超电

Core/Src/usart.c

@@ -103,11 +103,11 @@ void MX_USART3_UART_Init(void)
 
   /* USER CODE END USART3_Init 1 */
   huart3.Instance = USART3;
-  huart3.Init.BaudRate = 100000;
+  huart3.Init.BaudRate = 921600;
-  huart3.Init.WordLength = UART_WORDLENGTH_9B;
+  huart3.Init.WordLength = UART_WORDLENGTH_8B;
   huart3.Init.StopBits = UART_STOPBITS_1;
-  huart3.Init.Parity = UART_PARITY_EVEN;
+  huart3.Init.Parity = UART_PARITY_NONE;
-  huart3.Init.Mode = UART_MODE_TX_RX;
+  huart3.Init.Mode = UART_MODE_RX;
   huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
   huart3.Init.OverSampling = UART_OVERSAMPLING_16;
   if (HAL_UART_Init(&huart3) != HAL_OK)

MDK-ARM/referee.uvoptx

@@ -117,6 +117,11 @@
         <pMon>Segger\JL2CM3.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name></Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMRTXEVENTFLAGS</Key>
@@ -180,6 +185,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>cmd_id</ItemText>
         </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>vt13</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -1106,6 +1116,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>..\User\device\vt13.c</PathWithFileName>
+      <FilenameWithoutPath>vt13.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>8</GroupNumber>
+      <FileNumber>69</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>..\User\device\ET16s.c</PathWithFileName>
       <FilenameWithoutPath>ET16s.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -1113,7 +1135,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>69</FileNumber>
+      <FileNumber>70</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1125,7 +1147,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>70</FileNumber>
+      <FileNumber>71</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1137,7 +1159,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>71</FileNumber>
+      <FileNumber>72</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1149,7 +1171,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>72</FileNumber>
+      <FileNumber>73</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1161,7 +1183,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>73</FileNumber>
+      <FileNumber>74</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1173,7 +1195,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>74</FileNumber>
+      <FileNumber>75</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1185,7 +1207,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>75</FileNumber>
+      <FileNumber>76</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1197,7 +1219,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>76</FileNumber>
+      <FileNumber>77</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1207,23 +1229,11 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-    <File>
-      <GroupNumber>8</GroupNumber>
-      <FileNumber>77</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\device\vt13.c</PathWithFileName>
-      <FilenameWithoutPath>vt13.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
   </Group>
 
   <Group>
     <GroupName>module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1335,7 +1345,7 @@
 
   <Group>
     <GroupName>task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1495,6 +1505,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>11</GroupNumber>
+      <FileNumber>99</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\vt13.c</PathWithFileName>
+      <FilenameWithoutPath>vt13.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>

MDK-ARM/referee.uvprojx

@@ -907,6 +907,11 @@
               <FileType>1</FileType>
               <FilePath>..\User\device\dr16.c</FilePath>
             </File>
+            <File>
+              <FileName>vt13.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\device\vt13.c</FilePath>
+            </File>
             <File>
               <FileName>ET16s.c</FileName>
               <FileType>1</FileType>
@@ -952,11 +957,6 @@
               <FileType>1</FileType>
               <FilePath>..\User\device\referee.c</FilePath>
             </File>
-            <File>
-              <FileName>vt13.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\device\vt13.c</FilePath>
-            </File>
           </Files>
         </Group>
         <Group>
@@ -1077,6 +1077,11 @@
               <FileType>1</FileType>
               <FilePath>..\User\task\super_cap.c</FilePath>
             </File>
+            <File>
+              <FileName>vt13.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\vt13.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

MDK-ARM/referee/chassis.d

@@ -67,4 +67,4 @@ referee/chassis.o: ..\User\module\chassis.c ..\User\module\chassis.h \
   ..\User\module\gimbal.h ..\User\device\motor_dm.h \
   ..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
   ..\User\module\shoot.h ..\User\module\cmd\cmd.h \
-  ..\User\device\supercap.h ..\User\bsp\can.h
+  ..\User\device\supercap.h ..\User\bsp\can.h ..\User\device\supercap.h

MDK-ARM/referee/dr16_1.d

@@ -10,4 +10,9 @@ referee/dr16_1.o: ..\User\task\dr16.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\User\device\dr16.h ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\device\device.h

MDK-ARM/referee/referee.build_log.htm

@@ -22,11 +22,11 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\yunha\git\RM\referee\MDK-ARM\referee.uvprojx
-Project File Date:  03/10/2026
+Project File Date:  03/11/2026
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
-Rebuild target 'referee'
+Build target 'referee'
 Note: source file '..\User\bsp\can.c' - object file renamed from 'referee\can.o' to 'referee\can_1.o'.
 Note: source file '..\User\bsp\gpio.c' - object file renamed from 'referee\gpio.o' to 'referee\gpio_1.o'.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'referee\spi.o' to 'referee\spi_1.o'.
@@ -36,139 +36,19 @@ Note: source file '..\User\task\dr16.c' - object file renamed from 'referee\dr16
 Note: source file '..\User\task\et16s.c' - object file renamed from 'referee\et16s.o' to 'referee\et16s_1.o'.
 Note: source file '..\User\task\referee.c' - object file renamed from 'referee\referee.o' to 'referee\referee_1.o'.
 Note: source file '..\User\task\vofa.c' - object file renamed from 'referee\vofa.o' to 'referee\vofa_1.o'.
-compiling main.c...
+Note: source file '..\User\task\vt13.c' - object file renamed from 'referee\vt13.o' to 'referee\vt13_1.o'.
-assembling startup_stm32f407xx.s...
+../User/task/chassis_ctrl.c(48): warning: if statement has empty body [-Wempty-body]
-compiling freertos.c...
-compiling tim.c...
-compiling dma.c...
-compiling stm32f4xx_hal_can.c...
-compiling gpio.c...
-compiling stm32f4xx_it.c...
-compiling stm32f4xx_hal_msp.c...
-compiling i2c.c...
-compiling spi.c...
-compiling can.c...
-compiling usart.c...
-compiling stm32f4xx_hal_rcc_ex.c...
-compiling stm32f4xx_hal_flash.c...
-compiling stm32f4xx_hal_rcc.c...
-compiling stm32f4xx_hal_flash_ramfunc.c...
-compiling stm32f4xx_hal_flash_ex.c...
-compiling stm32f4xx_hal_gpio.c...
-compiling stm32f4xx_hal_dma_ex.c...
-compiling stm32f4xx_hal_pwr.c...
-compiling stm32f4xx_hal_dma.c...
-compiling stm32f4xx_hal_pwr_ex.c...
-compiling stm32f4xx_hal_cortex.c...
-compiling stm32f4xx_hal.c...
-compiling stm32f4xx_hal_i2c_ex.c...
-compiling list.c...
-compiling croutine.c...
-compiling event_groups.c...
-compiling system_stm32f4xx.c...
-compiling stm32f4xx_hal_exti.c...
-compiling stm32f4xx_hal_tim_ex.c...
-compiling queue.c...
-compiling stm32f4xx_hal_uart.c...
-compiling stm32f4xx_hal_spi.c...
-compiling timers.c...
-compiling stream_buffer.c...
-compiling tasks.c...
-compiling stm32f4xx_hal_tim.c...
-compiling stm32f4xx_hal_i2c.c...
-compiling heap_4.c...
-compiling cmsis_os2.c...
-compiling port.c...
-compiling mm.c...
-compiling gpio.c...
-compiling dwt.c...
-compiling pwm.c...
-compiling spi.c...
-compiling can.c...
-compiling time.c...
-compiling ahrs.c...
-compiling i2c.c...
-compiling calc_lib.c...
-compiling capacity.c...
-compiling uart.c...
-compiling crc8.c...
-compiling crc16.c...
-compiling error_detect.c...
-compiling filter.c...
-compiling freertos_cli.c...
-compiling limiter.c...
-compiling mixer.c...
-compiling pid.c...
-compiling user_math.c...
-compiling ui.c...
-compiling dr16.c...
-compiling bmi088.c...
-compiling ist8310.c...
-compiling motor.c...
-compiling motor_rm.c...
-compiling motor_dm.c...
-compiling ET16s.c...
-compiling led.c...
-compiling vofa.c...
-compiling supercap.c...
-compiling vt13.c...
-compiling config.c...
-../User/module/chassis.c(219): warning: enumeration value 'CHASSIS_MODE_FOLLOW_GIMBAL_35' not handled in switch [-Wswitch]
-    switch (c->mode)
-            ^
-1 warning generated.
-compiling chassis.c...
-compiling referee.c...
-../User/module/gimbal.c(303): warning: non-void function does not return a value in all control paths [-Wreturn-type]
-}
-^
-1 warning generated.
-compiling gimbal.c...
-compiling cmd_adapter.c...
-compiling shoot.c...
-../User/module/cmd/cmd.c(118): warning: implicit conversion from enumeration type 'CHASSIS_ATTITUDE_MODE_t' to different enumeration type 'Chassis_Mode_t' [-Wenum-conversion]
-          ctx->output.chassis.cmd.mode = STOP_MODE;
-                                       ~ ^~~~~~~~~
-1 warning generated.
-compiling cmd.c...
-compiling ai.c...
-compiling cmd_example.c...
-compiling dr16.c...
-compiling et16s.c...
-compiling cmd.c...
-compiling atti_esti.c...
-../User/task/chassis_ctrl.c(44): warning: if statement has empty body [-Wempty-body]
     if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK);
                                                                                      ^
-../User/task/chassis_ctrl.c(44): note: put the semicolon on a separate line to silence this warning
+../User/task/chassis_ctrl.c(48): note: put the semicolon on a separate line to silence this warning
-../User/task/chassis_ctrl.c(50): warning: implicit declaration of function 'Chassis_DumpUI' is invalid in C99 [-Wimplicit-function-declaration]
+../User/task/chassis_ctrl.c(55): warning: implicit declaration of function 'Chassis_DumpUI' is invalid in C99 [-Wimplicit-function-declaration]
                         Chassis_DumpUI(&chassis, &chassis_ui);
                         ^
 2 warnings generated.
 compiling chassis_ctrl.c...
-compiling cmd_behavior.c...
-../User/task/gimbal_ctrl.c(53): warning: implicit declaration of function 'Gimbal_DumpUI' is invalid in C99 [-Wimplicit-function-declaration]
-                Gimbal_DumpUI(&gimbal,&gimbal_ui);
-                ^
-1 warning generated.
-compiling gimbal_ctrl.c...
-compiling init.c...
-compiling user_task.c...
-compiling vofa.c...
-compiling referee.c...
-../User/task/shoot_ctrl.c(53): warning: implicit declaration of function 'Shoot_DumpUI' is invalid in C99 [-Wimplicit-function-declaration]
-    Shoot_DumpUI(&shoot, &shoot_ui);
-    ^
-1 warning generated.
-compiling shoot_ctrl.c...
-../User/task/super_cap.c(53): warning: implicit declaration of function 'Cap_DumpUI' is invalid in C99 [-Wimplicit-function-declaration]
-                        Cap_DumpUI(&cap_ui);
-                        ^
-1 warning generated.
-compiling super_cap.c...
 linking...
-Program Size: Code=73536 RO-data=2660 RW-data=1172 ZI-data=122428  
+Program Size: Code=74504 RO-data=2700 RW-data=1172 ZI-data=122660  
-"referee\referee.axf" - 0 Error(s), 8 Warning(s).
+"referee\referee.axf" - 0 Error(s), 2 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -192,7 +72,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:07
+Build Time Elapsed:  00:00:03
 </pre>
 </body>
 </html>

MDK-ARM/referee/referee.lnp

@@ -66,6 +66,7 @@
 "referee\user_math.o"
 "referee\bmi088.o"
 "referee\dr16.o"
+"referee\vt13.o"
 "referee\et16s.o"
 "referee\ist8310.o"
 "referee\led.o"
@@ -75,7 +76,6 @@
 "referee\supercap.o"
 "referee\vofa.o"
 "referee\referee.o"
-"referee\vt13.o"
 "referee\chassis.o"
 "referee\config.o"
 "referee\gimbal.o"
@@ -97,6 +97,7 @@
 "referee\user_task.o"
 "referee\vofa_1.o"
 "referee\super_cap.o"
+"referee\vt13_1.o"
 --strict --scatter "referee\referee.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers

MDK-ARM/referee/vt13_1.d

@@ -0,0 +1,17 @@
+referee/vt13_1.o: ..\User\task\vt13.c ..\User\task\user_task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\User\device\vt13.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h

User/bsp/bsp_config.yaml

@@ -84,11 +84,11 @@ time:
 uart:
   devices:
   - instance: USART1
-    name: VT13
+    name: '1'
   - instance: USART2
     name: '2'
   - instance: USART3
-    name: '3'
+    name: VT13
   - instance: USART6
     name: REF
   enabled: true

User/bsp/uart.c

@@ -24,11 +24,11 @@ static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
 /* Private function  -------------------------------------------------------- */
 static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
   if (huart->Instance == USART1)
-    return BSP_UART_VT13;
+    return BSP_UART_1;
   else if (huart->Instance == USART2)
     return BSP_UART_2;
   else if (huart->Instance == USART3)
-    return BSP_UART_3;
+    return BSP_UART_VT13;
   else if (huart->Instance == USART6)
     return BSP_UART_REF;
   else
@@ -119,11 +119,11 @@ void BSP_UART_IRQHandler(UART_HandleTypeDef *huart) {
 
 UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
   switch (uart) {
-    case BSP_UART_VT13:
+    case BSP_UART_1:
       return &huart1;
     case BSP_UART_2:
       return &huart2;
-    case BSP_UART_3:
+    case BSP_UART_VT13:
       return &huart3;
     case BSP_UART_REF:
       return &huart6;

User/bsp/uart.h

@@ -27,9 +27,9 @@ extern "C" {
 
 /* UART实体枚举，与设备对应 */
 typedef enum {
-  BSP_UART_VT13,
+  BSP_UART_1,
   BSP_UART_2,
-  BSP_UART_3,
+  BSP_UART_VT13,
   BSP_UART_REF,
   BSP_UART_NUM,
   BSP_UART_ERR,

User/device/ET16s.c

@@ -42,8 +42,8 @@ static osThreadId_t thread_alert;
 uint8_t cbuf[25u];
 /* Private function  -------------------------------------------------------- */
 int8_t REMOTE_Restart(void) {
-  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_3));
+  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_VT13));
-  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_3));
+  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_VT13));
   return DEVICE_OK;
 }
 
@@ -55,14 +55,14 @@ static void REMOTE_RxCpltCallback(void) {
 int8_t REMOTE_Init(void) {
   if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
 
-  BSP_UART_RegisterCallback(BSP_UART_3,BSP_UART_RX_CPLT_CB,
+  BSP_UART_RegisterCallback(BSP_UART_VT13,BSP_UART_RX_CPLT_CB,
                            REMOTE_RxCpltCallback);
   memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包                          
   return DEVICE_OK;
 }
 
 int8_t REMOTE_StartDmaRecv(void) {
-  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_3),
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_VT13),
                            (uint8_t *)cbuf,
                            sizeof(cbuf)) == HAL_OK)
     return DEVICE_OK;

User/device/device_config.yaml

@@ -8,7 +8,7 @@ bmi088:
   enabled: true
 dr16:
   bsp_config:
-    BSP_UART_DR16: BSP_UART_3
+    BSP_UART_DR16: BSP_UART_VT13
   enabled: true
 ist8310:
   bsp_config:

User/device/dr16.c

@@ -79,7 +79,7 @@ int8_t DR16_Init(DR16_t *dr16) {
   if (inited) return DEVICE_ERR_INITED;
   if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
 
-  BSP_UART_RegisterCallback(BSP_UART_3, BSP_UART_RX_CPLT_CB,
+  BSP_UART_RegisterCallback(BSP_UART_VT13, BSP_UART_RX_CPLT_CB,
                             DR16_RxCpltCallback);
 
   inited = true;
@@ -87,13 +87,13 @@ int8_t DR16_Init(DR16_t *dr16) {
 }
 
 int8_t DR16_Restart(void) {
-  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_3));
+  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_VT13));
-  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_3));
+  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_VT13));
   return DEVICE_OK;
 }
 
 int8_t DR16_StartDmaRecv(DR16_t *dr16) {
-  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_3),
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_VT13),
                            (uint8_t *)&(dr16->raw_data),
                            sizeof(dr16->raw_data)) == HAL_OK)
     return DEVICE_OK;

User/device/vt13.c

@@ -6,6 +6,14 @@
 #include "crc16.h"
 #include <string.h>
 #include <stdbool.h>
+/* -------------------------------------------------------- 
+串口参数      数值
+波特率        921600
+数据位				  8
+停止位				  1
+校验位				 无
+流控					 无
+ -------------------------------------------------------- */
  
 /* Private variables -------------------------------------------------------- */
 static osThreadId_t thread_alert;

User/module/chassis.c

@@ -40,6 +40,7 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ);
 #include "bsp/can.h"
 #include "device/motor_rm.h"
 #include "device/referee.h"
+#include "device/supercap.h"
 #include "component/pid.h"
 #include "component/filter.h"
 
@@ -482,6 +483,8 @@ void Chassis_Setoutput(Chassis_t *c)
 		/* 正数展开 */
 }
 
+
+
 /**
  * @brief 导出底盘数据
  *

User/task/chassis_ctrl.c

@@ -19,9 +19,13 @@
 Chassis_t chassis;
 Chassis_CMD_t cmd_chassis;
 Referee_ChassisUI_t chassis_ui;
+Referee_ForCap_t Chassis_Cap;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_chassis_ctrl(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
@@ -42,9 +46,10 @@ void Task_chassis_ctrl(void *argument) {
     /* USER CODE BEGIN */
     /*接受cmd任务数据*/
     if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK);
-
+		osMessageQueueGet(task_runtime.msgq.referee.cap, &Chassis_Cap, NULL, 0);//			
       Chassis_update(&chassis);
       Chassis_Control(&chassis, &cmd_chassis,tick);
+			PowerLimit_Output(Chassis_Cap.chassis_power_limit,chassis.out.Radder_DIR,8);		
 			Chassis_Setoutput(&chassis);	
 			/* 底盘UI */
 			Chassis_DumpUI(&chassis, &chassis_ui);

User/task/config.yaml

@@ -75,3 +75,10 @@
   function: Task_super_cap
   name: super_cap
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_vt13
+  name: vt13
+  stack: 256

User/task/dr16.c

@@ -6,7 +6,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "device/dr16.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +14,8 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+DR16_t dr16;
+//CMD_RC_t cmd_rc;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -33,13 +34,23 @@ void Task_dr16(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  DR16_Init(&dr16); /* 初始化dr16 */
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
+//    DR16_StartDmaRecv(&dr16);
+//    if (DR16_WaitDmaCplt(20)) {
+//      DR16_ParseData(&dr16);
+//      
+//    } 
+//		else {
+//      DR16_Offline(&dr16);
+//    }
 		
+		osMessageQueueReset(task_runtime.msgq.rc.dr16);
+    osMessageQueuePut(task_runtime.msgq.rc.dr16,&dr16, 0, 0);				
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/gimbal_ctrl.c

@@ -23,6 +23,9 @@ Referee_GimbalUI_t gimbal_ui;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void Task_gimbal_ctrl(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */

User/task/init.c

@@ -46,6 +46,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.gimbal_ctrl = osThreadNew(Task_gimbal_ctrl, NULL, &attr_gimbal_ctrl);
   task_runtime.thread.chassis_ctrl = osThreadNew(Task_chassis_ctrl, NULL, &attr_chassis_ctrl);
   task_runtime.thread.super_cap = osThreadNew(Task_super_cap, NULL, &attr_super_cap);
+  task_runtime.thread.vt13 = osThreadNew(Task_vt13, NULL, &attr_vt13);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */

User/task/user_task.c

@@ -64,3 +64,8 @@ const osThreadAttr_t attr_super_cap = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
+const osThreadAttr_t attr_vt13 = {
+    .name = "vt13",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};

User/task/user_task.h

@@ -24,6 +24,7 @@ extern "C" {
 #define GIMBAL_CTRL_FREQ (500.0)
 #define CHASSIS_CTRL_FREQ (500.0)
 #define SUPER_CAP_FREQ (500.0)
+#define VT13_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
@@ -38,6 +39,7 @@ extern "C" {
 #define GIMBAL_CTRL_INIT_DELAY (0)
 #define CHASSIS_CTRL_INIT_DELAY (0)
 #define SUPER_CAP_INIT_DELAY (0)
+#define VT13_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -58,6 +60,7 @@ typedef struct {
         osThreadId_t gimbal_ctrl;
         osThreadId_t chassis_ctrl;
         osThreadId_t super_cap;
+        osThreadId_t vt13;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -129,6 +132,7 @@ typedef struct {
         UBaseType_t gimbal_ctrl;
         UBaseType_t chassis_ctrl;
         UBaseType_t super_cap;
+        UBaseType_t vt13;
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -144,6 +148,7 @@ typedef struct {
         float gimbal_ctrl;
         float chassis_ctrl;
         float super_cap;
+        float vt13;
     } freq;
 
     /* 任务最近运行时间 */
@@ -159,6 +164,7 @@ typedef struct {
         float gimbal_ctrl;
         float chassis_ctrl;
         float super_cap;
+        float vt13;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -179,6 +185,7 @@ extern const osThreadAttr_t attr_shoot_ctrl;
 extern const osThreadAttr_t attr_gimbal_ctrl;
 extern const osThreadAttr_t attr_chassis_ctrl;
 extern const osThreadAttr_t attr_super_cap;
+extern const osThreadAttr_t attr_vt13;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
@@ -193,6 +200,7 @@ void Task_shoot_ctrl(void *argument);
 void Task_gimbal_ctrl(void *argument);
 void Task_chassis_ctrl(void *argument);
 void Task_super_cap(void *argument);
+void Task_vt13(void *argument);
 
 #ifdef __cplusplus
 }

User/task/vt13.c

@@ -0,0 +1,54 @@
+/*
+    vt13 Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/vt13.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+VT13_t vt13;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
+/* Exported functions ------------------------------------------------------- */
+void Task_vt13(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() / VT13_FREQ;
+
+  osDelay(VT13_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 */
+		VT13_Init(&vt13);
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+		VT13_StartDmaRecv(&vt13);
+    if (VT13_WaitDmaCplt(20)) {
+      VT13_ParseData(&vt13);
+    } else {
+      VT13_Offline(&vt13);
+    }
+
+		
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

referee.ioc

@@ -388,11 +388,12 @@ USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
-USART3.BaudRate=100000
+USART3.BaudRate=921600
-USART3.IPParameters=VirtualMode,BaudRate,WordLength,Parity
+USART3.IPParameters=VirtualMode,BaudRate,WordLength,Parity,Mode
-USART3.Parity=PARITY_EVEN
+USART3.Mode=MODE_RX
+USART3.Parity=PARITY_NONE
 USART3.VirtualMode=VM_ASYNC
-USART3.WordLength=WORDLENGTH_9B
+USART3.WordLength=WORDLENGTH_8B
 USART6.IPParameters=VirtualMode
 USART6.VirtualMode=VM_ASYNC
 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2