DMA1_Stream6_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
-
-  /* USER CODE END DMA1_Stream6_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart10_rx);
-  /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
-
-  /* USER CODE END DMA1_Stream6_IRQn 1 */
-}
-
 /**
   * @brief This function handles FDCAN1 interrupt 0.
   */
@@ -406,20 +390,6 @@ void EXTI15_10_IRQHandler(void)
   /* USER CODE END EXTI15_10_IRQn 1 */
 }
 
-/**
-  * @brief This function handles DMA1 stream7 global interrupt.
-  */
-void DMA1_Stream7_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */
-
-  /* USER CODE END DMA1_Stream7_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart10_tx);
-  /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */
-
-  /* USER CODE END DMA1_Stream7_IRQn 1 */
-}
-
 /**
   * @brief This function handles UART5 global interrupt.
   */

Core/Src/usart.c

@@ -33,8 +33,6 @@ UART_HandleTypeDef huart10;
 DMA_HandleTypeDef hdma_uart5_rx;
 DMA_HandleTypeDef hdma_usart1_tx;
 DMA_HandleTypeDef hdma_usart1_rx;
-DMA_HandleTypeDef hdma_usart10_rx;
-DMA_HandleTypeDef hdma_usart10_tx;
 
 /* UART5 init function */
 void MX_UART5_Init(void)
@@ -267,7 +265,7 @@ void MX_USART10_UART_Init(void)
 
   /* USER CODE END USART10_Init 1 */
   huart10.Instance = USART10;
-  huart10.Init.BaudRate = 115200;
+  huart10.Init.BaudRate = 921600;
   huart10.Init.WordLength = UART_WORDLENGTH_8B;
   huart10.Init.StopBits = UART_STOPBITS_1;
   huart10.Init.Parity = UART_PARITY_NONE;
@@ -600,43 +598,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF11_USART10;
     HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
-    /* USART10 DMA Init */
-    /* USART10_RX Init */
-    hdma_usart10_rx.Instance = DMA1_Stream6;
-    hdma_usart10_rx.Init.Request = DMA_REQUEST_USART10_RX;
-    hdma_usart10_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    hdma_usart10_rx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart10_rx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart10_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart10_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart10_rx.Init.Mode = DMA_NORMAL;
-    hdma_usart10_rx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_usart10_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_usart10_rx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart10_rx);
-
-    /* USART10_TX Init */
-    hdma_usart10_tx.Instance = DMA1_Stream7;
-    hdma_usart10_tx.Init.Request = DMA_REQUEST_USART10_TX;
-    hdma_usart10_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    hdma_usart10_tx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart10_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart10_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart10_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart10_tx.Init.Mode = DMA_NORMAL;
-    hdma_usart10_tx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_usart10_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_usart10_tx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart10_tx);
-
     /* USART10 interrupt Init */
     HAL_NVIC_SetPriority(USART10_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(USART10_IRQn);
@@ -776,10 +737,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOE, GPIO_PIN_2|GPIO_PIN_3);
 
-    /* USART10 DMA DeInit */
-    HAL_DMA_DeInit(uartHandle->hdmarx);
-    HAL_DMA_DeInit(uartHandle->hdmatx);
-
     /* USART10 interrupt Deinit */
     HAL_NVIC_DisableIRQ(USART10_IRQn);
   /* USER CODE BEGIN USART10_MspDeInit 1 */

CtrBoard-H7_ALL.ioc

@@ -80,9 +80,7 @@ Dma.Request2=SPI2_TX
 Dma.Request3=UART5_RX
 Dma.Request4=USART1_TX
 Dma.Request5=USART1_RX
-Dma.Request6=USART10_RX
+Dma.RequestsNb=6
-Dma.Request7=USART10_TX
-Dma.RequestsNb=8
 Dma.SPI2_RX.1.Direction=DMA_PERIPH_TO_MEMORY
 Dma.SPI2_RX.1.EventEnable=DISABLE
 Dma.SPI2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -137,42 +135,6 @@ Dma.UART5_RX.3.SyncEnable=DISABLE
 Dma.UART5_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
 Dma.UART5_RX.3.SyncRequestNumber=1
 Dma.UART5_RX.3.SyncSignalID=NONE
-Dma.USART10_RX.6.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART10_RX.6.EventEnable=DISABLE
-Dma.USART10_RX.6.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART10_RX.6.Instance=DMA1_Stream6
-Dma.USART10_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART10_RX.6.MemInc=DMA_MINC_ENABLE
-Dma.USART10_RX.6.Mode=DMA_NORMAL
-Dma.USART10_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART10_RX.6.PeriphInc=DMA_PINC_DISABLE
-Dma.USART10_RX.6.Polarity=HAL_DMAMUX_REQ_GEN_RISING
-Dma.USART10_RX.6.Priority=DMA_PRIORITY_LOW
-Dma.USART10_RX.6.RequestNumber=1
-Dma.USART10_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
-Dma.USART10_RX.6.SignalID=NONE
-Dma.USART10_RX.6.SyncEnable=DISABLE
-Dma.USART10_RX.6.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
-Dma.USART10_RX.6.SyncRequestNumber=1
-Dma.USART10_RX.6.SyncSignalID=NONE
-Dma.USART10_TX.7.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART10_TX.7.EventEnable=DISABLE
-Dma.USART10_TX.7.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART10_TX.7.Instance=DMA1_Stream7
-Dma.USART10_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART10_TX.7.MemInc=DMA_MINC_ENABLE
-Dma.USART10_TX.7.Mode=DMA_NORMAL
-Dma.USART10_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART10_TX.7.PeriphInc=DMA_PINC_DISABLE
-Dma.USART10_TX.7.Polarity=HAL_DMAMUX_REQ_GEN_RISING
-Dma.USART10_TX.7.Priority=DMA_PRIORITY_LOW
-Dma.USART10_TX.7.RequestNumber=1
-Dma.USART10_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
-Dma.USART10_TX.7.SignalID=NONE
-Dma.USART10_TX.7.SyncEnable=DISABLE
-Dma.USART10_TX.7.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
-Dma.USART10_TX.7.SyncRequestNumber=1
-Dma.USART10_TX.7.SyncSignalID=NONE
 Dma.USART1_RX.5.Direction=DMA_PERIPH_TO_MEMORY
 Dma.USART1_RX.5.EventEnable=DISABLE
 Dma.USART1_RX.5.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -372,8 +334,6 @@ NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@@ -798,7 +758,7 @@ UART7.IPParameters=BaudRate
 USART1.BaudRate=921600
 USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART1.VirtualMode-Asynchronous=VM_ASYNC
-USART10.BaudRate=115200
+USART10.BaudRate=921600
 USART10.IPParameters=VirtualMode,BaudRate
 USART10.VirtualMode=VM_ASYNC
 USART2.BaudRate=921600

User/bsp/uart.c

@@ -27,8 +27,6 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
     return BSP_UART_DR16;
   else if (huart->Instance == USART1)
     return BSP_UART_VOFA;
-  else if (huart->Instance == USART10)
-    return BSP_UART_REF;
   else
     return BSP_UART_ERR;
 }
@@ -121,8 +119,6 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
       return &huart5;
     case BSP_UART_VOFA:
       return &huart1;
-    case BSP_UART_REF:
-      return &huart10;
     default:
       return NULL;
   }

User/bsp/uart.h

@@ -29,7 +29,6 @@ extern "C" {
 typedef enum {
   BSP_UART_DR16,
   BSP_UART_VOFA,
-  BSP_UART_REF,
   BSP_UART_NUM,
   BSP_UART_ERR,
 } BSP_UART_t;

User/module/config.c

@@ -66,7 +66,7 @@ Config_RobotParam_t robot_config = {
         },
         .mech_zero = {
             .yaw = 0.0f,
-            .pit = 3.23056364f,
+            .pit = 0.137291431f,
         },
         .travel = {
             .yaw = -1.0f,
@@ -312,7 +312,7 @@ Config_RobotParam_t robot_config = {
             .wheel_radius = 0.068f,
             .wheel_gear_ratio = 4.5f,
             .hip_width = 0.423f,           /* 髋宽，即两腿间距 (m)，用于Roll几何补偿 */
-            .joint_zero = {0.0f, 0.0f, 1.33022018f, 1.13195965f}, /* 关节电机零点偏移 */
+            .joint_zero = {0.0f, 0.0f, 1.32422018f, 1.16195965f}, /* 关节电机零点偏移 */
             .mech_zero_yaw = 2.96925735f,  /* 机械零点 */
         },