修复LK电机id计算错误，构建平衡底盘框架，增加通用通信模块，增加平衡底盘条件编译兼容，删除lqr

Makefile

@@ -1,14 +1,3 @@
-##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.17.1] date: [Thu Oct 20 16:31:27 CST 2022] 
-##########################################################################################################################
-
-# ------------------------------------------------
-# Generic Makefile (based on gcc)
-#
-# ChangeLog :
-#	2017-02-10 - Several enhancements + project update mode
-#   2015-07-22 - first version
-# ------------------------------------------------
 
 ######################################
 # target
@@ -24,7 +13,7 @@ SHELL = cmd.exe
 DEBUG = 1
 # optimization
 OPT = -O0 # O0避免没有使用到的变量被优化,如果没有特殊的调试需求请修改成-Og.
-          # 为了更高的性能,正式上车不需要调试时修改成-O3
+          # 为了更高的性能,正式上车不需要调试时修改成-O3/-Ofast
 
 
 #######################################
@@ -156,6 +145,7 @@ application/gimbal/gimbal.c \
 application/chassis/chassis.c \
 application/shoot/shoot.c \
 application/cmd/robot_cmd.c \
+application/balance_chassis/balance.c \
 application/robot.c 
 
 
@@ -236,6 +226,7 @@ C_INCLUDES =  \
 -Iapplication/shoot \
 -Iapplication/gimbal \
 -Iapplication/cmd \
+-Iapplication/balance_chassis \
 -Iapplication \
 -Ibsp/dwt \
 -Ibsp/can \
@@ -269,7 +260,7 @@ C_INCLUDES =  \
 -Imodules/message_center \
 -Imodules/daemon \
 -Imodules/vofa \
--Imodules/
+-Imodules
 
 # compile gcc flags
 ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
@@ -341,7 +332,7 @@ clean:
 # linux: rm -rf $(BUILD_DIR)
 
 #######################################
-# download without debugging
+# download directl without debugging
 #######################################
 OPENOCD_FLASH_START = 0x08000000 # 如果切换芯片可能需要修改此值
 

TODO.md

@@ -141,6 +141,7 @@
 #### controller
 
 - [x] 增加前馈数据
+- [ ] 将PID的初始化改写为PIDRegister的形式,在controller统一分配内存.
 
 #### user_lib
 
@@ -150,11 +151,22 @@
 
 - [ ] 增加3508和2006的开环零位校准函数
 - [ ] 为实例增加低通滤波系数变量，使不同电机有不同的配置
+- [ ] 正反转标志位设置,需要修改反馈量和pid计算
 
+#### LKmotor
 
+- [ ] 正反转标志位设置,需要修改反馈量和pid计算
+
+#### HTmotor
+
+- [ ] 正反转标志位设置,需要修改反馈量和pid计算
 
 ### 待添加
 
+#### unicomm
+
+- [ ] 完成初版构建
+
 #### step_motor
 
 - [ ] 增加步进电机模块

application/balance_chassis/balance.c

@@ -0,0 +1,229 @@
+#include "balance.h"
+#include "HT04.h"
+#include "LK9025.h"
+#include "bmi088.h"
+#include "referee.h"
+#include "super_cap.h"
+#include "controller.h"
+#include "can_comm.h"
+#include "stdint.h"
+#include "robot_def.h"
+#include "general_def.h"
+#include "arm_math.h" // 需要用到较多三角函数
+
+/* 底盘拥有的模块实例 */
+static BMI088Instance *imu;
+static SuperCapInstance *super_cap;
+static referee_info_t *referee_data; // 裁判系统的数据会被不断更新
+
+static HTMotorInstance *lf;
+static HTMotorInstance *rf;
+static HTMotorInstance *lb;
+static HTMotorInstance *rb;
+static LKMotorInstance *l_driven;
+static LKMotorInstance *r_driven;
+
+static CANCommInstance *chassis_comm; // 底盘板和云台板通信
+static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
+static Chassis_Upload_Data_s chassis_feed_send;
+// 由于采用多板架构,即使使用C板也有空余串口,可以使用串口通信以获得更高的通信速率
+
+/* 方便函数间无开销传递参数的中间变量 */
+// 若将下面的封装函数取缔,则可以将这些变量放入BalanceTask函数体内.
+// static ...
+static float leg_len_l, leg_len_r;     // 左右腿长(虚拟)
+static float leg_angle_l, leg_angle_r; // 左右腿角度(虚拟)
+// 倒立摆的虚拟力和虚拟力矩
+static float F_virtual_left, T_virtual_left, F_virtual_right, T_virtual_right;
+// 左前,左后,右前,右后关节力矩
+static float T_joint_lf, T_joint_lr, T_joint_rf, T_joint_rb;
+static float T_leg_left, T_leg_right; // 左右驱动电机力矩
+
+/* ↓↓↓分割出这些函数是为了提高可读性,使得阅读者的逻辑更加顺畅;但实际上这些函数都不长,可以以注释的形式直接加到BalanceTask里↓↓↓*/
+
+/**
+ * @brief 根据状态反馈计算当前腿长,查表获得LQR的反馈增益,并列式计算LQR的输出
+ *        由于反馈矩阵和控制矩阵都比较稀疏,故不使用矩阵库,避免非零项计算
+ *
+ */
+static void CalcLQR()
+{
+}
+
+/**
+ * @brief 将LQR的输出映射到关节和驱动电机的输出
+ *
+ */
+static void VMCProject()
+{
+}
+
+/**
+ * @brief 腿部角度控制:转向和抗劈叉
+ *
+ */
+static PIDInstance swerving_pid;
+static PIDInstance anti_crash_pid;
+
+static void SynthesizeMotion()
+{
+}
+
+/**
+ * @brief 腿长控制:长度 + roll轴补偿(保持机体水平),用PD模拟弹簧的传递函数
+ *
+ */
+static PIDInstance leg_length_pid;
+static PIDInstance roll_compensate_pid;
+
+static void LegControl()
+{
+}
+
+/**
+ * @brief 离地监测和?跳跃控制
+ *
+ */
+static void FlyDetect()
+{
+}
+
+/**
+ * @brief 功率限制
+ *
+ */
+static void WattLimit()
+{
+}
+
+void BalanceInit()
+{
+    BMI088_Init_Config_s imu_config = {
+        // IMU初始化
+        .spi_acc_config = {
+            .GPIOx = GPIOC,
+            .cs_pin = GPIO_PIN_4,
+            .spi_handle = &hspi1,
+        },
+        .spi_gyro_config = {
+            .GPIOx = GPIOC,
+            .cs_pin = GPIO_PIN_4,
+            .spi_handle = &hspi1,
+        },
+        .acc_int_config = {
+            .exti_mode = EXTI_TRIGGER_FALLING,
+            .GPIO_Pin = GPIO_PIN_10,
+            .GPIOx = GPIOA,
+        },
+        .gyro_int_config = {
+            .exti_mode = EXTI_TRIGGER_FALLING,
+            .GPIO_Pin = GPIO_PIN_11,
+            .GPIOx = GPIOA,
+        },
+        .heat_pid_config = {
+            .Kp = 0.0f,
+            .Kd = 0.0f,
+            .Ki = 0.0f,
+            .MaxOut = 0.0f,
+            .DeadBand = 0.0f,
+        },
+        .heat_pwm_config = {
+            .channel = TIM_CHANNEL_1,
+            .htim = &htim1,
+        },
+        .cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
+        .work_mode = BMI088_BLOCK_PERIODIC_MODE,
+    };
+    imu = BMI088Register(&imu_config);
+
+    SuperCap_Init_Config_s cap_conf = {
+        // 超级电容初始化
+        .can_config.can_handle = &hcan1,
+        .can_config.rx_id = 0x311,
+        .can_config.tx_id = 0x312,
+    };
+    super_cap = SuperCapInit(&cap_conf);
+
+    // ↓↓↓---------------关节电机初始化----------------↓↓↓
+
+    Motor_Init_Config_s joint_conf = {
+        // 写一个,剩下的修改方向和id即可
+
+    };
+    lf = HTMotorInit(&joint_conf);
+
+    rf = HTMotorInit(&joint_conf);
+
+    lb = HTMotorInit(&joint_conf);
+
+    rb = HTMotorInit(&joint_conf);
+
+    // ↓↓↓---------------驱动电机初始化----------------↓↓↓
+
+    Motor_Init_Config_s driven_conf = {
+        // 写一个,剩下的修改方向和id即可
+
+    };
+    l_driven = LKMotorInit(&driven_conf);
+
+    r_driven = LKMotorInit(&driven_conf);
+
+    CANComm_Init_Config_s chassis_comm_conf = {
+        // 底盘板和云台板通信
+        .can_config = {
+            .can_handle = &hcan1,
+            .rx_id = 0x201,
+            .tx_id = 0x200,
+        },
+        .send_data_len = sizeof(Chassis_Upload_Data_s),
+        .recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
+    };
+    chassis_comm = CANCommInit(&chassis_comm_conf);
+
+    referee_data = RefereeInit(&huart6); // 裁判系统串口
+
+    // ↓↓↓---------------综合运动控制----------------↓↓↓
+    PID_Init_Config_s swerving_pid_conf = {
+        .Kp = 0.0f,
+        .Kd = 0.0f,
+        .Ki = 0.0f,
+        .MaxOut = 0.0f,
+        .DeadBand = 0.0f,
+        .Improve = PID_IMPROVE_NONE,
+    };
+    PIDInit(&swerving_pid, &swerving_pid_conf);
+
+    PID_Init_Config_s anti_crash_pid_conf = {
+        .Kp = 0.0f,
+        .Kd = 0.0f,
+        .Ki = 0.0f,
+        .MaxOut = 0.0f,
+        .DeadBand = 0.0f,
+        .Improve = PID_IMPROVE_NONE,
+    };
+    PIDInit(&swerving_pid, &swerving_pid_conf);
+
+    PID_Init_Config_s leg_length_pid_conf = {
+        .Kp = 0.0f,
+        .Kd = 0.0f,
+        .Ki = 0.0f,
+        .MaxOut = 0.0f,
+        .DeadBand = 0.0f,
+        .Improve = PID_IMPROVE_NONE,
+    };
+    PIDInit(&leg_length_pid, &leg_length_pid_conf);
+
+    PID_Init_Config_s roll_compensate_pid_conf = {
+        .Kp = 0.0f,
+        .Kd = 0.0f,
+        .Ki = 0.0f,
+        .MaxOut = 0.0f,
+        .DeadBand = 0.0f,
+        .Improve = PID_IMPROVE_NONE,
+    };
+    PIDInit(&roll_compensate_pid, &roll_compensate_pid_conf);
+}
+
+void BalanceTask()
+{
+}

application/balance_chassis/balance.h

@@ -0,0 +1,17 @@
+#pragma once
+
+/**
+ * @brief 平衡底盘初始化
+ * 
+ */
+void BalanceInit();
+
+/**
+ * @brief 平衡底盘任务
+ * 
+ */
+void BalanceTask();
+
+
+
+

application/balance_chassis/balance.md

@@ -0,0 +1,24 @@
+# balance
+
+可以继续解耦,将VMC独立成模块.
+
+目前默认使用平衡底盘时为双板.
+
+## 工作流程
+
+1. 获取控制信息
+2. 根据控制模式将控制指令转化为实际的参考输入
+3. 使用lqr得出的反馈增益,计算二阶倒立摆模型的控制输出;需要根据当前腿长查gain table,或预先拟合K=f(Leg)的函数
+4. 计算二阶倒立摆$[L0 phi0]$和轮腿[phi1 phi4]间的雅可比,根据VMC将lqr的输出[F Tp]映射成[T1 T2] ; 驱动轮不需要映射
+5. 进行综合运动补偿,即转向控制和抗劈叉
+6. 进行腿长控制计算,即长度控制和roll轴水平控制
+7. 进行离地检测判断是否要让腿保持垂直,后续再加入跳跃功能
+8. 根据裁判系统和超级电容的功率信息进行输出限幅
+9. 设置反馈信息,包括裁判系统的数据,并通过电机反馈和IMU数据计算底盘实际运动状态等
+10. 推送反馈信息
+
+电机初始化为电流环即可,注意基于模型的控制需要正确设定单位
+
+如果功率可能超限,需要判定降低功率输出后受影响最小的执行单元,并给予其较大的功率输出衰减(一般不会超功率)
+
+另外, 选择平衡底盘有枪口冷却增益, 注意将这一部分改变反馈给cmd, 以使得shoot有更好的表现

application/balance_chassis/gain_table.h

@@ -0,0 +1,24 @@
+/* 平衡底盘lqr反馈增益和腿长的关系表,可以选择查找精度和插值 */
+
+#pragma once
+#include "stdint.h"
+#include "arm_math.h"
+#include "math.h"
+
+#define GAIN_TABLE_SIZE 100 // 增益表大小
+
+// K 2x6,6个状态变量2个输出(Tp关节电机和T驱动轮电机)
+static float leglen2gain [GAIN_TABLE_SIZE][2][6] = {};
+
+static interpolation_flag = 0; // 插值方式:1 线性插值 0 关闭插值
+
+void EnalbeInterpolation(void)
+{
+    interpolation_flag = 1;
+}
+
+/* 默认关闭插值,向下取整 */
+float LookUpKgain(float leg_length)
+{
+
+}

application/chassis/chassis.c

@@ -82,7 +82,7 @@ void ChassisInit()
         },
         .motor_type = M3508,
     };
-
+    //  @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改.
     chassis_motor_config.can_init_config.tx_id = 4;
     chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
     motor_lf = DJIMotorInit(&chassis_motor_config);

application/grab/grab.md

@@ -1 +1 @@
-工程机器人夹爪
+工程机器人夹爪  

application/lift/lift.md

@@ -1 +1,3 @@
-抬升/横移机构
+抬升/横移机构
+
+气缸和电磁阀似乎没有必要构建模块,但是也可以组合微动开关和编码器+继电器等传感器构成模块,降低lift的复杂度,完成解耦.

application/robot_def.h

@@ -16,11 +16,11 @@
 #include "master_process.h"
 #include "stdint.h"
 
-
 /* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译,只能存在一个定义! */
 #define ONE_BOARD // 单板控制整车
 // #define CHASSIS_BOARD //底盘板
 // #define GIMBAL_BOARD  //云台板
+// #define BALANCE_BOARD //启用平衡底盘,则默认双板且当前板位底盘,目前不支持!请勿使用!
 
 // @todo: 增加机器人类型定义,后续是否要兼容所有机器人?(只兼容步兵英雄哨兵似乎就够了)
 // 通过该宏,你可以直接将所有机器人的参数保存在一处,然后每次只需要修改这个宏就可以替换所有参数
@@ -179,6 +179,7 @@ typedef struct
  *
  */
 
+/* @todo : 对于平衡底盘,需要新增控制模式和控制数据 */
 typedef struct
 {
 #ifdef CHASSIS_BOARD
@@ -198,6 +199,7 @@ typedef struct
 
 } Chassis_Upload_Data_s;
 
+/* @todo : 对于平衡底盘,需要不同的反馈数据 */
 typedef struct
 {
     attitude_t gimbal_imu_data;

bsp/can/bsp_can.c

@@ -92,7 +92,7 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
 uint8_t CANTransmit(CANInstance *_instance,uint8_t timeout)
 {
     float dwt_start = DWT_GetTimeline_ms();
-    while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0);// 等待邮箱空闲
+    while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0) // 等待邮箱空闲
     {    
         if (DWT_GetTimeline_ms() - dwt_start > timeout) // 超时
         {

bsp/gpio/bsp_gpio.c

@@ -3,11 +3,11 @@
 #include "stdlib.h"
 
 static uint8_t idx;
-static GPIOInstance* gpio_instance[GPIO_MX_DEVICE_NUM] = {NULL};
+static GPIOInstance *gpio_instance[GPIO_MX_DEVICE_NUM] = {NULL};
 
 /**
  * @brief EXTI中断回调函数,根据GPIO_Pin找到对应的GPIOInstance,并调用模块回调函数(如果有)
- * @note 如何判断具体是哪一个GPIO的引脚连接到这个EXTI中断线上? 
+ * @note 如何判断具体是哪一个GPIO的引脚连接到这个EXTI中断线上?
  *       一个EXTI中断线只能连接一个GPIO引脚,因此可以通过GPIO_Pin来判断,PinX对应EXTIX
  *       一个Pin号只会对应一个EXTI,详情见gpio.md
  * @param GPIO_Pin 发生中断的GPIO_Pin
@@ -18,8 +18,8 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
     static GPIOInstance *gpio;
     for (size_t i = 0; i < idx; i++)
     {
-        gpio=gpio_instance[i];
+        gpio = gpio_instance[i];
-        if(gpio->GPIO_Pin==GPIO_Pin && gpio->gpio_model_callback!=NULL)
+        if (gpio->GPIO_Pin == GPIO_Pin && gpio->gpio_model_callback != NULL)
         {
             gpio->gpio_model_callback(gpio);
             return;
@@ -29,16 +29,16 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 
 GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config)
 {
-    GPIOInstance *ins=(GPIOInstance*)malloc(sizeof(GPIOInstance));
+    GPIOInstance *ins = (GPIOInstance *)malloc(sizeof(GPIOInstance));
-    memset(ins,0,sizeof(GPIOInstance));
+    memset(ins, 0, sizeof(GPIOInstance));
-    
+
-    ins->GPIOx=GPIO_config->GPIOx;
+    ins->GPIOx = GPIO_config->GPIOx;
-    ins->GPIO_Pin=GPIO_config->GPIO_Pin;
+    ins->GPIO_Pin = GPIO_config->GPIO_Pin;
-    ins->pin_state=GPIO_config->pin_state;
+    ins->pin_state = GPIO_config->pin_state;
-    ins->exti_mode=GPIO_config->exti_mode;
+    ins->exti_mode = GPIO_config->exti_mode;
-    ins->id=GPIO_config->id;
+    ins->id = GPIO_config->id;
-    ins->gpio_model_callback=GPIO_config->gpio_model_callback;
+    ins->gpio_model_callback = GPIO_config->gpio_model_callback;
-    gpio_instance[idx++]=ins;
+    gpio_instance[idx++] = ins;
     return ins;
 }
 
@@ -47,21 +47,20 @@ GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config)
 
 void GPIOToggel(GPIOInstance *_instance)
 {
-    HAL_GPIO_TogglePin(_instance->GPIOx,_instance->GPIO_Pin);
+    HAL_GPIO_TogglePin(_instance->GPIOx, _instance->GPIO_Pin);
 }
 
 void GPIOSet(GPIOInstance *_instance)
 {
-    HAL_GPIO_WritePin(_instance->GPIOx,_instance->GPIO_Pin,GPIO_PIN_SET);
+    HAL_GPIO_WritePin(_instance->GPIOx, _instance->GPIO_Pin, GPIO_PIN_SET);
 }
 
 void GPIOReset(GPIOInstance *_instance)
 {
-    HAL_GPIO_WritePin(_instance->GPIOx,_instance->GPIO_Pin,GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(_instance->GPIOx, _instance->GPIO_Pin, GPIO_PIN_RESET);
 }
 
 GPIO_PinState GPIORead(GPIOInstance *_instance)
 {
-    return HAL_GPIO_ReadPin(_instance->GPIOx,_instance->GPIO_Pin);
+    return HAL_GPIO_ReadPin(_instance->GPIOx, _instance->GPIO_Pin);
 }
-

bsp/spi/bsp_spi.c

@@ -15,7 +15,7 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
     memset(instance, 0, sizeof(SPIInstance));
 
     instance->spi_handle = conf->spi_handle;
-    instance->GPIO_cs = conf->GPIO_cs;
+    instance->GPIOx = conf->GPIOx;
     instance->cs_pin = conf->cs_pin;
     instance->spi_work_mode = conf->spi_work_mode;
     instance->callback = conf->callback;
@@ -28,7 +28,7 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
 void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
 {
     // 拉低片选,开始传输(选中从机)
-    HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET);
     switch (spi_ins->spi_work_mode)
     {
     case SPI_DMA_MODE:
@@ -40,7 +40,7 @@ void SPITransmit(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
     case SPI_BLOCK_MODE:
         HAL_SPI_Transmit(spi_ins->spi_handle, ptr_data, len, 50); // 默认50ms超时
         // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
-        HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
+        HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
         break;
     default:
         while (1)
@@ -55,7 +55,7 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
     spi_ins->rx_size = len;
     spi_ins->rx_buffer = ptr_data;
     // 拉低片选,开始传输
-    HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET);
     switch (spi_ins->spi_work_mode)
     {
     case SPI_DMA_MODE:
@@ -67,7 +67,7 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
     case SPI_BLOCK_MODE:
         HAL_SPI_Receive(spi_ins->spi_handle, ptr_data, len, 10);
         // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
-        HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
+        HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
         break;
     default:
         while (1)
@@ -82,7 +82,7 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_
     spi_ins->rx_size = len;
     spi_ins->rx_buffer = ptr_data_rx;
     // 拉低片选,开始传输
-    HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET);
     switch (spi_ins->spi_work_mode)
     {
     case SPI_DMA_MODE:
@@ -94,7 +94,7 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_
     case SPI_BLOCK_MODE:
         HAL_SPI_TransmitReceive(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len, 50); // 默认50ms超时
         // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
-        HAL_GPIO_WritePin(spi_ins->GPIO_cs, spi_ins->cs_pin, GPIO_PIN_SET);
+        HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
         break;
     default:
         while (1)
@@ -126,13 +126,13 @@ void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
     {
         // 如果是当前spi硬件发出的complete,且cs_pin为低电平(说明正在传输),则尝试调用回调函数
         if (spi_instance[i]->spi_handle == hspi && // 显然同一时间一条总线只能有一个从机在接收数据
-            HAL_GPIO_ReadPin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin) == GPIO_PIN_RESET)
+            HAL_GPIO_ReadPin(spi_instance[i]->GPIOx, spi_instance[i]->cs_pin) == GPIO_PIN_RESET)
         {
             // 先拉高片选,结束传输,在判断是否有回调函数,如果有则调用回调函数
-            HAL_GPIO_WritePin(spi_instance[i]->GPIO_cs, spi_instance[i]->cs_pin, GPIO_PIN_SET);
+            HAL_GPIO_WritePin(spi_instance[i]->GPIOx, spi_instance[i]->cs_pin, GPIO_PIN_SET);
             if (spi_instance[i]->callback != NULL) // 回调函数不为空, 则调用回调函数
             {
-                
+
                 spi_instance[i]->callback(spi_instance[i]);
             }
             return;

bsp/spi/bsp_spi.h

@@ -18,7 +18,7 @@ typedef enum
 typedef struct spi_ins_temp
 {
     SPI_HandleTypeDef *spi_handle; // SPI外设handle
-    GPIO_TypeDef *GPIO_cs;         // 片选信号对应的GPIO,如GPIOA,GPIOB等等
+    GPIO_TypeDef *GPIOx;           // 片选信号对应的GPIO,如GPIOA,GPIOB等等
     uint16_t cs_pin;               // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等
 
     SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式
@@ -32,12 +32,12 @@ typedef struct spi_ins_temp
 /* 接收回调函数定义,包含SPI的module按照此格式构建回调函数 */
 typedef void (*spi_rx_callback)(SPIInstance *);
 
-// @todo: 这里可以将GPIO_TypeDef *GPIO_cs; uint16_t cs_pin合并为bsp_gpio以简化代码实现
+// @todo: 这里可以将GPIO_TypeDef *GPIOx; uint16_t cs_pin合并为bsp_gpio以简化代码实现
 /* SPI初始化配置,其实基本和SPIIstance一模一样,为了代码风格统一因此再次定义 */
 typedef struct
 {
     SPI_HandleTypeDef *spi_handle; // SPI外设handle
-    GPIO_TypeDef *GPIO_cs;         // 片选信号对应的GPIO,如GPIOA,GPIOB等等
+    GPIO_TypeDef *GPIOx;           // 片选信号对应的GPIO,如GPIOA,GPIOB等等
     uint16_t cs_pin;               // 片选信号对应的引脚号,GPIO_PIN_1,GPIO_PIN_2等等
 
     SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式
@@ -76,7 +76,7 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len);
 /**
  * @brief 通过spi利用移位寄存器同时收发数据
  * @todo  后续加入阻塞模式下的timeout参数
- * 
+ *
  * @param spi_ins spi实例指针
  * @param ptr_data_rx 接收数据地址
  * @param ptr_data_tx 发送数据地址

modules/BMI088/bmi088.h

@@ -109,7 +109,7 @@ BMI088_Data_t BMI088Acquire(BMI088Instance *bmi088);
 /**
  * @brief 标定传感器.BMI088在初始化的时候会调用此函数. 提供接口方便标定离线数据
  * @attention @todo 注意,当操作系统开始运行后,此函数会和INS_Task冲突.目前不允许在运行时调用此函数,后续加入标志位判断以提供运行时重新的标定功能
- * 
+ *
  * @param _bmi088 待标定的实例
  */
 void BMI088CalibrateIMU(BMI088Instance *_bmi088);

modules/BMI088/bmi088.md

@@ -2,19 +2,18 @@
 
 **注意,此模块待测试**
 
-
 ## 示例
 
 ```c
 BMI088_Init_Config_s imu_config = {
         .spi_acc_config={
-            .GPIO_cs=GPIOC,
+            .GPIOx=GPIOC,
-            .GPIO_cs=GPIO_PIN_4,
+            .GPIOx=GPIO_PIN_4,
             .spi_handle=&hspi1,
         },
         .spi_gyro_config={
-            .GPIO_cs=GPIOC,
+            .GPIOx=GPIOC,
-            .GPIO_cs=GPIO_PIN_4,
+            .GPIOx=GPIO_PIN_4,
             .spi_handle=&hspi1,
         },
         .acc_int_config={
@@ -63,9 +62,11 @@ BMI088Instance* imu=BMI088Register(&imu_config);
 `__HAL_GPIO_EXTI_GENERATE_SWIT()`  `HAL_EXTI_GENERATE_SWI()`  可以触发软件中断
 
 of course,两者的数据更新实际上可以异步进行,这里为了方便起见当两者数据都准备好以后再行融合
+
 ## 数据读写规则(so called 16-bit protocol)
 
 加速度计读取read:
+
 1. bit 0 :1 bit 1-7: reg address
 2. dummy read,加速度计此时返回的数据无效
 3. 真正的数据从第三个字节开始.
@@ -76,6 +77,7 @@ byte2: 没用
 byte3: 读取到的数据
 
 write写入:
+
 1. bit 0: 0 bit1-7: reg address
 2. 要写入寄存器的数据(注意没有dummy byte)
 
@@ -84,6 +86,7 @@ write写入:
 **注意,陀螺仪和加速度计的读取不同**
 
 陀螺仪gyro读取read:
+
 1. bit 0 :1 bit1-7: reg address
 2. 读回的数据
 
@@ -92,7 +95,6 @@ byte1: 1(读)+7位寄存器地址
 byte2: 读取到的数据
 
 write写入:
+
 1. bit0 : 0 bit1-7 : reg address
 2. 写入的数据
-
-

modules/algorithm/LQR.c

@@ -1 +0,0 @@
-#include "LQR.h"

modules/algorithm/LQR.h

@@ -1,12 +0,0 @@
-/**
- * @file LQR.h
- * @author your name (you@domain.com)
- * @brief 利用arm math库实现矩阵运算功能
- * @version 0.1
- * @date 2023-02-14
- * 
- * @copyright Copyright (c) 2023
- * 
- */
-
-#pragma once

modules/algorithm/controller.c

@@ -9,7 +9,7 @@
  * @copyrightCopyright (c) 2022 HNU YueLu EC all rights reserved
  */
 #include "controller.h"
-#include <memory.h>
+#include "memory.h"
 
 /* ----------------------------下面是pid优化环节的实现---------------------------- */
 
@@ -40,7 +40,7 @@ static void f_Integral_Limit(PIDInstance *pid)
     static float temp_Output, temp_Iout;
     temp_Iout = pid->Iout + pid->ITerm;
     temp_Output = pid->Pout + pid->Iout + pid->Dout;
-    if (abs(temp_Output) > pid->MaxOut) 
+    if (abs(temp_Output) > pid->MaxOut)
     {
         if (pid->Err * pid->Iout > 0) // 积分却还在累积
         {
@@ -117,7 +117,6 @@ static void f_PID_ErrorHandle(PIDInstance *pid)
     }
 }
 
-
 /* ---------------------------下面是PID的外部算法接口--------------------------- */
 
 /**
@@ -126,8 +125,8 @@ static void f_PID_ErrorHandle(PIDInstance *pid)
  * @param pid    PID实例
  * @param config PID初始化设置
  */
-void PID_Init(PIDInstance *pid, PID_Init_Config_s *config)
+void PIDInit(PIDInstance *pid, PID_Init_Config_s *config)
-{   
+{
     // config的数据和pid的部分数据是连续且相同的的,所以可以直接用memcpy
     // @todo: 不建议这样做,可扩展性差,不知道的开发者可能会误以为pid和config是同一个结构体
     // 后续修改为逐个赋值
@@ -135,7 +134,6 @@ void PID_Init(PIDInstance *pid, PID_Init_Config_s *config)
     // utilize the quality of struct that its memeory is continuous
     memcpy(pid, config, sizeof(PID_Init_Config_s));
     // set rest of memory to 0
-    
 }
 
 /**
@@ -145,13 +143,13 @@ void PID_Init(PIDInstance *pid, PID_Init_Config_s *config)
  * @param[in]      期望值
  * @retval         返回空
  */
-float PID_Calculate(PIDInstance *pid, float measure, float ref)
+float PIDCalculate(PIDInstance *pid, float measure, float ref)
 {
     // 堵转检测
-    if (pid->Improve & ErrorHandle)
+    if (pid->Improve & PID_ErrorHandle)
         f_PID_ErrorHandle(pid);
 
-    pid->dt = DWT_GetDeltaT((void *)&pid->DWT_CNT); //获取两次pid计算的时间间隔,用于积分和微分
+    pid->dt = DWT_GetDeltaT((void *)&pid->DWT_CNT); // 获取两次pid计算的时间间隔,用于积分和微分
 
     // 保存上次的测量值和误差,计算当前error
     pid->Measure = measure;
@@ -160,33 +158,33 @@ float PID_Calculate(PIDInstance *pid, float measure, float ref)
 
     // 如果在死区外,则计算PID
     if (abs(pid->Err) > pid->DeadBand)
-    {   
+    {
         // 基本的pid计算,使用位置式
         pid->Pout = pid->Kp * pid->Err;
         pid->ITerm = pid->Ki * pid->Err * pid->dt;
         pid->Dout = pid->Kd * (pid->Err - pid->Last_Err) / pid->dt;
 
         // 梯形积分
-        if (pid->Improve & Trapezoid_Intergral)
+        if (pid->Improve & PID_Trapezoid_Intergral)
             f_Trapezoid_Intergral(pid);
         // 变速积分
-        if (pid->Improve & ChangingIntegrationRate)
+        if (pid->Improve & PID_ChangingIntegrationRate)
             f_Changing_Integration_Rate(pid);
         // 微分先行
-        if (pid->Improve & Derivative_On_Measurement)
+        if (pid->Improve & PID_Derivative_On_Measurement)
             f_Derivative_On_Measurement(pid);
         // 微分滤波器
-        if (pid->Improve & DerivativeFilter)
+        if (pid->Improve & PID_DerivativeFilter)
             f_Derivative_Filter(pid);
         // 积分限幅
-        if (pid->Improve & Integral_Limit)
+        if (pid->Improve & PID_Integral_Limit)
             f_Integral_Limit(pid);
 
-        pid->Iout += pid->ITerm; // 累加积分
+        pid->Iout += pid->ITerm;                         // 累加积分
         pid->Output = pid->Pout + pid->Iout + pid->Dout; // 计算输出
 
         // 输出滤波
-        if (pid->Improve & OutputFilter)
+        if (pid->Improve & PID_OutputFilter)
             f_Output_Filter(pid);
 
         // 输出限幅
@@ -194,10 +192,10 @@ float PID_Calculate(PIDInstance *pid, float measure, float ref)
     }
     else // 进入死区, 则清空积分和输出
     {
-        pid->Output=0;
+        pid->Output = 0;
-        pid->ITerm=0;
+        pid->ITerm = 0;
     }
-    
+
     // 保存当前数据,用于下次计算
     pid->Last_Measure = pid->Measure;
     pid->Last_Output = pid->Output;

modules/algorithm/controller.h

@@ -15,7 +15,7 @@
 
 #include "main.h"
 #include "stdint.h"
-#include "string.h"
+#include "memory.h"
 #include "stdlib.h"
 #include "bsp_dwt.h"
 #include "arm_math.h"
@@ -25,18 +25,18 @@
 #define abs(x) ((x > 0) ? x : -x)
 #endif
 
-// PID 优化环节使能标志位
+// PID 优化环节使能标志位,通过位与可以判断启用的优化环节;也可以改成位域的形式
 typedef enum
 {
-    PID_IMPROVE_NONE = 0b00000000,            // 0000 0000
+    PID_IMPROVE_NONE = 0b00000000,                // 0000 0000
-    Integral_Limit = 0b00000001,              // 0000 0001
+    PID_Integral_Limit = 0b00000001,              // 0000 0001
-    Derivative_On_Measurement = 0b00000010,   // 0000 0010
+    PID_Derivative_On_Measurement = 0b00000010,   // 0000 0010
-    Trapezoid_Intergral = 0b00000100,         // 0000 0100
+    PID_Trapezoid_Intergral = 0b00000100,         // 0000 0100
-    Proportional_On_Measurement = 0b00001000, // 0000 1000
+    PID_Proportional_On_Measurement = 0b00001000, // 0000 1000
-    OutputFilter = 0b00010000,                // 0001 0000
+    PID_OutputFilter = 0b00010000,                // 0001 0000
-    ChangingIntegrationRate = 0b00100000,     // 0010 0000
+    PID_ChangingIntegrationRate = 0b00100000,     // 0010 0000
-    DerivativeFilter = 0b01000000,            // 0100 0000
+    PID_DerivativeFilter = 0b01000000,            // 0100 0000
-    ErrorHandle = 0b10000000,                 // 1000 0000
+    PID_ErrorHandle = 0b10000000,                 // 1000 0000
 } PID_Improvement_e;
 
 /* PID 报错类型枚举*/
@@ -60,16 +60,16 @@ typedef struct
     float Kp;
     float Ki;
     float Kd;
-
     float MaxOut;
-    float IntegralLimit;
     float DeadBand;
+
+    PID_Improvement_e Improve;
+    float IntegralLimit;
     float CoefA;         // For Changing Integral
     float CoefB;         // ITerm = Err*((A-abs(err)+B)/A)  when B<|err|<A+B
     float Output_LPF_RC; // RC = 1/omegac
     float Derivative_LPF_RC;
 
-    PID_Improvement_e Improve;
     //-----------------------------------
     // for calculating
     float Measure;
@@ -96,31 +96,31 @@ typedef struct
 } PIDInstance;
 
 /* 用于PID初始化的结构体*/
-typedef struct
+typedef struct // config parameter
 {
-    // config parameter
+    // basic parameter
     float Kp;
     float Ki;
     float Kd;
+    float MaxOut;   // 输出限幅
+    float DeadBand; // 死区
 
-    float MaxOut;        // 输出限幅
+    // improve parameter
+    PID_Improvement_e Improve;
     float IntegralLimit; // 积分限幅
-    float DeadBand;      // 死区
     float CoefA;         // For Changing Integral
     float CoefB;         // ITerm = Err*((A-abs(err)+B)/A)  when B<|err|<A+B
     float Output_LPF_RC; // RC = 1/omegac
     float Derivative_LPF_RC;
-
-    PID_Improvement_e Improve;
 } PID_Init_Config_s;
 
 /**
  * @brief 初始化PID实例
- *
+ * @todo 待修改为统一的PIDRegister风格
  * @param pid    PID实例指针
  * @param config PID初始化配置
  */
-void PID_Init(PIDInstance *pid, PID_Init_Config_s *config);
+void PIDInit(PIDInstance *pid, PID_Init_Config_s *config);
 
 /**
  * @brief 计算PID输出
@@ -130,6 +130,6 @@ void PID_Init(PIDInstance *pid, PID_Init_Config_s *config);
  * @param ref     设定值
  * @return float  PID计算输出
  */
-float PID_Calculate(PIDInstance *pid, float measure, float ref);
+float PIDCalculate(PIDInstance *pid, float measure, float ref);
 
 #endif

modules/algorithm/kalman_filter.h

@@ -37,6 +37,7 @@
 #endif
 #endif
 
+// 若运算速度不够,可以使用q31代替f32,但是精度会降低
 #define mat arm_matrix_instance_f32
 #define Matrix_Init arm_mat_init_f32
 #define Matrix_Add arm_mat_add_f32

modules/algorithm/user_lib.c

@@ -12,7 +12,7 @@
  ******************************************************************************
  */
 #include "stdlib.h"
-#include "string.h"
+#include "memory.h"
 #include "user_lib.h"
 #include "math.h"
 #include "main.h"
@@ -25,10 +25,10 @@
 
 uint8_t GlobalDebugMode = 7;
 
-void* zero_malloc(size_t size)
+void *zero_malloc(size_t size)
 {
-    void* ptr=malloc(size);
+    void *ptr = malloc(size);
-    memset(ptr,0,size);
+    memset(ptr, 0, size);
     return ptr;
 }
 
@@ -96,7 +96,6 @@ float float_deadband(float Value, float minValue, float maxValue)
     return Value;
 }
 
-
 // 限幅函数
 float float_constrain(float Value, float minValue, float maxValue)
 {

modules/imu/ins_task.c

@@ -39,7 +39,7 @@ static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[
  */
 static void IMU_Temperature_Ctrl(void)
 {
-    PID_Calculate(&TempCtrl, BMI088.Temperature, RefTemp);
+    PIDCalculate(&TempCtrl, BMI088.Temperature, RefTemp);
     IMUPWMSet(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
 }
 
@@ -58,17 +58,17 @@ attitude_t *INS_Init(void)
     IMU_QuaternionEKF_Init(10, 0.001, 10000000, 1, 0);
     // imu heat init
     PID_Init_Config_s config = {.MaxOut = 2000,
-                                .IntegralLimit = 300,
+                               .IntegralLimit = 300,
-                                .DeadBand = 0,
+                               .DeadBand = 0,
-                                .Kp = 1000,
+                               .Kp = 1000,
-                                .Ki = 20,
+                               .Ki = 20,
-                                .Kd = 0,
+                               .Kd = 0,
-                                .Improve = 0x01}; // enable integratiaon limit
+                               .Improve = 0x01}; // enable integratiaon limit
-    PID_Init(&TempCtrl, &config);
+    PIDInit(&TempCtrl, &config);
 
     // noise of accel is relatively big and of high freq,thus lpf is used
     INS.AccelLPF = 0.0085;
-    return (attitude_t*)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
+    return (attitude_t *)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
 }
 
 /* 注意以1kHz的频率运行此任务 */
@@ -76,7 +76,7 @@ void INS_Task(void)
 {
     static uint32_t count = 0;
     const float gravity[3] = {0, 0, 9.81f};
-    
+
     dt = DWT_GetDeltaT(&INS_DWT_Count);
     t += dt;
 

modules/ist8310/ist8310.md

@@ -1,4 +1,6 @@
 
+# ist8310
+
 ## 使用示例
 
 ```c
@@ -25,4 +27,4 @@ IST8310_Init_Config_s ist8310_conf = {
 IST8310Instance *asdf = IST8310Init(&ist8310_conf);
 
 // 随后数据会被放到asdf.mag[i]中
-```
+```

modules/led/led.c

@@ -1,44 +1,39 @@
 #include "led.h"
 #include "stdlib.h"
-#include "string.h"
+#include "memory.h"
 #include "user_lib.h"
 
 static uint8_t idx;
-static LEDInstance* bsp_led_ins[LED_MAX_NUM] = {NULL};
+static LEDInstance *bsp_led_ins[LED_MAX_NUM] = {NULL};
 
 LEDInstance *LEDRegister(LED_Init_Config_s *led_config)
 {
     LEDInstance *led_ins = (LEDInstance *)zero_malloc(sizeof(LEDInstance));
     // 剩下的值暂时都被置零
-    led_ins->led_pwm=GPIORegister(&led_config->pwm_config);
+    led_ins->led_pwm = GPIORegister(&led_config->pwm_config);
-    led_ins->led_switch=led_config->init_swtich;
+    led_ins->led_switch = led_config->init_swtich;
-    
+
     bsp_led_ins[idx++] = led_ins;
     return led_ins;
 }
 
-void LEDSet(LEDInstance *_led,uint8_t alpha,uint8_t color_value,uint8_t brightness)
+void LEDSet(LEDInstance *_led, uint8_t alpha, uint8_t color_value, uint8_t brightness)
 {
-    
 }
 
-
+void LEDSwitch(LEDInstance *_led, uint8_t led_switch)
-void LEDSwitch(LEDInstance *_led,uint8_t led_switch)
 {
-    if(led_switch==1)
+    if (led_switch == 1)
     {
-        _led->led_switch=1;
+        _led->led_switch = 1;
     }
     else
     {
-        _led->led_switch=0;
+        _led->led_switch = 0;
         // PWMSetPeriod(_led,0);
     }
 }
 
-
 void LEDShow()
 {
-    
 }
-

modules/motor/DJImotor/dji_motor.c

@@ -157,9 +157,9 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config)
     instance->motor_settings = config->controller_setting_init_config; // 正反转,闭环类型等
 
     // motor controller init 电机控制器初始化
-    PID_Init(&instance->motor_controller.current_PID, &config->controller_param_init_config.current_PID);
+    PIDInit(&instance->motor_controller.current_PID, &config->controller_param_init_config.current_PID);
-    PID_Init(&instance->motor_controller.speed_PID, &config->controller_param_init_config.speed_PID);
+    PIDInit(&instance->motor_controller.speed_PID, &config->controller_param_init_config.speed_PID);
-    PID_Init(&instance->motor_controller.angle_PID, &config->controller_param_init_config.angle_PID);
+    PIDInit(&instance->motor_controller.angle_PID, &config->controller_param_init_config.angle_PID);
     instance->motor_controller.other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
     instance->motor_controller.other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
     // 后续增加电机前馈控制器(速度和电流)
@@ -248,7 +248,7 @@ void DJIMotorControl()
             else
                 pid_measure = motor_measure->total_angle; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃
             // 更新pid_ref进入下一个环
-            pid_ref = PID_Calculate(&motor_controller->angle_PID, pid_measure, pid_ref);
+            pid_ref = PIDCalculate(&motor_controller->angle_PID, pid_measure, pid_ref);
         }
 
         // 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
@@ -259,13 +259,13 @@ void DJIMotorControl()
             else // MOTOR_FEED
                 pid_measure = motor_measure->speed_aps;
             // 更新pid_ref进入下一个环
-            pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, pid_ref);
+            pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref);
         }
 
         // 计算电流环,目前只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
         if (motor_setting->close_loop_type & CURRENT_LOOP)
         {
-            pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->real_current, pid_ref);
+            pid_ref = PIDCalculate(&motor_controller->current_PID, motor_measure->real_current, pid_ref);
         }
 
         // 获取最终输出

modules/motor/DJImotor/dji_motor.md

@@ -57,8 +57,8 @@ dji_motor模块对DJI智能电机，包括M2006，M3508以及GM6020进行了详
     CURRENT_LOOP 
     SPEED_LOOP 
     ANGLE_LOOP 
-    CURRENT_LOOP | SPEED_LOOP  			  // 同时对电流和速度闭环
+    CURRENT_LOOP | SPEED_LOOP       // 同时对电流和速度闭环
-    SPEED_LOOP   | ANGLE_LOOP  			  // 同时对速度和位置闭环
+    SPEED_LOOP   | ANGLE_LOOP       // 同时对速度和位置闭环
     CURRENT_LOOP | SPEED_LOOP |ANGLE_LOOP // 三环全开
     ```
 
@@ -87,7 +87,7 @@ dji_motor模块对DJI智能电机，包括M2006，M3508以及GM6020进行了详
         float Kp;
         float Ki;
         float Kd;
-    	
+     
         float MaxOut;        // 输出限幅
         // 以下是优化参数
         float IntegralLimit; // 积分限幅
@@ -98,22 +98,22 @@ dji_motor模块对DJI智能电机，包括M2006，M3508以及GM6020进行了详
         float Derivative_LPF_RC;
         
         PID_Improvement_e Improve; // 优化环节，定义在下一个代码块
-    } PID_Init_config_s;
+    } PIDInit_config_s;
     // 只有当你设启用了对应的优化环节，优化参数才会生效
     ```
 
     ```c
     typedef enum
     {
-        NONE						= 0b00000000,                     
+        NONE      = 0b00000000,                     
-        Integral_Limit 				= 0b00000001,           
+        Integral_Limit     = 0b00000001,           
         Derivative_On_Measurement   = 0b00000010,   
-        Trapezoid_Intergral 	    = 0b00000100,       
+        Trapezoid_Intergral      = 0b00000100,       
         Proportional_On_Measurement = 0b00001000, 
-        OutputFilter 				= 0b00010000,               
+        OutputFilter     = 0b00010000,               
-        ChangingIntegrationRate 	= 0b00100000,    
+        ChangingIntegrationRate  = 0b00100000,    
-        DerivativeFilter 			= 0b01000000,            
+        DerivativeFilter    = 0b01000000,            
-        ErrorHandle 				= 0b10000000,         
+        ErrorHandle     = 0b10000000,         
     } PID_Improvement_e;
     // 若希望使用多个环节的优化，这样就行：Integral_Limit |Trapezoid_Intergral|...|...
     ```
@@ -123,35 +123,31 @@ dji_motor模块对DJI智能电机，包括M2006，M3508以及GM6020进行了详
     float *other_speed_feedback_ptr
     ```
 
-
-
 ---
 
-
-
 推荐的初始化参数编写格式如下：
 
 ```c
 Motor_Init_Config_s config = {
-		.motor_type = M3508,  // 要注册的电机为3508电机
+  .motor_type = M3508,  // 要注册的电机为3508电机
-		.can_init_config = {.can_handle = &hcan1, // 挂载在CAN1
+  .can_init_config = {.can_handle = &hcan1, // 挂载在CAN1
-							.tx_id = 1},          // C620每隔一段时间闪动1次,设置为1
+       .tx_id = 1},          // C620每隔一段时间闪动1次,设置为1
-		// 采用电机编码器角度与速度反馈,启用速度环和电流环,不反转,最外层闭环为速度环
+  // 采用电机编码器角度与速度反馈,启用速度环和电流环,不反转,最外层闭环为速度环
         .controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED, 
-										   
+             
             .outer_loop_type = SPEED_LOOP,
             .close_loop_type = SPEED_LOOP | CURRENT_LOOP, 
-										   .speed_feedback_source = MOTOR_FEED, 
+             .speed_feedback_source = MOTOR_FEED, 
-										   .reverse_flag = MOTOR_DIRECTION_NORMAL},
+             .reverse_flag = MOTOR_DIRECTION_NORMAL},
-    	// 电流环和速度环PID参数的设置,不采用计算优化则不需要传入Improve参数
+     // 电流环和速度环PID参数的设置,不采用计算优化则不需要传入Improve参数
         // 不使用其他数据来源(如IMU),不需要传入反馈数据变量指针
-		.controller_param_init_config = {.current_PID = {.Improve = 0,
+  .controller_param_init_config = {.current_PID = {.Improve = 0,
                                                          .Kp = 1,
                                                          .Ki = 0,
                                                          .Kd = 0,
                                                          .DeadBand = 0,
                                                          .MaxOut = 4000},
-										 .speed_PID = {.Improve = 0,
+           .speed_PID = {.Improve = 0,
                                                        .Kp = 1,
                                                        .Ki = 0,
                                                        .Kd = 0,
@@ -161,12 +157,8 @@ Motor_Init_Config_s config = {
 dji_motor_instance *djimotor = DJIMotorInit(config); // 设置好参数后进行初始化并保留返回的指针
 ```
 
-
-
 ---
 
-
-
 要控制一个DJI电机，我们提供了2个接口：
 
 ```c
@@ -189,16 +181,10 @@ float speed=LeftForwardMotor->motor_measure->speed_rpm;
 ...
 ```
 
-
-
 ***现在，忘记PID的计算和发送、接收以及协议解析，专注于模块之间的逻辑交互吧。***
 
-
-
 ---
 
-
-
 ## 代码结构
 
 .h文件内包括了外部接口和类型定义,以及模块对应的宏。c文件内为私有函数和外部接口的定义。
@@ -236,8 +222,8 @@ typedef struct
     /* sender assigment*/
     uint8_t sender_group;
     uint8_t message_num;
-	
+ 
-  	uint8_t stop_flag;
+   uint8_t stop_flag;
     
     Motor_Type_e motor_type;
 } dji_motor_instance;
@@ -372,8 +358,6 @@ void DJIMotorOuterLoop(dji_motor_instance *motor);
 
 - `DJIMotorOuterLoop()`用于修改电机的外部闭环类型，即电机的真实闭环目标。
 
-  
-
 ## 私有函数和变量
 
 在.c文件内设为static的函数和变量
@@ -401,7 +385,7 @@ static dji_motor_instance *dji_motor_info[DJI_MOTOR_CNT] = {NULL};
 static can_instance sender_assignment[6] =
 {
         [0] = {.can_handle = &hcan1, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
-		...
+  ...
         ...
 };
 
@@ -439,19 +423,19 @@ static void DecodeDJIMotor(can_instance *_instance)
 ```c
 //初始化设置
 Motor_Init_Config_s config = {
-		.motor_type = GM6020,
+  .motor_type = GM6020,
-		.can_init_config = {
+  .can_init_config = {
-			.can_handle = &hcan1,
+   .can_handle = &hcan1,
-			.tx_id = 6
+   .tx_id = 6
         },
-		.controller_setting_init_config = {
+  .controller_setting_init_config = {
             .angle_feedback_source = MOTOR_FEED, 
             .outer_loop_type = SPEED_LOOP,
             .close_loop_type = SPEED_LOOP | ANGLE_LOOP, 
             .speed_feedback_source = MOTOR_FEED, 
             .reverse_flag = MOTOR_DIRECTION_NORMAL
         },
-		.controller_param_init_config = {
+  .controller_param_init_config = {
             .angle_PID = {
                 .Improve = 0, 
                 .Kp = 1, 
@@ -479,4 +463,4 @@ dji_motor_instance *djimotor = DJIMotorInit(&config);
 DJIMotorSetRef(djimotor, 10);
 ```
 
-前提是已经将`DJIMotorControl()`放入实时系统任务当中或以一定d。你也可以单独执行`DJIMotorControl()`。
+前提是已经将`DJIMotorControl()`放入实时系统任务当中或以一定d。你也可以单独执行`DJIMotorControl()`。

modules/motor/HTmotor/HT04.c

@@ -12,7 +12,7 @@ HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
  * @param motor
  */
 static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor)
-{                                                        
+{
     memset(motor->motor_can_instace->tx_buff, 0xff, 7);  // 发送电机指令的时候前面7bytes都是0xff
     motor->motor_can_instace->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id
     CANTransmit(motor->motor_can_instace, 1);
@@ -67,9 +67,9 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
     memset(motor, 0, sizeof(HTMotorInstance));
 
     motor->motor_settings = config->controller_setting_init_config;
-    PID_Init(&motor->current_PID, &config->controller_param_init_config.current_PID);
+    PIDInit(&motor->current_PID, &config->controller_param_init_config.current_PID);
-    PID_Init(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
+    PIDInit(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
-    PID_Init(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
+    PIDInit(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
     motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
     motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
 
@@ -112,7 +112,7 @@ void HTMotorControl()
             else
                 pid_measure = measure->real_current;
             // measure单位是rad,ref是角度,统一到angle下计算,方便建模
-            pid_ref = PID_Calculate(&motor->angle_PID, pid_measure*RAD_2_ANGLE, pid_ref);
+            pid_ref = PIDCalculate(&motor->angle_PID, pid_measure * RAD_2_ANGLE, pid_ref);
         }
 
         if ((setting->close_loop_type & SPEED_LOOP) && setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))
@@ -125,7 +125,7 @@ void HTMotorControl()
             else
                 pid_measure = measure->speed_aps;
             // measure单位是rad / s ,ref是angle per sec,统一到angle下计算
-            pid_ref = PID_Calculate(&motor->speed_PID, pid_measure*RAD_2_ANGLE, pid_ref);
+            pid_ref = PIDCalculate(&motor->speed_PID, pid_measure * RAD_2_ANGLE, pid_ref);
         }
 
         if (setting->close_loop_type & CURRENT_LOOP)
@@ -133,15 +133,15 @@ void HTMotorControl()
             if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
                 pid_ref += *motor->current_feedforward_ptr;
 
-            pid_ref = PID_Calculate(&motor->current_PID, measure->real_current, pid_ref);
+            pid_ref = PIDCalculate(&motor->current_PID, measure->real_current, pid_ref);
         }
 
         set = pid_ref;
         if (setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
             set *= -1;
 
-        LIMIT_MIN_MAX(set, T_MIN, T_MAX); // 限幅,实际上这似乎和pid输出限幅重复了
+        LIMIT_MIN_MAX(set, T_MIN, T_MAX);           // 限幅,实际上这似乎和pid输出限幅重复了
-        tmp = float_to_uint(set, T_MIN, T_MAX, 12);  // 数值最后在 -12~+12之间
+        tmp = float_to_uint(set, T_MIN, T_MAX, 12); // 数值最后在 -12~+12之间
         motor_can->tx_buff[6] = (tmp >> 8);
         motor_can->tx_buff[7] = tmp & 0xff;
 

modules/motor/LKmotor/LK9025.c

@@ -6,6 +6,11 @@ static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL};
 static CANInstance *sender_instance; // 多电机发送时使用的caninstance(当前保存的是注册的第一个电机的caninstance)
 // 后续考虑兼容单电机和多电机指令.
 
+/**
+ * @brief 电机反馈报文解析
+ *
+ * @param _instance 发生中断的caninstance
+ */
 static void LKMotorDecode(CANInstance *_instance)
 {
     static LKMotor_Measure_t *measure;
@@ -34,30 +39,31 @@ static void LKMotorDecode(CANInstance *_instance)
     measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
 }
 
-LKMotorInstance *LKMotroInit(Motor_Init_Config_s *config)
+LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
 {
     LKMotorInstance *motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
     motor = (LKMotorInstance *)malloc(sizeof(LKMotorInstance));
     memset(motor, 0, sizeof(LKMotorInstance));
 
     motor->motor_settings = config->controller_setting_init_config;
-    PID_Init(&motor->current_PID, &config->controller_param_init_config.current_PID);
+    PIDInit(&motor->current_PID, &config->controller_param_init_config.current_PID);
-    PID_Init(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
+    PIDInit(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
-    PID_Init(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
+    PIDInit(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
     motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
     motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
 
     config->can_init_config.id = motor;
     config->can_init_config.can_module_callback = LKMotorDecode;
     config->can_init_config.rx_id = 0x140 + config->can_init_config.tx_id;
-    config->can_init_config.tx_id = config->can_init_config.tx_id + 0x280;
+    config->can_init_config.tx_id = config->can_init_config.tx_id + 0x280 - 1; // 这样在发送写入buffer的时候更方便,因为下标从0开始,LK多电机发送id为0x280
     motor->motor_can_ins = CANRegister(&config->can_init_config);
 
-    if (idx == 0)
+    if (idx == 0) // 用第一个电机的can instance发送数据
         sender_instance = motor->motor_can_ins;
 
     LKMotorEnable(motor);
-    return lkmotor_instance[idx++];
+    lkmotor_instance[idx++] = motor;
+    return motor;
 }
 
 /* 第一个电机的can instance用于发送数据,向其tx_buff填充数据 */
@@ -82,7 +88,7 @@ void LKMotorControl()
                 pid_measure = *motor->other_angle_feedback_ptr;
             else
                 pid_measure = measure->real_current;
-            pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
+            pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
             if (setting->feedforward_flag & SPEED_FEEDFORWARD)
                 pid_ref += *motor->speed_feedforward_ptr;
         }
@@ -93,31 +99,31 @@ void LKMotorControl()
                 pid_measure = *motor->other_speed_feedback_ptr;
             else
                 pid_measure = measure->speed_aps;
-            pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
+            pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
             if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
                 pid_ref += *motor->current_feedforward_ptr;
         }
 
         if (setting->close_loop_type & CURRENT_LOOP)
         {
-            pid_ref = PID_Calculate(&motor->current_PID, measure->real_current, pid_ref);
+            pid_ref = PIDCalculate(&motor->current_PID, measure->real_current, pid_ref);
         }
 
         set = pid_ref;
         if (setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
             set *= -1;
         // 这里随便写的,为了兼容多电机命令.后续应该将tx_id以更好的方式表达电机id,单独使用一个CANInstance,而不是用第一个电机的CANInstance
-        memcpy(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280 - 1) * 2, &set, sizeof(uint16_t));
+        memcpy(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, &set, sizeof(uint16_t));
 
         if (motor->stop_flag == MOTOR_STOP)
         { // 若该电机处于停止状态,直接将发送buff置零
-            memset(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280 - 1) * 2, 0, sizeof(uint16_t));
+            memset(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, 0, sizeof(uint16_t));
         }
     }
 
     if (idx) // 如果有电机注册了
     {
-        CANTransmit(sender_instance,1);
+        CANTransmit(sender_instance, 1);
     }
 }
 

modules/motor/LKmotor/LK9025.h

@@ -13,19 +13,19 @@
 #define CURRENT_SMOOTH_COEF 0.9f
 #define SPEED_SMOOTH_COEF 0.85f
 #define REDUCTION_RATIO_DRIVEN 1
-#define ECD_ANGLE_COEF_LK (360.0f/65536.0f)
+#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)
 
 typedef struct // 9025
 {
-    uint16_t last_ecd;// 上一次读取的编码器值
+    uint16_t last_ecd;        // 上一次读取的编码器值
-    uint16_t ecd; // 
+    uint16_t ecd;             // 当前编码器值
     float angle_single_round; // 单圈角度
-    float speed_aps; // speed angle per sec(degree:°)
+    float speed_aps;          // speed angle per sec(degree:°)
-    int16_t real_current; // 实际电流
+    int16_t real_current;     // 实际电流
-    uint8_t temperate; //温度,C°
+    uint8_t temperate;        // 温度,C°
 
-    float total_angle; // 总角度
+    float total_angle;   // 总角度
-    int32_t total_round; //总圈数
+    int32_t total_round; // 总圈数
 
 } LKMotor_Measure_t;
 
@@ -37,8 +37,8 @@ typedef struct
 
     float *other_angle_feedback_ptr; // 其他反馈来源的反馈数据指针
     float *other_speed_feedback_ptr;
-    float *speed_feedforward_ptr;
+    float *speed_feedforward_ptr;   // 速度前馈数据指针,可以通过此指针设置速度前馈值,或LQR等时作为速度状态变量的输入
-    float *current_feedforward_ptr;
+    float *current_feedforward_ptr; // 电流前馈指针
     PIDInstance current_PID;
     PIDInstance speed_PID;
     PIDInstance angle_PID;
@@ -46,22 +46,45 @@ typedef struct
 
     Motor_Working_Type_e stop_flag; // 启停标志
 
-    CANInstance* motor_can_ins;
+    CANInstance *motor_can_ins;
-    
-}LKMotorInstance;
 
+} LKMotorInstance;
 
-LKMotorInstance *LKMotroInit(Motor_Init_Config_s* config);
+/**
+ * @brief 初始化LK电机
+ *
+ * @param config 电机配置
+ * @return LKMotorInstance* 返回实例指针
+ */
+LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config);
 
-void LKMotorSetRef(LKMotorInstance* motor,float ref);
+/**
+ * @brief 设置参考值
+ * @attention 注意此函数设定的ref是最外层闭环的输入,若要设定内层闭环的值请通过前馈数据指针设置
+ *
+ * @param motor 要设置的电机
+ * @param ref 设定值
+ */
+void LKMotorSetRef(LKMotorInstance *motor, float ref);
 
+/**
+ * @brief 为所有LK电机计算pid/反转/模式控制,并通过bspcan发送电流值(发送CAN报文)
+ *
+ */
 void LKMotorControl();
 
+/**
+ * @brief 停止LK电机,之后电机不会响应任何指令
+ *
+ * @param motor
+ */
 void LKMotorStop(LKMotorInstance *motor);
 
+/**
+ * @brief 启动LK电机
+ *
+ * @param motor
+ */
 void LKMotorEnable(LKMotorInstance *motor);
 
-void LKMotorSetRef(LKMotorInstance *motor,float ref);
-
-
 #endif // LK9025_H

modules/motor/LKmotor/LK_motor.md

@@ -2,4 +2,4 @@ LK motor
 
 这是瓴控电机的模块封装说明文档。关于LK电机的控制报文和反馈报文值，详见LK电机的说明文档。
 
-注意LK电机在使用多电机发送的时候，只支持一条总线上至多4个电机，多电机模式下LK仅支持接收ID为0x280.
+注意LK电机在使用多电机发送的时候，只支持一条总线上至多4个电机，多电机模式下LK仅支持发送id 0x280为接收ID为0x140+id.

modules/oled/oled.md

@@ -2,4 +2,12 @@
 
 当前oled支持不完整,api较为混乱. 需要使用bsp_iic进行实现的重构,并提供统一方便的接口
 
-请使用字库软件制作自己的图标和不同大小的ascii码.
+请使用字库软件制作自己的图标和不同大小的ascii码.
+
+
+> 后续尝试移植一些图形库使得功能更加丰富
+> oled主要作调试和log/错误显示等使用
+> 可以提供给视觉和机械的同学调试接口,方便他们通过显示屏进行简单的设置
+
+
+*可以引入RoboMaster oled,或额外增加一个编码器用于控制oled界面并设定一些功能.*

modules/unicomm/unicomm.md

@@ -0,0 +1,7 @@
+# univsersal communication
+
+unicomm旨在为通信提供一套标准的协议接口，屏蔽底层的硬件差异，使得上层应用可以定制通信协议，包括包长度/可变帧长/帧头尾/校验方式等。
+
+不论底层具体使用的是什么硬件接口，硬件的每一帧传输完将数据放在缓冲区里之后，就没有任何区别了。 此模块实际上就是对缓冲区的rawdata进行操作，包括查找帧头，计算包长度，校验错误等。
+
+完成之后，可以将module/can_comm移除，把原使用了cancomm的应用迁移到此模块。