更新VT13驱动（还没试）

Core/Src/gpio.c

@@ -57,10 +57,7 @@ void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(CMPS_RST_GPIO_Port, CMPS_RST_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOH, LED_Red_Pin|LED_Blue_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOH, LED_Red_Pin|LED_Green_Pin|LED_Blue_Pin, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(LED_Green_GPIO_Port, LED_Green_Pin, GPIO_PIN_SET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET);

MDK-ARM/referee.uvoptx

@@ -1178,8 +1178,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\device\referee.c</PathWithFileName>
+      <PathWithFileName>..\User\device\supercap.c</PathWithFileName>
-      <FilenameWithoutPath>referee.c</FilenameWithoutPath>
+      <FilenameWithoutPath>supercap.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1190,8 +1190,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\device\supercap.c</PathWithFileName>
+      <PathWithFileName>..\User\device\vofa.c</PathWithFileName>
-      <FilenameWithoutPath>supercap.c</FilenameWithoutPath>
+      <FilenameWithoutPath>vofa.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1202,8 +1202,20 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\device\vofa.c</PathWithFileName>
+      <PathWithFileName>..\User\device\referee.c</PathWithFileName>
-      <FilenameWithoutPath>vofa.c</FilenameWithoutPath>
+      <FilenameWithoutPath>referee.c</FilenameWithoutPath>
+      <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>
@@ -1211,13 +1223,13 @@
 
   <Group>
     <GroupName>module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>77</FileNumber>
+      <FileNumber>78</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1229,7 +1241,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>78</FileNumber>
+      <FileNumber>79</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1239,18 +1251,6 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-    <File>
-      <GroupNumber>9</GroupNumber>
-      <FileNumber>79</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\module\deformation_chassis.c</PathWithFileName>
-      <FilenameWithoutPath>deformation_chassis.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
     <File>
       <GroupNumber>9</GroupNumber>
       <FileNumber>80</FileNumber>
@@ -1335,7 +1335,7 @@
 
   <Group>
     <GroupName>task</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/referee.uvprojx

@@ -340,7 +340,7 @@
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F407xx</Define>
               <Undefine></Undefine>
-              <IncludePath>../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User;../User/bsp;../User/component;../User/device;../User/module;..\User\module\cmd;..\User\task</IncludePath>
+              <IncludePath>../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User;../User/bsp;../User/component;../User/device;../User/module;../User/module/cmd;../User/task</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -937,11 +937,6 @@
               <FileType>1</FileType>
               <FilePath>..\User\device\motor_rm.c</FilePath>
             </File>
-            <File>
-              <FileName>referee.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\device\referee.c</FilePath>
-            </File>
             <File>
               <FileName>supercap.c</FileName>
               <FileType>1</FileType>
@@ -952,6 +947,16 @@
               <FileType>1</FileType>
               <FilePath>..\User\device\vofa.c</FilePath>
             </File>
+            <File>
+              <FileName>referee.c</FileName>
+              <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>
@@ -967,11 +972,6 @@
               <FileType>1</FileType>
               <FilePath>..\User\module\config.c</FilePath>
             </File>
-            <File>
-              <FileName>deformation_chassis.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\module\deformation_chassis.c</FilePath>
-            </File>
             <File>
               <FileName>gimbal.c</FileName>
               <FileType>1</FileType>

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:  03/06/2026
+Project File Date:  03/10/2026
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
-Build target 'referee'
+Rebuild 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'.
@@ -36,7 +36,139 @@ 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'.
-"referee\referee.axf" - 0 Error(s), 0 Warning(s).
+compiling main.c...
+assembling startup_stm32f407xx.s...
+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(50): 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  
+"referee\referee.axf" - 0 Error(s), 8 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -60,7 +192,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:07
 </pre>
 </body>
 </html>

MDK-ARM/referee/referee.lnp

@@ -72,12 +72,12 @@
 "referee\motor.o"
 "referee\motor_dm.o"
 "referee\motor_rm.o"
-"referee\referee.o"
 "referee\supercap.o"
 "referee\vofa.o"
+"referee\referee.o"
+"referee\vt13.o"
 "referee\chassis.o"
 "referee\config.o"
-"referee\deformation_chassis.o"
 "referee\gimbal.o"
 "referee\shoot.o"
 "referee\cmd.o"

MDK-ARM/referee/shoot.d

@@ -54,16 +54,16 @@ referee/shoot.o: ..\User\module\shoot.c \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\bsp\time.h ..\User\device\referee.h \
+  ..\User\bsp\time.h ..\User\component\filter.h \
+  ..\User\component\user_math.h ..\User\device\referee.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\component\ui.h ..\User\component\user_math.h \
-  ..\User\component\user_math.h ..\User\module\shoot.h \
+  ..\User\module\shoot.h ..\User\device\device.h \
-  ..\User\device\device.h ..\User\module\cmd\cmd.h \
+  ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
-  ..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
+  ..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_types.h \
-  ..\User\module\cmd\cmd_types.h ..\User\device\ET16s.h \
+  ..\User\device\ET16s.h ..\User\module\cmd\cmd_behavior.h \
-  ..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
+  ..\User\module\chassis.h ..\User\module\struct_typedef.h \
-  ..\User\module\struct_typedef.h ..\User\component\filter.h \
   ..\User\component\ahrs.h ..\User\device\bmi088.h \
   ..\User\module\gimbal.h ..\User\device\motor_dm.h \
-  ..\User\module\config.h ..\User\module\gimbal.h ..\User\module\shoot.h \
+  ..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
   ..\User\module\cmd\cmd.h ..\User\device\supercap.h ..\User\bsp\can.h

MDK-ARM/referee/vt13.d

@@ -0,0 +1,44 @@
+referee/vt13.o: ..\User\device\vt13.c ..\User\device\vt13.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 \
+  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\uart.h ..\Core\Inc\usart.h ..\Core\Inc\main.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\Core\Inc\stm32f4xx_hal_conf.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  ..\Drivers\CMSIS\Include\core_cm4.h \
+  ..\Drivers\CMSIS\Include\cmsis_version.h \
+  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+  ..\Drivers\CMSIS\Include\mpu_armv7.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  ..\User\bsp\bsp.h ..\User\bsp\time.h ..\User\component\crc16.h \
+  ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h

User/bsp/bsp_config.yaml

@@ -84,7 +84,7 @@ time:
 uart:
   devices:
   - instance: USART1
-    name: '1'
+    name: VT13
   - instance: USART2
     name: '2'
   - instance: USART3

User/bsp/uart.c

@@ -24,7 +24,7 @@ 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_1;
+    return BSP_UART_VT13;
   else if (huart->Instance == USART2)
     return BSP_UART_2;
   else if (huart->Instance == USART3)
@@ -119,7 +119,7 @@ void BSP_UART_IRQHandler(UART_HandleTypeDef *huart) {
 
 UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
   switch (uart) {
-    case BSP_UART_1:
+    case BSP_UART_VT13:
       return &huart1;
     case BSP_UART_2:
       return &huart2;

User/bsp/uart.h

@@ -27,7 +27,7 @@ extern "C" {
 
 /* UART实体枚举，与设备对应 */
 typedef enum {
-  BSP_UART_1,
+  BSP_UART_VT13,
   BSP_UART_2,
   BSP_UART_3,
   BSP_UART_REF,

User/component/cmd.c

@@ -0,0 +1,387 @@
+/*
+  控制命令
+*/
+
+#include "cmd.h"
+
+#include <string.h>
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/**
+ * @brief 行为转换为对应按键
+ *
+ * @param cmd 主结构体
+ * @param behavior 行为
+ * @return uint16_t 行为对应的按键
+ */
+static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd,
+                                               CMD_Behavior_t behavior) {
+  return cmd->param->map.key_map[behavior].key;
+}
+
+static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd,
+                                                    CMD_Behavior_t behavior) {
+  return cmd->param->map.key_map[behavior].active;
+}
+
+/**
+ * @brief 检查按键是否按下
+ *
+ * @param rc 遥控器数据
+ * @param key 按键名称
+ * @param stateful 是否为状态切换按键
+ * @return true 按下
+ * @return false 未按下
+ */
+static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) {
+  /* 按下按键为鼠标左、右键 */
+  if (key == CMD_L_CLICK) {
+    return rc->mouse.l_click;
+  }
+  if (key == CMD_R_CLICK) {
+    return rc->mouse.r_click;
+  }
+  return rc->key & (1u << key);
+}
+
+static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd,
+                                   CMD_Behavior_t behavior) {
+  CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior);
+  CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior);
+
+  bool now_key_pressed, last_key_pressed;
+
+  /* 按下按键为鼠标左、右键 */
+  if (key == CMD_L_CLICK) {
+    now_key_pressed = rc->mouse.l_click;
+    last_key_pressed = cmd->mouse_last.l_click;
+  } else if (key == CMD_R_CLICK) {
+    now_key_pressed = rc->mouse.r_click;
+    last_key_pressed = cmd->mouse_last.r_click;
+  } else {
+    now_key_pressed = rc->key & (1u << key);
+    last_key_pressed = cmd->key_last & (1u << key);
+  }
+
+  switch (active) {
+    case CMD_ACTIVE_PRESSING:
+      return now_key_pressed && !last_key_pressed;
+    case CMD_ACTIVE_RASING:
+      return !now_key_pressed && last_key_pressed;
+    case CMD_ACTIVE_PRESSED:
+      return now_key_pressed;
+  }
+}
+
+/**
+ * @brief 解析pc行为逻辑
+ *
+ * @param rc 遥控器数据
+ * @param cmd 主结构体
+ * @param dt_sec 两次解析的间隔
+ */
+static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
+  cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+
+  /* 云台设置为鼠标控制欧拉角的变化，底盘的控制向量设置为零 */
+  cmd->gimbal.delta_eulr.yaw =
+      (float)rc->mouse.x * dt_sec * cmd->param->sens_mouse;
+  cmd->gimbal.delta_eulr.pit =
+      (float)(-rc->mouse.y) * dt_sec * cmd->param->sens_mouse;
+  cmd->chassis.ctrl_vec.vx = cmd->chassis.ctrl_vec.vy = 0.0f;
+  cmd->shoot.reverse_trig = false;
+
+  /* 按键行为映射相关逻辑 */
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) {
+    cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) {
+    cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) {
+    cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) {
+    cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) {
+    cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense;
+    cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) {
+    cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense;
+    cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) {
+    /* 切换至开火模式，设置相应的射击频率和弹丸初速度 */
+    cmd->shoot.mode = SHOOT_MODE_LOADED;
+    cmd->shoot.fire = true;
+  } else {
+    /* 切换至准备模式，停止射击 */
+    cmd->shoot.mode = SHOOT_MODE_LOADED;
+    cmd->shoot.fire = false;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) {
+    /* 每按一次依次切换开火下一个模式 */
+    cmd->shoot.fire_mode++;
+    cmd->shoot.fire_mode %= FIRE_MODE_NUM;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) {
+    /* 切换到小陀螺模式 */
+    cmd->chassis.mode = CHASSIS_MODE_ROTOR;
+    cmd->chassis.mode_rotor = ROTOR_MODE_RAND;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) {
+    /* 每按一次开、关弹舱盖 */
+    cmd->shoot.cover_open = !cmd->shoot.cover_open;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) {
+    if (cmd->ai_status == AI_STATUS_HITSWITCH) {
+      /* 停止ai的打符模式，停用host控制 */
+      CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP);
+      cmd->host_overwrite = false;
+      cmd->ai_status = AI_STATUS_STOP;
+    } else if (cmd->ai_status == AI_STATUS_AUTOAIM) {
+      /* 自瞄模式中切换失败提醒 */
+    } else {
+      /* ai切换至打符模式，启用host控制 */
+      CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
+      cmd->ai_status = AI_STATUS_HITSWITCH;
+      cmd->host_overwrite = true;
+    }
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) {
+    if (cmd->ai_status == AI_STATUS_AUTOAIM) {
+      /* 停止ai的自瞄模式，停用host控制 */
+      cmd->host_overwrite = false;
+      cmd->ai_status = AI_STATUS_STOP;
+      CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
+    } else {
+      /* ai切换至自瞄模式，启用host控制 */
+      cmd->ai_status = AI_STATUS_AUTOAIM;
+      cmd->host_overwrite = true;
+      CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
+    }
+  } else {
+    cmd->host_overwrite = false;
+    // TODO: 修复逻辑
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) {
+    /* 按下拨弹反转 */
+    cmd->shoot.reverse_trig = true;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) {
+    cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
+  }
+  /* 保存当前按下的键位状态 */
+  cmd->key_last = rc->key;
+  memcpy(&(cmd->mouse_last), &(rc->mouse), sizeof(cmd->mouse_last));
+}
+
+/**
+ * @brief 解析rc行为逻辑
+ *
+ * @param rc 遥控器数据
+ * @param cmd 主结构体
+ * @param dt_sec 两次解析的间隔
+ */
+static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
+  switch (rc->sw_l) {
+      /* 左拨杆相应行为选择和解析 */
+    case CMD_SW_UP:
+      cmd->chassis.mode = CHASSIS_MODE_BREAK;
+      break;
+
+    case CMD_SW_MID:
+      cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+      break;
+
+    case CMD_SW_DOWN:
+      cmd->chassis.mode = CHASSIS_MODE_ROTOR;
+      cmd->chassis.mode_rotor = ROTOR_MODE_CW;
+      break;
+
+    case CMD_SW_ERR:
+      cmd->chassis.mode = CHASSIS_MODE_RELAX;
+      break;
+  }
+  switch (rc->sw_r) {
+      /* 右拨杆相应行为选择和解析*/ 
+    case CMD_SW_UP:
+      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+      cmd->shoot.mode = SHOOT_MODE_SAFE;
+      break;
+
+    case CMD_SW_MID:
+      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+      cmd->shoot.fire = false;
+      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      break;
+
+    case CMD_SW_DOWN:
+      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
+      cmd->shoot.fire = true;
+      break;
+		/*
+		    case CMD_SW_UP:
+      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd->shoot.mode = SHOOT_MODE_SAFE;
+      break;
+
+    case CMD_SW_MID:
+      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd->shoot.fire = false;
+      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      break;
+
+    case CMD_SW_DOWN:
+      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
+      cmd->shoot.fire = true;
+      break;
+		*/
+    case CMD_SW_ERR:
+      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd->shoot.mode = SHOOT_MODE_RELAX;
+  }
+  /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
+  cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
+  cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
+  cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
+  cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
+}
+
+/**
+ * @brief rc失控时机器人恢复放松模式
+ *
+ * @param cmd 主结构体
+ */
+static void CMD_RcLostLogic(CMD_t *cmd) {
+  /* 机器人底盘、云台、射击运行模式恢复至放松模式 */
+  cmd->chassis.mode = CHASSIS_MODE_RELAX;
+  cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+  cmd->shoot.mode = SHOOT_MODE_RELAX;
+}
+
+/**
+ * @brief 初始化命令解析
+ *
+ * @param cmd 主结构体
+ * @param param 参数
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) {
+  /* 指针检测 */
+  if (cmd == NULL) return -1;
+  if (param == NULL) return -1;
+
+  /* 设置机器人的命令参数，初始化控制方式为rc控制 */
+  cmd->pc_ctrl = false;
+  cmd->param = param;
+
+  return 0;
+}
+
+/**
+ * @brief 检查是否启用上位机控制指令覆盖
+ *
+ * @param cmd 主结构体
+ * @return true 启用
+ * @return false 不启用
+ */
+inline bool CMD_CheckHostOverwrite(CMD_t *cmd) { return cmd->host_overwrite; }
+
+/**
+ * @brief 解析命令
+ *
+ * @param rc 遥控器数据
+ * @param cmd 命令
+ * @param dt_sec 两次解析的间隔
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
+  /* 指针检测 */
+  if (rc == NULL) return -1;
+  if (cmd == NULL) return -1;
+
+  /* 在pc控制和rc控制间切换 */
+  if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
+      CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_Q))
+    cmd->pc_ctrl = true;
+
+  if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
+      CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E))
+    cmd->pc_ctrl = false;
+  /*c当rc丢控时，恢复机器人至默认状态 */
+  if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
+    CMD_RcLostLogic(cmd);
+  } else {
+    if (cmd->pc_ctrl) {
+      CMD_PcLogic(rc, cmd, dt_sec);
+    } else {
+      CMD_RcLogic(rc, cmd, dt_sec);
+    }
+  }
+  return 0;
+}
+
+/**
+ * @brief 解析上位机命令
+ *
+ * @param host host数据
+ * @param cmd 命令
+ * @param dt_sec 两次解析的间隔
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
+  (void)dt_sec; /* 未使用dt_sec，消除警告 */
+  /* 指针检测 */
+  if (host == NULL) return -1;
+  if (cmd == NULL) return -1;
+
+  /* 云台欧拉角设置为host相应的变化的欧拉角 */
+  cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
+  cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
+
+  /* host射击命令，设置不同的射击频率和弹丸初速度 */
+  if (host->fire) {
+    cmd->shoot.mode = SHOOT_MODE_LOADED;
+    cmd->shoot.fire = true;
+  } else {
+    cmd->shoot.mode = SHOOT_MODE_SAFE;
+  }
+  return 0;
+}
+
+/**
+ * @brief 添加向Referee发送的命令
+ *
+ * @param ref 命令队列
+ * @param cmd 要添加的命令
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
+  /* 指针检测 */
+  if (ref == NULL) return -1;
+  /* 越界检测 */
+  if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) return -1;
+
+  /* 添加机器人当前行为状态到画图的命令队列中 */
+  ref->cmd[ref->counter] = cmd;
+  ref->counter++;
+  return 0;
+}
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

User/component/cmd.h

@@ -0,0 +1,318 @@
+/*
+  控制命令
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "component/ahrs.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* 机器人型号 */
+typedef enum {
+  ROBOT_MODEL_INFANTRY = 0, /* 步兵机器人 */
+  ROBOT_MODEL_HERO,         /* 英雄机器人 */
+  ROBOT_MODEL_ENGINEER,     /* 工程机器人 */
+  ROBOT_MODEL_DRONE,        /* 空中机器人 */
+  ROBOT_MODEL_SENTRY,       /* 哨兵机器人 */
+  ROBOT_MODEL_NUM,          /* 型号数量 */
+} CMD_RobotModel_t;
+
+/* 底盘运行模式 */
+typedef enum {
+  CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
+  CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
+  CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */
+  CHASSIS_MODE_FOLLOW_GIMBAL_35, /* 通过闭环控制使车头方向35度跟随云台 */
+  CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */
+  CHASSIS_MODE_INDENPENDENT, /* 独立模式。底盘运行不受云台影响 */
+  CHASSIS_MODE_OPEN, /* 开环模式。底盘运行不受PID控制，直接输出到电机 */
+} CMD_ChassisMode_t;
+
+/* 云台运行模式 */
+typedef enum {
+  GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
+  GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
+  GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
+} CMD_GimbalMode_t;
+
+/* 射击运行模式 */
+typedef enum {
+  SHOOT_MODE_RELAX,  /* 放松模式，电机不输出 */
+  SHOOT_MODE_SAFE,   /* 保险模式，电机闭环控制保持静止 */
+  SHOOT_MODE_LOADED, /* 上膛模式，摩擦轮开启。随时准备开火 */
+} CMD_ShootMode_t;
+
+typedef enum {
+  FIRE_MODE_SINGLE, /* 单发开火模式  */
+  FIRE_MODE_BURST,  /* N连发开火模式 */
+  FIRE_MODE_CONT,   /* 持续开火模式 */
+  FIRE_MODE_NUM,
+} CMD_FireMode_t;
+
+/* 小陀螺转动模式 */
+typedef enum {
+  ROTOR_MODE_CW,   /* 顺时针转动 */
+  ROTOR_MODE_CCW,  /* 逆时针转动 */
+  ROTOR_MODE_RAND, /* 随机转动 */
+} CMD_RotorMode_t;
+
+/* 底盘控制命令 */
+typedef struct {
+  CMD_ChassisMode_t mode;     /* 底盘运行模式 */
+  CMD_RotorMode_t mode_rotor; /* 小陀螺转动模式 */
+  MoveVector_t ctrl_vec;      /* 底盘控制向量 */
+} CMD_ChassisCmd_t;
+
+/* 云台控制命令 */
+typedef struct {
+  CMD_GimbalMode_t mode;  /* 云台运行模式 */
+  AHRS_Eulr_t delta_eulr; /* 欧拉角变化角度 */
+} CMD_GimbalCmd_t;
+
+/* 射击控制命令 */
+typedef struct {
+  CMD_ShootMode_t mode;     /* 射击运行模式 */
+  CMD_FireMode_t fire_mode; /* 开火模式 */
+  bool fire;                /*开火*/
+  bool cover_open;          /* 弹舱盖开关 */
+  bool reverse_trig;        /* 拨弹电机状态 */
+} CMD_ShootCmd_t;
+
+/* 拨杆位置 */
+typedef enum {
+  CMD_SW_ERR = 0,
+  CMD_SW_UP = 1,
+  CMD_SW_MID = 3,
+  CMD_SW_DOWN = 2,
+} CMD_SwitchPos_t;
+
+/* 键盘按键值 */
+typedef enum {
+  CMD_KEY_W = 0,
+  CMD_KEY_S,
+  CMD_KEY_A,
+  CMD_KEY_D,
+  CMD_KEY_SHIFT,
+  CMD_KEY_CTRL,
+  CMD_KEY_Q,
+  CMD_KEY_E,
+  CMD_KEY_R,
+  CMD_KEY_F,
+  CMD_KEY_G,
+  CMD_KEY_Z,
+  CMD_KEY_X,
+  CMD_KEY_C,
+  CMD_KEY_V,
+  CMD_KEY_B,
+  CMD_L_CLICK,
+  CMD_R_CLICK,
+  CMD_KEY_NUM,
+} CMD_KeyValue_t;
+
+/* 行为值序列 */
+typedef enum {
+  CMD_BEHAVIOR_FORE = 0,       /* 向前 */
+  CMD_BEHAVIOR_BACK,           /* 向后 */
+  CMD_BEHAVIOR_LEFT,           /* 向左 */
+  CMD_BEHAVIOR_RIGHT,          /* 向右 */
+  CMD_BEHAVIOR_ACCELERATE,     /* 加速 */
+  CMD_BEHAVIOR_DECELEBRATE,    /* 减速 */
+  CMD_BEHAVIOR_FIRE,           /* 开火 */
+  CMD_BEHAVIOR_FIRE_MODE,      /* 切换开火模式 */
+  CMD_BEHAVIOR_BUFF,           /* 打符模式 */
+  CMD_BEHAVIOR_AUTOAIM,        /* 自瞄模式 */
+  CMD_BEHAVIOR_OPENCOVER,      /* 弹舱盖开关 */
+  CMD_BEHAVIOR_ROTOR,          /* 小陀螺模式 */
+  CMD_BEHAVIOR_REVTRIG,        /* 反转拨弹 */
+  CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */
+  CMD_BEHAVIOR_NUM,
+} CMD_Behavior_t;
+
+typedef enum {
+  CMD_ACTIVE_PRESSING, /* 按下时触发 */
+  CMD_ACTIVE_RASING,   /* 抬起时触发 */
+  CMD_ACTIVE_PRESSED,  /* 按住时触发 */
+} CMD_ActiveType_t;
+
+typedef struct {
+  CMD_ActiveType_t active;
+  CMD_KeyValue_t key;
+} CMD_KeyMapItem_t;
+
+/* 行为映射的对应按键数组 */
+typedef struct {
+  CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM];
+} CMD_KeyMap_Params_t;
+
+/* 位移灵敏度参数 */
+typedef struct {
+  float move_sense;      /* 移动灵敏度 */
+  float move_fast_sense; /* 加速灵敏度 */
+  float move_slow_sense; /* 减速灵敏度 */
+} CMD_Move_Params_t;
+
+typedef struct {
+  uint16_t width;
+  uint16_t height;
+} CMD_Screen_t;
+
+/* 命令参数 */
+typedef struct {
+  float sens_mouse;        /* 鼠标灵敏度 */
+  float sens_rc;           /* 遥控器摇杆灵敏度 */
+  CMD_KeyMap_Params_t map; /* 按键映射行为命令 */
+  CMD_Move_Params_t move;  /* 位移灵敏度参数 */
+  CMD_Screen_t screen;     /* 屏幕分辨率参数 */
+} CMD_Params_t;
+
+/* AI行为状态 */
+typedef enum {
+  AI_STATUS_STOP,      /* 停止状态 */
+  AI_STATUS_AUTOAIM,   /* 自瞄状态 */
+  AI_STATUS_HITSWITCH, /* 打符状态 */
+  AI_STATUS_AUTOMATIC  /* 自动状态 */
+} CMD_AI_Status_t;
+
+/* UI所用行为状态 */
+typedef enum {
+  CMD_UI_NOTHING,          /* 当前无状态 */
+  CMD_UI_AUTO_AIM_START,   /* 自瞄状态开启 */
+  CMD_UI_AUTO_AIM_STOP,    /* 自瞄状态关闭 */
+  CMD_UI_HIT_SWITCH_START, /* 打符状态开启 */
+  CMD_UI_HIT_SWITCH_STOP   /* 打符状态关闭 */
+} CMD_UI_t;
+
+/*裁判系统发送的命令*/
+typedef struct {
+  CMD_UI_t cmd[CMD_REFEREE_MAX_NUM]; /* 命令数组 */
+  uint8_t counter;                   /* 命令计数 */
+} CMD_RefereeCmd_t;
+
+typedef struct {
+  bool pc_ctrl;        /* 是否使用键鼠控制 */
+  bool host_overwrite; /* 是否Host控制 */
+  uint16_t key_last;   /* 上次按键键值 */
+
+  struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+    bool l_click; /* 左键 */
+    bool r_click; /* 右键 */
+  } mouse_last;   /* 鼠标值 */
+
+  CMD_AI_Status_t ai_status; /* AI状态 */
+
+  const CMD_Params_t *param; /* 命令参数 */
+
+  CMD_ChassisCmd_t chassis; /* 底盘控制命令 */
+  CMD_GimbalCmd_t gimbal;   /* 云台控制命令 */
+  CMD_ShootCmd_t shoot;     /* 射击控制命令 */
+  CMD_RefereeCmd_t referee; /* 裁判系统发送命令 */
+} CMD_t;
+
+typedef struct {
+  float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
+  float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
+  float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
+  float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
+
+  float ch_res; /* 第五通道值 */
+
+  CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
+  CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
+
+  struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+    bool l_click; /* 左键 */
+    bool r_click; /* 右键 */
+  } mouse;        /* 鼠标值 */
+
+  uint16_t key; /* 按键值 */
+
+  uint16_t res; /* 保留，未启用 */
+} CMD_RC_t;
+
+typedef struct {
+  AHRS_Eulr_t gimbal_delta; /* 欧拉角的变化量 */
+
+  struct {
+    float vx;         /* x轴移动速度 */
+    float vy;         /* y轴移动速度 */
+    float wz;         /* z轴转动速度 */
+  } chassis_move_vec; /* 底盘移动向量 */
+
+  bool fire; /* 开火状态 */
+} CMD_Host_t;
+
+/**
+ * @brief 解析行为命令
+ *
+ * @param rc 遥控器数据
+ * @param cmd 主结构体
+ */
+int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param);
+
+/**
+ * @brief 检查是否启用上位机控制指令覆盖
+ *
+ * @param cmd 主结构体
+ * @return true 启用
+ * @return false 不启用
+ */
+bool CMD_CheckHostOverwrite(CMD_t *cmd);
+
+/**
+ * @brief 解析命令
+ *
+ * @param rc 遥控器数据
+ * @param cmd 命令
+ * @param dt_sec 两次解析的间隔
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec);
+
+/**
+ * @brief 解析上位机命令
+ *
+ * @param host host数据
+ * @param cmd 命令
+ * @param dt_sec 两次解析的间隔
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
+
+/**
+ * @brief 添加向Referee发送的命令
+ *
+ * @param ref 命令队列
+ * @param cmd 要添加的命令
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+#ifdef __cplusplus
+}
+#endif

User/device/device.h

@@ -32,6 +32,7 @@ extern "C" {
 /* AUTO GENERATED SIGNALS END */
 
 /* USER SIGNALS BEGIN */
+#define SIGNAL_VT13_RAW_REDY (1u << 9)
 #define SIGNAL_REFEREE_RAW_REDY (1u << 10)
 #define SIGNAL_REFEREE_FAST_REFRESH_UI (1u << 11)
 #define SIGNAL_REFEREE_SLOW_REFRESH_UI (1u << 12)

User/device/device_config.yaml

@@ -30,5 +30,5 @@ motor_rm:
   enabled: true
 vofa:
   bsp_config:
-    BSP_UART_VOFA: BSP_UART_1
+    BSP_UART_VOFA: BSP_UART_VT13
   enabled: true

User/device/vofa.c

@@ -35,7 +35,7 @@ static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER;  // 默认协
 
 /************************  RawData  *************************/
 void VOFA_RawData_Send(const char* data, bool dma) {
-    BSP_UART_Transmit(BSP_UART_1, (uint8_t*)data, strlen(data), dma);
+    BSP_UART_Transmit(BSP_UART_VT13, (uint8_t*)data, strlen(data), dma);
 }
 
 /************************ FireWater *************************/
@@ -56,7 +56,7 @@ void VOFA_FireWater_Send(float *channels, uint8_t channel_count, bool dma)
     }
     snprintf(buf + len, sizeof(vofa_tx_buf) - len, "\n");
 
-    BSP_UART_Transmit(BSP_UART_1, vofa_tx_buf, strlen(buf), dma);
+    BSP_UART_Transmit(BSP_UART_VT13, vofa_tx_buf, strlen(buf), dma);
 }
 
 /************************ JustFloat *************************/
@@ -69,7 +69,7 @@ void VOFA_JustFloat_Send(float *channels, uint8_t channel_count, bool dma)
     uint32_t tail = JUSTFLOAT_TAIL;                     // 0x7F800000
     memcpy(vofa_tx_buf + channel_count * sizeof(float), &tail, sizeof(tail));
 
-    BSP_UART_Transmit(BSP_UART_1, vofa_tx_buf, channel_count * sizeof(float) + sizeof(tail), dma);
+    BSP_UART_Transmit(BSP_UART_VT13, vofa_tx_buf, channel_count * sizeof(float) + sizeof(tail), dma);
 }
 
 /* Exported functions ------------------------------------------------------- */

User/device/vt13.c

@@ -0,0 +1,124 @@
+/* Includes ----------------------------------------------------------------- */
+#include "vt13.h"
+#include "bsp/uart.h"
+#include "bsp/time.h"
+#include "device.h"
+#include "crc16.h"
+#include <string.h>
+#include <stdbool.h>
+
+/* Private variables -------------------------------------------------------- */
+static osThreadId_t thread_alert;
+static bool inited = false;
+
+/* Private macro ------------------------------------------------------------ */
+
+
+/* Private function  -------------------------------------------------------- */
+static void VT13_RxCpltCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_VT13_RAW_REDY);
+}
+
+static bool VT13_DataCorrupted(const VT13_t *vt13) {
+/* 1. 帧头校验：必须为 0xA9 和 0x53 */
+  if (vt13->raw_data.header1 != 0xA9 || vt13->raw_data.header2 != 0x53) {
+    return true;
+  }
+
+  /* 2. CRC16 校验：验证整个 21 字节的帧长度 */
+  if (!CRC16_Verify((const uint8_t *)&(vt13->raw_data), sizeof(VT13_RawData_t))) {
+    return true; 
+  }
+
+  /* 3. 挡位范围校验（作为双重保险，因为 CRC 只能保证通信无误，不能保证按键逻辑无误） */
+  if (vt13->raw_data.mode > 2) {
+    return true;
+  }
+
+  return false;
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t VT13_Init(VT13_t *vt13) {
+  if (vt13 == NULL) return DEVICE_ERR_NULL;
+  if (inited) return DEVICE_ERR_INITED;
+  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
+
+  /* 注意：图传模块波特率为 921600  ，请在 UART 初始化时核对 */
+  BSP_UART_RegisterCallback(BSP_UART_VT13, BSP_UART_RX_CPLT_CB, VT13_RxCpltCallback);
+
+  inited = true;
+  return DEVICE_OK;
+}
+
+int8_t VT13_Restart(void) {
+  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_VT13));
+  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_VT13));
+  return DEVICE_OK;
+}
+
+int8_t VT13_StartDmaRecv(VT13_t *vt13) {
+  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_VT13),
+                           (uint8_t *)&(vt13->raw_data),
+                           sizeof(vt13->raw_data)) == HAL_OK)
+    return DEVICE_OK;
+  return DEVICE_ERR;
+}
+
+bool VT13_WaitDmaCplt(uint32_t timeout) {
+  return (osThreadFlagsWait(SIGNAL_VT13_RAW_REDY, osFlagsWaitAll, timeout) == SIGNAL_VT13_RAW_REDY);
+}
+
+int8_t VT13_ParseData(VT13_t *vt13) {
+  if (vt13 == NULL) return DEVICE_ERR_NULL;
+
+  if (VT13_DataCorrupted(vt13)) {
+    return DEVICE_ERR;
+  }
+
+  vt13->header.online = true;
+  vt13->header.last_online_time = BSP_TIME_Get_us();
+  
+  memset(&(vt13->data), 0, sizeof(vt13->data));
+
+  float full_range = (float)(VT13_CH_VALUE_MAX - VT13_CH_VALUE_MIN);
+
+  /* 1. 解析摇杆与拨轮数据并归一化至 [-1.0, 1.0] */
+  vt13->data.ch_r_x = 2.0f * ((float)vt13->raw_data.ch_r_x - VT13_CH_VALUE_MID) / full_range;
+  vt13->data.ch_r_y = 2.0f * ((float)vt13->raw_data.ch_r_y - VT13_CH_VALUE_MID) / full_range;
+  vt13->data.ch_l_y = 2.0f * ((float)vt13->raw_data.ch_l_y - VT13_CH_VALUE_MID) / full_range;
+  vt13->data.ch_l_x = 2.0f * ((float)vt13->raw_data.ch_l_x - VT13_CH_VALUE_MID) / full_range;
+  vt13->data.dial   = 2.0f * ((float)vt13->raw_data.dial - VT13_CH_VALUE_MID) / full_range;
+
+  /* 2. 解析按钮和开关 [cite: 165] */
+  vt13->data.mode     = (VT13_Mode_t)vt13->raw_data.mode;
+  vt13->data.pause    = vt13->raw_data.pause;
+  vt13->data.custom_l = vt13->raw_data.custom_l;
+  vt13->data.custom_r = vt13->raw_data.custom_r;
+  vt13->data.trigger  = vt13->raw_data.trigger;
+
+  /* 3. 解析鼠标数据  */
+  vt13->data.mouse.x = vt13->raw_data.mouse_x;
+  vt13->data.mouse.y = vt13->raw_data.mouse_y;
+  vt13->data.mouse.z = vt13->raw_data.mouse_z;
+  vt13->data.mouse.l_click = vt13->raw_data.mouse_l;
+  vt13->data.mouse.r_click = vt13->raw_data.mouse_r;
+  vt13->data.mouse.m_click = vt13->raw_data.mouse_m;
+
+  /* 4. 解析键盘按键  */
+  uint16_t key_value = vt13->raw_data.keyboard;
+  for (int i = 0; i < VT13_KEY_NUM; i++) {
+    vt13->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
+  }
+  
+  return DEVICE_OK;
+}
+
+int8_t VT13_Offline(VT13_t *vt13) {
+  if (vt13 == NULL) return DEVICE_ERR_NULL;
+
+  vt13->header.online = false;
+  memset(&(vt13->data), 0, sizeof(vt13->data));
+
+  return DEVICE_OK;
+}

User/device/vt13.h

@@ -0,0 +1,116 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "component/user_math.h"
+#include "device.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define VT13_CH_VALUE_MIN (364u)
+#define VT13_CH_VALUE_MID (1024u)
+#define VT13_CH_VALUE_MAX (1684u)
+
+/* Exported types ----------------------------------------------------------- */
+
+/* 图传接收端 21 字节数据帧原始结构 */
+typedef struct __packed {
+  uint8_t header1;       /* 帧头1：0xA9 [cite: 164] */
+  uint8_t header2;       /* 帧头2：0x53 [cite: 164] */
+  
+  /* 连续 64 bits 的位域提取 */
+  uint64_t ch_r_x   : 11; /* 通道 0：右摇杆水平 [cite: 164] */
+  uint64_t ch_r_y   : 11; /* 通道 1：右摇杆竖直 [cite: 164] */
+  uint64_t ch_l_y   : 11; /* 通道 2：左摇杆竖直 [cite: 164] */
+  uint64_t ch_l_x   : 11; /* 通道 3：左摇杆水平 [cite: 165] */
+  uint64_t mode     : 2;  /* 挡位切换开关 [cite: 165] */
+  uint64_t pause    : 1;  /* 暂停按键 [cite: 165] */
+  uint64_t custom_l : 1;  /* 自定义按键(左) [cite: 165] */
+  uint64_t custom_r : 1;  /* 自定义按键(右) [cite: 165] */
+  uint64_t dial     : 11; /* 拨轮 [cite: 165] */
+  uint64_t trigger  : 1;  /* 扳机键 [cite: 165] */
+  uint64_t res1     : 3;  /* 补齐至 80 offset */
+
+  int16_t mouse_x;        /* 鼠标 X 轴 [cite: 165] */
+  int16_t mouse_y;        /* 鼠标 Y 轴 [cite: 165] */
+  int16_t mouse_z;        /* 鼠标 Z 轴 [cite: 165] */
+  
+  /* 连续 8 bits 的位域提取 */
+  uint8_t mouse_l   : 2;  /* 鼠标左键  */
+  uint8_t mouse_r   : 2;  /* 鼠标右键  */
+  uint8_t mouse_m   : 2;  /* 鼠标中键  */
+  uint8_t res2      : 2;  /* 补齐至 136 offset */
+
+  uint16_t keyboard;      /* 键盘按键位映射  */
+  uint16_t crc16;         /* CRC 校验  */
+} VT13_RawData_t;
+
+/* 模式开关枚举 */
+typedef enum {
+  VT13_MODE_C = 0, /* [cite: 165] */
+  VT13_MODE_N = 1, /* [cite: 165] */
+  VT13_MODE_S = 2, /* [cite: 165] */
+} VT13_Mode_t;
+
+/* 键盘按键值映射，依据文档 bit0-bit15 定义  */
+typedef enum {
+  VT13_KEY_W = 0, VT13_KEY_S, VT13_KEY_A, VT13_KEY_D,
+  VT13_KEY_SHIFT, VT13_KEY_CTRL, VT13_KEY_Q, VT13_KEY_E,
+  VT13_KEY_R, VT13_KEY_F, VT13_KEY_G, VT13_KEY_Z,
+  VT13_KEY_X, VT13_KEY_C, VT13_KEY_V, VT13_KEY_B,
+  VT13_KEY_NUM
+} VT13_Key_t;
+
+/* 解析后的数据结构 */
+typedef struct {
+  float ch_l_x;  /* 左侧摇杆水平，右为正 [-1.0~1.0] */
+  float ch_l_y;  /* 左侧摇杆竖直，上为正 [-1.0~1.0] */
+  float ch_r_x;  /* 右侧摇杆水平，右为正 [-1.0~1.0] */
+  float ch_r_y;  /* 右侧摇杆竖直，上为正 [-1.0~1.0] */
+  float dial;    /* 拨轮值 [-1.0~1.0] */
+
+  VT13_Mode_t mode; /* 挡位切换开关 [cite: 165] */
+  bool pause;      /* 暂停按键按下为 true [cite: 165] */
+  bool custom_l;   /* 左自定义键按下为 true [cite: 165] */
+  bool custom_r;   /* 右自定义键按下为 true [cite: 165] */
+  bool trigger;    /* 扳机键按下为 true [cite: 165] */
+
+  struct {
+    int16_t x;     /* 鼠标横向移动，负向左 [cite: 165] */
+    int16_t y;     /* 鼠标纵向移动，负向后 [cite: 165] */
+    int16_t z;     /* 鼠标滚轮速度，负向后 [cite: 165] */
+    bool l_click;
+    bool r_click;
+    bool m_click;
+  } mouse;
+
+  union {
+    bool key[VT13_KEY_NUM];
+    uint16_t value;
+  } keyboard;
+
+} VT13_Data_t;
+
+typedef struct {
+  DEVICE_Header_t header;
+  VT13_RawData_t raw_data;
+  VT13_Data_t data;
+} VT13_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t VT13_Init(VT13_t *vtm);
+int8_t VT13_Restart(void);
+int8_t VT13_StartDmaRecv(VT13_t *vtm);
+bool VT13_WaitDmaCplt(uint32_t timeout);
+int8_t VT13_ParseData(VT13_t *vtm);
+int8_t VT13_Offline(VT13_t *vtm);
+
+#ifdef __cplusplus
+}
+#endif

User/module/config.c

@@ -233,6 +233,13 @@ Config_RobotParam_t robot_config = {
             .enable=false,
             .threshold=110.0f, 
             .suspectedTime=0.5f, 
+        },        
+				.heatControl={
+            .enable=true,
+            .nmax=2.0f,      // 最大射频 Hz
+            .Hwarn=200.0f,    // 热量预警值
+            .Hsatu=100.0f,    // 热量饱和值
+            .Hthres=50.0f,    // 热量阈值
         },
         .motor={
             .fric = {

User/module/shoot.c

@@ -33,20 +33,27 @@ void Task(void *argument) {
 /* Includes ----------------------------------------------------------------- */
 #include <math.h>
 #include <string.h>
-#include "module/shoot.h"
+#include "shoot.h"
 #include "bsp/mm.h"
 #include "bsp/time.h"
-#include "device/referee.h"
 #include "component/filter.h"
 #include "component/user_math.h"
-#include "module/cmd/cmd.h"
+#include "device/referee.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 #define MAX_FRIC_RPM 7000.0f
-#define MAX_TRIG_RPM 6000.0f//这里可能也会影响最高发射频率，待测试
+#define MAX_TRIG_RPM 1500.0f//这里可能也会影响最高发射频率，待测试
+
+/* 发射检测参数 */
+#define SHOT_DETECT_RPM_DROP_THRESHOLD 100.0f  /* 摩擦轮转速下降阈值，单位rpm */
+#define SHOT_DETECT_SUSPECTED_TIME 0.0005f      /* 发射嫌疑持续时间阈值，单位秒 */
+#define FRIC_READY_RPM_RATIO 0.95f             /* 摩擦轮准备好的转速比例 */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 static bool last_firecmd;
+
+float maxTrigrpm=4000.0f;
 /* Private function  -------------------------------------------------------- */
 
 /**
@@ -177,12 +184,315 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
 		s->target_variable.fric_rpm=5000.0f;
 		break;
 		case SHOOT_PROJECTILE_42MM:
-		s->target_variable.fric_rpm=4000.0f;
+		s->target_variable.fric_rpm=3600.0f;//6500
 		break;	
 	}
     return SHOOT_OK;
 }
 
+/**
+ * \brief 更新热量控制数据（使用融合后的热量值）
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ */
+static int8_t Shoot_UpdateHeatControl(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL;
+    }
+    
+    /* 使用融合后的热量值计算剩余热量 */
+    s->heatcontrol.Hres = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused;
+    
+    /* 计算冷却射频 ncd = Hcd / Hgen */
+    if (s->heatcontrol.Hgen > 0.0f) {
+        s->heatcontrol.ncd = s->heatcontrol.Hcd / s->heatcontrol.Hgen;
+    } else {
+        s->heatcontrol.ncd = 0.0f;
+    }
+    
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 计算摩擦轮平均转速
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 平均转速
+ */
+static float Shoot_CalcAvgFricRpm(Shoot_t *s)
+{
+    if (s == NULL) {
+        return 0.0f;
+    }
+    
+    float sum = 0.0f;
+    uint8_t fric_num = s->param->basic.fric_num;
+    
+    for (int i = 0; i < fric_num; i++) {
+        sum += fabs(s->var_fric.fil_rpm[i]);
+    }
+    
+    return (fric_num > 0) ? (sum / fric_num) : 0.0f;
+}
+
+/**
+ * \brief 发射检测：通过摩擦轮掉速检测发射
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 是否检测到掉速超过阈值
+ */
+static bool Shoot_DetectShotByRpmDrop(Shoot_t *s)
+{
+    if (s == NULL) {
+        return false;
+    }
+    
+    /* 只在READY和FIRE状态下检测，避免停机时误判 */
+    if (s->running_state != SHOOT_STATE_READY && 
+        s->running_state != SHOOT_STATE_FIRE) {
+        return false;
+    }
+    
+    /* 计算当前摩擦轮平均转速 */
+    s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
+    
+    /* 计算当前转速与目标转速的差值（掉速量） */
+    s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm;
+    
+    /* 判断是否发生明显掉速 */
+    if (s->heatcontrol.rpmDrop > SHOT_DETECT_RPM_DROP_THRESHOLD) {
+        return true;
+    }
+    
+    return false;
+}
+
+
+
+/**
+ * \brief 热量数据融合：用裁判系统数据修正自主估计
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ * 
+ * \note 裁判系统数据准确但更新慢，自主计算实时但可能误差累积
+ *       只在裁判系统数据更新时才修正估计值，保证准确性和实时性
+ */
+static int8_t Shoot_FuseHeatData(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL;
+    }
+    
+    /* 如果裁判系统数据有效（Hmax > 0） */
+    if (s->heatcontrol.Hmax > 0.0f && s->heatcontrol.Hnow >= 0.0f) {
+        /* 检测裁判系统数据是否有更新 */
+        if (s->heatcontrol.Hnow != s->heatcontrol.Hnow_last) {
+            /* 数据更新了，用裁判系统数据修正估计值 */
+            s->heatcontrol.Hnow_estimated = s->heatcontrol.Hnow;
+            s->heatcontrol.Hnow_last = s->heatcontrol.Hnow; /* 记录本次值 */
+        }
+        
+        /* 融合值就是裁判系统值（作为基准） */
+        s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow;
+    } else {
+        /* 裁判系统数据无效，仅使用自主估计值 */
+        s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow_estimated;
+    }
+    
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 计算可发射弹数
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ */
+static int8_t Shoot_CalcAvailableShots(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL;
+    }
+    
+    /* 计算剩余热量 */
+    float heat_available = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused;
+    
+    /* 计算可发射弹数 */
+    if (s->heatcontrol.Hgen > 0.0f && heat_available > 0.0f) {
+        s->heatcontrol.shots_available = (uint16_t)(heat_available / s->heatcontrol.Hgen);
+    } else {
+        s->heatcontrol.shots_available = 0;
+    }
+    
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 热量检测状态机
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ */
+static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL;
+    }
+    
+    switch (s->heatcontrol.detectState) {
+        case SHOOT_HEAT_DETECT_IDLE:
+            /* 停机状态：等待摩擦轮启动并加速到目标速度附近 */
+            if (s->running_state == SHOOT_STATE_READY || 
+                s->running_state == SHOOT_STATE_FIRE) {
+                /* 计算当前平均转速 */
+                s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
+                
+                /* 检查摩擦轮是否达到目标转速的85%以上 */
+                if (s->heatcontrol.avgFricRpm >= s->target_variable.fric_rpm * FRIC_READY_RPM_RATIO) {
+                    s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
+                    s->heatcontrol.lastAvgFricRpm = s->heatcontrol.avgFricRpm;
+                }
+            }
+            break;
+            
+        case SHOOT_HEAT_DETECT_READY:
+            /* 准备检测状态：监测摩擦轮掉速 */
+            /* 检测掉速（当前转速低于目标转速超过阈值） */
+            if (Shoot_DetectShotByRpmDrop(s)) {
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_SUSPECTED;
+                s->heatcontrol.detectTime = s->timer.now; /* 记录进入嫌疑状态的时间 */
+            }
+            
+            /* 如果摩擦轮停止 */
+            if (s->running_state == SHOOT_STATE_IDLE) {
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE;
+            }
+            break;
+            
+        case SHOOT_HEAT_DETECT_SUSPECTED:
+            /* 发射嫌疑状态：持续检测掉速 */
+            /* 更新掉速量 */
+            s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
+            s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm;
+            
+            /* 若掉速消失（转速恢复正常），回到准备状态 */
+            if (s->heatcontrol.rpmDrop < SHOT_DETECT_RPM_DROP_THRESHOLD) {
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
+            }
+            /* 若嫌疑状态持续超过阈值时间，确认发射 */
+            else if ((s->timer.now - s->heatcontrol.detectTime) >= SHOT_DETECT_SUSPECTED_TIME) {
+                s->heatcontrol.detectState = SHOOT_HEAT_DETECT_CONFIRMED;
+            }
+            break;
+            
+        case SHOOT_HEAT_DETECT_CONFIRMED:
+            /* 确认发射状态：增加热量并返回准备状态 */
+            /* 根据弹丸类型增加估计热量 */
+            switch (s->param->basic.projectileType) {
+                case SHOOT_PROJECTILE_17MM:
+                    s->heatcontrol.Hnow_estimated += 10.0f;
+                    break;
+                case SHOOT_PROJECTILE_42MM:
+                    s->heatcontrol.Hnow_estimated += 100.0f;
+                    break;
+                default:
+                    s->heatcontrol.Hnow_estimated += s->heatcontrol.Hgen;
+                    break;
+            }
+            
+            /* 限制估计热量不超过最大值 */
+            if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) {
+                s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax;
+            }
+            
+            /* 增加发射计数 */
+            s->heatcontrol.shots_detected++;
+            
+            /* 返回准备检测状态 */
+            s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
+            break;
+            
+        default:
+            s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE;
+            break;
+    }
+    
+    /* 善后工作：热量冷却（每个周期都执行） */
+    if (s->heatcontrol.Hnow_estimated > 0.0f && s->heatcontrol.Hcd > 0.0f) {
+        s->heatcontrol.Hnow_estimated -= s->heatcontrol.Hcd * s->timer.dt;
+        if (s->heatcontrol.Hnow_estimated < 0.0f) {
+            s->heatcontrol.Hnow_estimated = 0.0f;
+        }
+    }
+    
+    /* 数据融合 */
+    Shoot_FuseHeatData(s);
+    
+    /* 计算可发射弹数 */
+    Shoot_CalcAvailableShots(s);
+    
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 根据热量控制计算射频
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 计算出的射频值，单位Hz
+ */
+static float Shoot_CaluFreqByHeat(Shoot_t *s)
+{
+    if (s == NULL) {
+        return 0.0f;
+    }
+    
+    /* 如果热量控制未启用，返回配置的射频 */
+    if (!s->param->heatControl.enable) {
+        return s->param->basic.shot_freq;
+    }
+    
+    /* 检查Hmax和Hcd是否有效 */
+    if (s->heatcontrol.Hmax <= 0.0f || s->heatcontrol.Hcd <= 0.0f) {
+        return s->param->basic.shot_freq; /* 数据无效，使用默认射频 */
+    }
+    
+    float Hres = s->heatcontrol.Hres;
+    float Hwarn = s->param->heatControl.Hwarn;
+    float Hsatu = s->param->heatControl.Hsatu;
+    float Hthres = s->param->heatControl.Hthres;
+    float nmax = s->param->heatControl.nmax;
+    float ncd = s->heatcontrol.ncd;
+    
+    /* 剩余热量大于预警值：最大射频 */
+    if (Hres > Hwarn) {
+        return nmax;
+    }
+    /* 剩余热量在预警值和饱和值之间：线性映射 */
+    else if (Hres > Hsatu) {
+        /* 线性插值: n = ncd + (nmax - ncd) * (Hres - Hsatu) / (Hwarn - Hsatu) */
+        float ratio = (Hres - Hsatu) / (Hwarn - Hsatu);
+        return ncd + (nmax - ncd) * ratio;
+    }
+    /* 剩余热量在饱和值和阈值之间：冷却射频 */
+    else if (Hres > Hthres) {
+        return ncd;
+    }
+    /* 剩余热量小于阈值：停止射击 */
+    else {
+        return 0.0f;
+    }
+}
+
 /**
  * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
  *
@@ -196,10 +506,19 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
     if (s == NULL  || s->var_trig.num_toShoot == 0) {
         return SHOOT_ERR_NULL; 
     }
+    
+    /* 更新热量控制数据 */
+    Shoot_UpdateHeatControl(s);
+    
+    /* 根据热量控制计算实际射频 */
+    float actual_freq = Shoot_CaluFreqByHeat(s);
+    
     float dt = s->timer.now - s->var_trig.time_lastShoot;
 	float dpos;
     dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);
-    if(dt >= 1.0f/s->param->basic.shot_freq && cmd->firecmd && dpos<=1.0f)
+    
+    /* 使用热量控制计算出的射频，而不是配置的固定射频 */
+    if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos<=1.0f)
     {
         s->var_trig.time_lastShoot=s->timer.now;
         CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
@@ -285,7 +604,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s)
         s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl;
 	}
     s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
-    s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM;
+    s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / maxTrigrpm;
     if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f;
     if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f;
     
@@ -300,8 +619,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s)
  * \param cmd 包含射击指令的结构体
  *
  * \return 函数运行结果
- */
+ */float a;
-// float a;
 int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 {
     if (s == NULL || cmd == NULL) {
@@ -624,6 +942,10 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
 
 	/* 归零变量 */
     memset(&s->var_trig,0,sizeof(s->var_trig));
+    
+    /* 初始化热量控制 */
+    memset(&s->heatcontrol, 0, sizeof(s->heatcontrol));
+    
 	return SHOOT_OK;
 }
 
@@ -645,6 +967,10 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
     s->timer.lask_wakeup = BSP_TIME_Get_us();
     Shoot_CaluTargetRPM(s,233);
 
+    /* 运行热量检测状态机 */
+    Shoot_HeatDetectionFSM(s);
+    
+    /* 运行卡弹检测状态机 */
     Shoot_JamDetectionFSM(s, cmd);
 //    Shoot_CalufeedbackRPM(s);
     return SHOOT_OK;
@@ -652,6 +978,15 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
 
 
 
+
+
+
+
+
+
+
+
+
 /**
  * @brief 导出射击UI数据
  *

User/module/shoot.h

@@ -12,7 +12,6 @@ extern "C" {
 #include "main.h"
 #include "component/pid.h"
 #include "device/motor_rm.h"
-
 /* Exported constants ------------------------------------------------------- */
 #define MAX_FRIC_NUM 6
 #define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
@@ -31,6 +30,13 @@ typedef enum {
     SHOOT_JAMFSM_STATE_CONFIRMED, /* 确认状态 */
     SHOOT_JAMFSM_STATE_DEAL       /* 处理状态 */
 }Shoot_JamDetectionFSM_State_t;
+
+typedef enum {
+    SHOOT_HEAT_DETECT_IDLE = 0,      /* 停机状态 */
+    SHOOT_HEAT_DETECT_READY,         /* 准备检测状态 */
+    SHOOT_HEAT_DETECT_SUSPECTED,     /* 发射嫌疑状态 */
+    SHOOT_HEAT_DETECT_CONFIRMED      /* 确认发射状态 */
+}Shoot_HeatDetectionFSM_State_t;
 typedef enum {
     SHOOT_STATE_IDLE = 0,/* 熄火 */
     SHOOT_STATE_READY,   /* 准备射击 */
@@ -83,6 +89,36 @@ typedef struct {
   float lastTime;/* 用于记录怀疑状态或处理状态的开始时间 */
   Shoot_JamDetectionFSM_State_t fsmState; /* 卡弹检测状态机 */
 }Shoot_JamDetection_t;
+
+typedef struct {
+  /* 从裁判系统读取的常量 */
+  float Hmax;  // 热量上限
+  float Hcd;   // 热量冷却速度
+  float Hgen;  // 每发射一发产生的热量
+  
+  /* 实时数据 */
+  float Hnow;  // 当前热量（从裁判系统实时读取）
+  float Hnow_last; // 上次裁判系统热量值（用于检测更新）
+  float Hres;  // 剩余热量 (Hmax - Hnow)
+  
+  /* 控制变量 */
+  float ncd;   // 冷却射频（消耗热量 = 自然恢复热量）
+  
+  /* 发射检测状态机 */
+  Shoot_HeatDetectionFSM_State_t detectState; // 检测状态
+  float detectTime;        // 检测计时器
+  float avgFricRpm;        // 摩擦轮平均转速
+  float lastAvgFricRpm;    // 上次摩擦轮平均转速
+  float rpmDrop;           // 转速下降量
+  bool shotDetected;       // 检测到发射标志
+  
+  /* 自主热量估计 */
+  float Hnow_estimated;    // 估计的当前热量
+  float Hnow_fused;        // 融合后的热量值
+  uint16_t shots_detected; // 检测到的发射数
+  uint16_t shots_available;// 当前热量可发射弹数
+}Shoot_HeatControl_t;
+
 typedef struct {
   float out_follow[MAX_FRIC_NUM];
   float out_err[MAX_FRIC_NUM];
@@ -115,6 +151,13 @@ typedef struct {
     float threshold;    /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/
     float suspectedTime;/* 卡弹怀疑时间，单位秒 */
   }jamDetection;/* 卡弹检测参数 */
+  struct {
+    bool enable; /* 是否启用热量控制 */
+    float nmax;//最大射频
+    float Hwarn;//热量预警值
+    float Hsatu;//热量饱和值
+    float Hthres;//热量阈值，超过这个值将无法射击
+  }heatControl;/* 热量控制参数 */
   struct {
   Shoot_MOTOR_RM_Param_t fric[MAX_FRIC_NUM];
   MOTOR_RM_Param_t trig;
@@ -159,6 +202,7 @@ typedef struct {
   /* 控制信息*/         
   Shoot_Running_State_t running_state; /* 运行状态机 */ 
   Shoot_JamDetection_t jamdetection; /* 卡弹检测控制信息 */
+  Shoot_HeatControl_t heatcontrol; /* 热量控制信息 */
   Shoot_VARSForFricCtrl_t var_fric; /* 摩擦轮控制信息 */
   Shoot_VARSForTrigCtrl_t var_trig; /* 角度计算控制信息 */
   Shoot_Output_t output; /* 输出信息 */
@@ -234,7 +278,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s);
  */
 int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);
 
-//void Shoot_DumpUI(Shoot_t *s, Referee_ShootUI_t *ui);
+
 
 #ifdef __cplusplus
 }

User/task/super_cap.c

@@ -46,6 +46,7 @@ void Task_super_cap(void *argument) {
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
+			osMessageQueueGet(task_runtime.msgq.referee.cap, &SuperCap_CanTX.Powerlimit , NULL, 0);		
       SuperCap_Update();
       CAN_TX_SuperCapData(&SuperCap_CanTX);
 			/* 超电UI */

referee.ioc

@@ -288,7 +288,7 @@ PH11.GPIO_Label=LED_Green
 PH11.GPIO_PuPd=GPIO_PULLUP
 PH11.GPIO_Speed=GPIO_SPEED_FREQ_LOW
 PH11.Locked=true
-PH11.PinState=GPIO_PIN_SET
+PH11.PinState=GPIO_PIN_RESET
 PH11.Signal=GPIO_Output
 PH12.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
 PH12.GPIO_Label=LED_Red