From ff5028036ab7131002fe2e4a42056ed256c0ae26 Mon Sep 17 00:00:00 2001
From: NeoZng <neozng1@hnu.edu.cn>
Date: Mon, 29 May 2023 09:48:07 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=9D=87=E5=80=BC=E6=BB=A4?=
 =?UTF-8?q?=E6=B3=A2,=E4=BF=AE=E6=94=B9HT=E7=94=B5=E6=9C=BA=E6=8E=A7?=
 =?UTF-8?q?=E5=88=B6=E6=96=B9=E5=BC=8F,=E6=B7=BB=E5=8A=A0=E4=BA=86?=
 =?UTF-8?q?=E4=B8=80=E4=BA=9B=E6=96=87=E6=A1=A3?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Src/freertos.c                     |  30 +++---
 bsp/dwt/bsp_dwt.c                  |   5 +-
 modules/algorithm/user_lib.c       |  16 ++-
 modules/algorithm/user_lib.h       |  49 +++++----
 modules/imu/ins_task.c             |   2 +-
 modules/led/led.h                  |   2 +-
 modules/motor/DJImotor/dji_motor.c |   6 +-
 modules/motor/DJImotor/dji_motor.h |   4 +-
 modules/motor/HTmotor/HT04.c       | 153 ++++++++++++++++++++---------
 modules/motor/HTmotor/HT04.h       |  38 +++++--
 modules/motor/HTmotor/HT04.md      |  28 +++++-
 modules/motor/LKmotor/LK9025.c     |  43 +++++---
 modules/motor/LKmotor/LK9025.h     |   9 +-
 modules/motor/motor_task.c         |  12 ++-
 14 files changed, 272 insertions(+), 125 deletions(-)

diff --git a/Src/freertos.c b/Src/freertos.c
index 5d0b689..4ad8363 100644
--- a/Src/freertos.c
+++ b/Src/freertos.c
@@ -32,6 +32,7 @@
 #include "master_process.h"
 #include "daemon.h"
 #include "robot.h"
+#include "HT04.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -73,13 +74,13 @@ void StartROBOTTASK(void const *argument);
 void StartUITASK(void const *argument);
 /* USER CODE END FunctionPrototypes */
 
-void StartDefaultTask(void const * argument);
+void StartDefaultTask(void const *argument);
 
 extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
 /* GetIdleTaskMemory prototype (linked to static allocation support) */
-void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
+void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
 
 /* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
 static StaticTask_t xIdleTaskTCBBuffer;
@@ -95,11 +96,12 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackTyp
 /* USER CODE END GET_IDLE_TASK_MEMORY */
 
 /**
-  * @brief  FreeRTOS initialization
-  * @param  None
-  * @retval None
-  */
-void MX_FREERTOS_Init(void) {
+ * @brief  FreeRTOS initialization
+ * @param  None
+ * @retval None
+ */
+void MX_FREERTOS_Init(void)
+{
   /* USER CODE BEGIN Init */
 
   /* USER CODE END Init */
@@ -127,8 +129,9 @@ void MX_FREERTOS_Init(void) {
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
-  osThreadDef(instask, StartINSTASK, osPriorityNormal, 0, 1024);
-  insTaskHandle = osThreadCreate(osThread(instask), NULL);
+  osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024);
+  insTaskHandle = osThreadCreate(osThread(instask), NULL); // 由于是阻塞读取传感器,为姿态解算设置较高优先级,确保以1khz的频率执行
+  // 后续修改为读取传感器数据准备好的中断处理,
 
   osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
   motorTaskHandle = osThreadCreate(osThread(motortask), NULL);
@@ -143,7 +146,6 @@ void MX_FREERTOS_Init(void) {
   defaultTaskHandle = osThreadCreate(osThread(uitask), NULL);
 
   /* USER CODE END RTOS_THREADS */
-
 }
 
 /* USER CODE BEGIN Header_StartDefaultTask */
@@ -153,12 +155,12 @@ void MX_FREERTOS_Init(void) {
  * @retval None
  */
 /* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void const * argument)
+void StartDefaultTask(void const *argument)
 {
   /* init code for USB_DEVICE */
   MX_USB_DEVICE_Init();
   /* USER CODE BEGIN StartDefaultTask */
-  vTaskDelete( NULL );
+  vTaskDelete(NULL);
   /* USER CODE END StartDefaultTask */
 }
 
@@ -170,13 +172,15 @@ void StartINSTASK(void const *argument)
   {
     // 1kHz
     INS_Task();
-    VisionSend(); // 解算完成后发送视觉数�?
+    VisionSend(); // 解算完成后发送视觉数�?
     osDelay(1);
   }
 }
 
 void StartMOTORTASK(void const *argument)
 {
+  // 若使用HT电机则取消本行注释
+  HTMotorControlInit();
   while (1)
   {
     // 500Hz
diff --git a/bsp/dwt/bsp_dwt.c b/bsp/dwt/bsp_dwt.c
index 58ab213..ce2e4fa 100644
--- a/bsp/dwt/bsp_dwt.c
+++ b/bsp/dwt/bsp_dwt.c
@@ -21,11 +21,14 @@ static osMutexId DWT_MUTEX;
 /**
  * @brief 私有函数,用于检查DWT CYCCNT寄存器是否溢出,并更新CYCCNT_RountCount
  * @attention 此函数假设两次调用之间的时间间隔不超过一次溢出
+ * 
+ * @todo 更好的方案是为dwt的时间更新单独设置一个任务
+ *       不过,使用dwt的初衷是定时不被中断/任务等因素影响,因此该实现仍然有其存在的意义
  *
  */
 static void DWT_CNT_Update(void)
 {
-    if (__get_CONTROL()) // 不在中断中,使用互斥锁;在中断则直接执行即可
+    if (__get_CONTROL()) // 不在中断中,使用互斥锁;在中断则直接执行即可,本框架将所有中断优先级设置为相同,故不会被其他中断重入
         if (osOK != osMutexWait(DWT_MUTEX, 0))
             return;
             
diff --git a/modules/algorithm/user_lib.c b/modules/algorithm/user_lib.c
index f3806c5..eb3b021 100644
--- a/modules/algorithm/user_lib.c
+++ b/modules/algorithm/user_lib.c
@@ -192,4 +192,18 @@ void Cross3d(float *v1, float *v2, float *res)
 float Dot3d(float *v1, float *v2)
 {
     return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
-}
\ No newline at end of file
+}
+
+// 均值滤波,删除buffer中的最后一个元素,填入新的元素并求平均值
+float AverageFilter(float new_data, float *buf, uint8_t len)
+{
+    float sum = 0;
+    for (uint8_t i = 0; i < len - 1; i++)
+    {
+        buf[i] = buf[i + 1];
+        sum += buf[i];
+    }
+    buf[len - 1] = new_data;
+    sum += new_data;
+    return sum / len;
+}
diff --git a/modules/algorithm/user_lib.h b/modules/algorithm/user_lib.h
index 3028f46..4404c46 100644
--- a/modules/algorithm/user_lib.h
+++ b/modules/algorithm/user_lib.h
@@ -12,20 +12,16 @@
  */
 #ifndef _USER_LIB_H
 #define _USER_LIB_H
+
+
 #include "stdint.h"
 #include "main.h"
 #include "cmsis_os.h"
 
-enum
-{
-    CHASSIS_DEBUG = 1,
-    GIMBAL_DEBUG,
-    INS_DEBUG,
-    RC_DEBUG,
-    IMU_HEAT_DEBUG,
-    SHOOT_DEBUG,
-    AIMASSIST_DEBUG,
-};
+
+#define msin(x) (arm_sin_f32(x))
+#define mcos(x) (arm_cos_f32(x))
+
 
 extern uint8_t GlobalDebugMode;
 
@@ -89,40 +85,41 @@ extern uint8_t GlobalDebugMode;
 
 /**
  * @brief 返回一块干净的内�?,不过仍然需要强制转�?为你需要的类型
- * 
+ *
  * @param size 分配大小
- * @return void* 
+ * @return void*
  */
-void* zero_malloc(size_t size);
+void *zero_malloc(size_t size);
 
-//���ٿ���
+// ���ٿ���
 float Sqrt(float x);
-//��������
+// ��������
 float abs_limit(float num, float Limit);
-//�жϷ���λ
+// �жϷ���λ
 float sign(float value);
-//��������
+// ��������
 float float_deadband(float Value, float minValue, float maxValue);
-//�޷�����
+// �޷�����
 float float_constrain(float Value, float minValue, float maxValue);
-//�޷�����
+// �޷�����
 int16_t int16_constrain(int16_t Value, int16_t minValue, int16_t maxValue);
-//ѭ���޷�����
+// ѭ���޷�����
 float loop_float_constrain(float Input, float minValue, float maxValue);
-//�Ƕ� ���޷� 180 ~ -180
+// �Ƕ� ���޷� 180 ~ -180
 float theta_format(float Ang);
 
 int float_rounding(float raw);
 
-float* Norm3d(float* v);
+float *Norm3d(float *v);
 
-float NormOf3d(float* v);
+float NormOf3d(float *v);
 
-void Cross3d(float* v1, float* v2, float* res);
+void Cross3d(float *v1, float *v2, float *res);
 
-float Dot3d(float* v1, float* v2);
+float Dot3d(float *v1, float *v2);
+
+float AverageFilter(float new_data, float *buf, uint8_t len);
 
-//���ȸ�ʽ��Ϊ-PI~PI
 #define rad_format(Ang) loop_float_constrain((Ang), -PI, PI)
 
 #endif
diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c
index c9ef358..4c05f06 100644
--- a/modules/imu/ins_task.c
+++ b/modules/imu/ins_task.c
@@ -99,7 +99,7 @@ attitude_t *INS_Init(void)
 
     // noise of accel is relatively big and of high freq,thus lpf is used
     INS.AccelLPF = 0.0085;
-    DWT_GetDeltaT64(&INS_DWT_Count);
+    DWT_GetDeltaT(&INS_DWT_Count);
     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.
 }
 
diff --git a/modules/led/led.h b/modules/led/led.h
index 0be2506..0741315 100644
--- a/modules/led/led.h
+++ b/modules/led/led.h
@@ -12,7 +12,7 @@ typedef struct
     uint8_t led_alpha; // 透明度,通过pwm频率改变
     uint8_t led_brightness; // 亮度,通过电压改变(如果可以,使用dac)
     uint8_t led_color; // rgb value,0-255
-    uint8_t led_switch // 开关,on1 off0
+    uint8_t led_switch; // 开关,on1 off0
     // void (*action_callback)(void); // led动作回调函数
 } LEDInstance;
 
diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c
index 370f215..0100ff9 100644
--- a/modules/motor/DJImotor/dji_motor.c
+++ b/modules/motor/DJImotor/dji_motor.c
@@ -134,7 +134,7 @@ static void DecodeDJIMotor(CANInstance *_instance)
                          RPM_2_ANGLE_PER_SEC * SPEED_SMOOTH_COEF * (float)((int16_t)(rxbuff[2] << 8 | rxbuff[3]));
     measure->real_current = (1.0f - CURRENT_SMOOTH_COEF) * measure->real_current +
                             CURRENT_SMOOTH_COEF * (float)((int16_t)(rxbuff[4] << 8 | rxbuff[5]));
-    measure->temperate = rxbuff[6];
+    measure->temperature = rxbuff[6];
 
     // 多圈角度计算,前提是假设两次采样间电机转过的角度小于180°,自己画个图就清楚计算过程了
     if (measure->ecd - measure->last_ecd > 4096)
@@ -238,6 +238,7 @@ void DJIMotorControl()
         pid_ref = motor_controller->pid_ref; // 保存设定值,防止motor_controller->pid_ref在计算过程中被修改
         if (motor_setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
             pid_ref *= -1; // 设置反转
+
         // pid_ref会顺次通过被启用的闭环充当数据的载体
         // 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
         if ((motor_setting->close_loop_type & ANGLE_LOOP) && motor_setting->outer_loop_type == ANGLE_LOOP)
@@ -272,6 +273,9 @@ void DJIMotorControl()
             pid_ref = PIDCalculate(&motor_controller->current_PID, measure->real_current, pid_ref);
         }
 
+        if (motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
+            pid_ref *= -1;
+
         // 获取最终输出
         set = (int16_t)pid_ref;
 
diff --git a/modules/motor/DJImotor/dji_motor.h b/modules/motor/DJImotor/dji_motor.h
index c2477f2..d83ba95 100644
--- a/modules/motor/DJImotor/dji_motor.h
+++ b/modules/motor/DJImotor/dji_motor.h
@@ -35,7 +35,7 @@ typedef struct
     float angle_single_round; // 单圈角度
     float speed_aps;          // 角速度,单位为:度/秒
     int16_t real_current;     // 实际电流
-    uint8_t temperate;        // 温度 Celsius
+    uint8_t temperature;      // 温度 Celsius
 
     float total_angle;   // 总角度,注意方向
     int32_t total_round; // 总圈数,注意方向
@@ -48,7 +48,7 @@ typedef struct
 typedef struct
 {
 
-    DJI_Motor_Measure_s measure;      // 电机测量值
+    DJI_Motor_Measure_s measure;            // 电机测量值
     Motor_Control_Setting_s motor_settings; // 电机设置
     Motor_Controller_s motor_controller;    // 电机控制器
 
diff --git a/modules/motor/HTmotor/HT04.c b/modules/motor/HTmotor/HT04.c
index f9f9b1b..4057290 100644
--- a/modules/motor/HTmotor/HT04.c
+++ b/modules/motor/HTmotor/HT04.c
@@ -1,10 +1,16 @@
 #include "HT04.h"
 #include "memory.h"
 #include "general_def.h"
-#include "bsp_dwt.h"
+#include "user_lib.h"
+#include "cmsis_os.h"
+#include "string.h"
+#include "daemon.h"
+#include "stdlib.h"
 
 static uint8_t idx;
-HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
+static HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
+static osThreadId ht_task_handle[HT_MOTOR_CNT];
+static uint8_t zero_buff[6] = {0};
 
 /**
  * @brief 设置电机模式,报文内容[0xff,0xff,0xff,0xff,0xff,0xff,0xff,cmd]
@@ -17,9 +23,8 @@ 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);
-    memset(motor->motor_can_instace->tx_buff, 0, 6); // 发送控制指令的时候前面6bytes都是0
+    memcpy(motor->motor_can_instace->tx_buff, zero_buff, 6);
 }
-
 /* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
 static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
 {
@@ -43,28 +48,60 @@ static void HTMotorDecode(CANInstance *motor_can)
 {
     uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
     uint8_t *rxbuff = motor_can->rx_buff;
-    HTMotor_Measure_t *measure = &((HTMotorInstance *)motor_can->id)->measure; // 将can实例中保存的id转换成电机实例的指针
-    measure->feedback_dt = DWT_GetDeltaT(&measure->count);
+    HTMotorInstance *motor = (HTMotorInstance *)motor_can->id;
+    HTMotor_Measure_t *measure = &(motor->measure); // 将can实例中保存的id转换成电机实例的指针
+
+    DaemonReload(motor->motor_daemon);
+    measure->feed_dt = DWT_GetDeltaT(&measure->feed_cnt);
 
     measure->last_angle = measure->total_angle;
     tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
-    measure->total_angle = uint_to_float(tmp, P_MIN, P_MAX, 16) - measure->angle_bias;
+    measure->total_angle = uint_to_float(tmp, P_MIN, P_MAX, 16);
 
-    measure->speed_rads = // SPEED_SMOOTH_COEF * measure->speed_rads + (1 - SPEED_SMOOTH_COEF) *
-        (measure->total_angle - measure->last_angle) / measure->feedback_dt;
+    tmp = (uint16_t)(rxbuff[3] << 4) | (rxbuff[4] >> 4);
+    measure->speed_rads = AverageFilter((uint_to_float(tmp, V_MIN, V_MAX, 12) - HT_SPEED_BIAS), measure->speed_buff, SPEED_BUFFER_SIZE);
 
-    measure->real_current = uint_to_float(((uint16_t)(rxbuff[3] << 4) | (uint16_t)(rxbuff[4] >> 4)), V_MIN, V_MAX, 12);
+    tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
+    measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MIN, T_MAX, 12) +
+                            (1 - CURRENT_SMOOTH_COEF) * measure->real_current;
+    
+    
+}
 
-    if (!measure->first_feedback_flag) // 初始化的时候设置偏置
-    {
-        measure->first_feedback_flag = 1;
-        measure->angle_bias = measure->total_angle;
-        measure->total_angle = 0;
-        measure->speed_rads = 0;
-        DWT_GetDeltaT(&measure->count);
-    }
+static void HTMotorLostCallback(void *motor_ptr)
+{
+    HTMotorInstance *motor = (HTMotorInstance *)motor_ptr;
+    if (motor->stop_flag == MOTOR_STOP)
+        return;
+    if (++motor->lost_cnt % 10 != 0)
+        HTMotorSetMode(CMD_MOTOR_MODE, motor); // 若不在停止模式,尝试重新让电机进入控制模式
+}
 
-    // measure->real_current = uint_to_float((rxbuff[3] << 8) | rxbuff[4], I_MIN, I_MAX, 16);
+/* 海泰电机一生黑,什么垃圾协议! */
+void HTMotorCalibEncoder(HTMotorInstance *motor)
+{
+    uint16_t p, v, kp, kd, t;
+    p = float_to_uint(0, P_MIN, P_MAX, 16);
+    v = float_to_uint(0, V_MIN, V_MAX, 12);
+    kp = float_to_uint(0, KP_MIN, KP_MAX, 12);
+    kd = float_to_uint(0, KD_MIN, KD_MAX, 12);
+    t = float_to_uint(0, T_MIN, T_MAX, 12);
+
+    uint8_t *buf = motor->motor_can_instace->tx_buff;
+    buf[0] = p >> 8;
+    buf[1] = p & 0xFF;
+    buf[2] = v >> 4;
+    buf[3] = ((v & 0xF) << 4) | (kp >> 8);
+    buf[4] = kp & 0xFF;
+    buf[5] = kd >> 4;
+    buf[6] = ((kd & 0xF) << 4) | (t >> 8);
+    buf[7] = t & 0xff;
+    memcpy(zero_buff, buf, 6); // 初始化的时候至少调用一次,故将其他指令为0时发送的报文保存一下,详见ht04电机说明
+    CANTransmit(motor->motor_can_instace, 1);
+    DWT_Delay(0.005);
+    HTMotorSetMode(CMD_ZERO_POSITION, motor);
+    DWT_Delay(0.005);
+    // HTMotorSetMode(CMD_MOTOR_MODE, motor);
 }
 
 HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
@@ -83,34 +120,43 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
     config->can_init_config.id = motor;
     motor->motor_can_instace = CANRegister(&config->can_init_config);
 
+    Daemon_Init_Config_s conf = {
+        .callback = HTMotorLostCallback,
+        .owner_id = motor,
+        .reload_count = 5, // 20ms
+    };
+    motor->motor_daemon = DaemonRegister(&conf);
+
     HTMotorEnable(motor);
+    HTMotorSetMode(CMD_MOTOR_MODE, motor); // 确保电机已经上电并执行电机模式
+    DWT_Delay(0.05);
+    HTMotorCalibEncoder(motor); // 将当前编码器位置作为零位
+    DWT_Delay(0.05);            // 保证下一个电机发送时CAN是空闲的,注意应用在初始化模块的时候不应该进入中断
     ht_motor_instance[idx++] = motor;
     return motor;
 }
 
 void HTMotorSetRef(HTMotorInstance *motor, float ref)
 {
-    motor->pid_ref = ref * 0.285f;
+    motor->pid_ref = ref;
 }
 
-void HTMotorControl()
+/**
+ * @brief 为了避免总线堵塞,为每个电机创建一个发送任务
+ * @param argument 传入的电机指针
+ */
+void HTMotorTask(void const *argument)
 {
     float set, pid_measure, pid_ref;
+    HTMotorInstance *motor = (HTMotorInstance *)argument;
+    HTMotor_Measure_t *measure = &motor->measure;
+    Motor_Control_Setting_s *setting = &motor->motor_settings;
+    CANInstance *motor_can = motor->motor_can_instace;
     uint16_t tmp;
-    HTMotorInstance *motor;
-    HTMotor_Measure_t *measure;
-    Motor_Control_Setting_s *setting;
-    CANInstance *motor_can;
 
-    // 遍历所有电机实例,计算PID
-    for (size_t i = 0; i < idx; i++)
-    { // 先获取地址避免反复寻址
-        motor = ht_motor_instance[i];
-        measure = &motor->measure;
-        setting = &motor->motor_settings;
-        motor_can = motor->motor_can_instace;
+    while (1)
+    {
         pid_ref = motor->pid_ref;
-
         if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
         {
             if (setting->angle_feedback_source == OTHER_FEED)
@@ -145,36 +191,47 @@ void HTMotorControl()
         if (setting->motor_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
-        tmp = float_to_uint(set, T_MIN, T_MAX, 12); // 数值最后在 -12~+12之间
+        LIMIT_MIN_MAX(set, T_MIN, T_MAX);
+        tmp = float_to_uint(set, T_MIN, T_MAX, 12);
         if (motor->stop_flag == MOTOR_STOP)
             tmp = float_to_uint(0, T_MIN, T_MAX, 12);
         motor_can->tx_buff[6] = (tmp >> 8);
         motor_can->tx_buff[7] = tmp & 0xff;
 
-        CANTransmit(motor_can, 1);
+        CANTransmit(motor_can, 0.5);
+
+        osDelay(1);
+    }
+}
+
+void HTMotorControlInit()
+{
+    char ht_task_name[5] = "ht";
+    // 遍历所有电机实例,创建任务
+    if (!idx)
+        return;
+    for (size_t i = 0; i < idx; i++)
+    {
+        char ht_id_buff[2] = {0};
+        __itoa(i, ht_id_buff, 10);
+        strcat(ht_task_name, ht_id_buff); // 似乎没什么吊用,osthreaddef会把第一个变量当作宏字符串传入,作为任务名
+        // todo 还需要一个更优雅的方案来区分不同的电机任务
+        osThreadDef(ht_task_name, HTMotorTask, osPriorityNormal, 0, 128);
+        ht_task_handle[i] = osThreadCreate(osThread(ht_task_name), ht_motor_instance[i]);
     }
 }
 
 void HTMotorStop(HTMotorInstance *motor)
 {
-    if (motor->stop_flag == MOTOR_STOP)
-        return;
-    HTMotorSetMode(CMD_RESET_MODE, motor);
-    HTMotorSetMode(CMD_RESET_MODE, motor); // 发两次,确保电机停止
     motor->stop_flag = MOTOR_STOP;
 }
 
 void HTMotorEnable(HTMotorInstance *motor)
 {
-    if (motor->stop_flag == MOTOR_ENALBED)
-        return;
-    HTMotorSetMode(CMD_MOTOR_MODE, motor);
-    HTMotorSetMode(CMD_MOTOR_MODE, motor);
     motor->stop_flag = MOTOR_ENALBED;
 }
 
-// void HTMotorCalibEncoder(HTMotorInstance *motor)
-// {
-//     HTMotorSetMode(CMD_ZERO_POSITION, motor);
-// }
+void HTMotorOuterLoop(HTMotorInstance *motor, Closeloop_Type_e type)
+{
+    motor->motor_settings.outer_loop_type = type;
+}
diff --git a/modules/motor/HTmotor/HT04.h b/modules/motor/HTmotor/HT04.h
index fdd8d7b..1ad61f5 100644
--- a/modules/motor/HTmotor/HT04.h
+++ b/modules/motor/HTmotor/HT04.h
@@ -5,10 +5,12 @@
 #include "bsp_can.h"
 #include "controller.h"
 #include "motor_def.h"
+#include "daemon.h"
 
 #define HT_MOTOR_CNT 4
 #define CURRENT_SMOOTH_COEF 0.9f
-#define SPEED_SMOOTH_COEF 0.85f
+#define SPEED_BUFFER_SIZE 5
+#define HT_SPEED_BIAS -0.0109901428f // 电机速度偏差,单位rad/s
 
 #define P_MIN -95.5f // Radians
 #define P_MAX 95.5f
@@ -16,18 +18,23 @@
 #define V_MAX 45.0f
 #define T_MIN -18.0f // N·m
 #define T_MAX 18.0f
+#define KP_MIN 0.0f // N-m/rad
+#define KP_MAX 500.0f
+#define KD_MIN 0.0f // N-m/rad/s
+#define KD_MAX 5.0f
 
 typedef struct // HT04
 {
     float total_angle; // 角度为多圈角度,范围是-95.5~95.5,单位为rad
     float last_angle;
-    float speed_rads;
-    float real_current;
-    float angle_bias;
-    uint8_t first_feedback_flag;
 
-    float feedback_dt;
-    uint32_t count;
+    float speed_rads;
+    float speed_buff[SPEED_BUFFER_SIZE];
+
+    float real_current;
+
+    float feed_dt;
+    uint32_t feed_cnt;
 } HTMotor_Measure_t;
 
 /* HT电机类型定义*/
@@ -49,6 +56,9 @@ typedef struct
     Motor_Working_Type_e stop_flag; // 启停标志
 
     CANInstance *motor_can_instace;
+
+    DaemonInstance *motor_daemon;
+    uint32_t lost_cnt;
 } HTMotorInstance;
 
 /* HT电机模式,初始化时自动进入CMD_MOTOR_MODE*/
@@ -76,10 +86,10 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config);
 void HTMotorSetRef(HTMotorInstance *motor, float ref);
 
 /**
- * @brief 给所有的HT电机发送控制指令
+ * @brief 初始化电机任务,若要使用,需要在motortask的死循环前调用
  *
  */
-void HTMotorControl();
+void HTMotorControlInit();
 
 /**
  * @brief 停止电机,之后电机不会响应HTMotorSetRef设定的值
@@ -96,7 +106,15 @@ void HTMotorStop(HTMotorInstance *motor);
 void HTMotorEnable(HTMotorInstance *motor);
 
 /**
- * @brief 校准电机编码器,设置的当前位置为0
+ * @brief 修改电机闭环对象
+ *
+ * @param motor
+ * @param type
+ */
+void HTMotorOuterLoop(HTMotorInstance *motor, Closeloop_Type_e type);
+
+/**
+ * @brief 将当前编码器位置置零
  *
  * @param motor
  */
diff --git a/modules/motor/HTmotor/HT04.md b/modules/motor/HTmotor/HT04.md
index 7a7f4f8..ab6af23 100644
--- a/modules/motor/HTmotor/HT04.md
+++ b/modules/motor/HTmotor/HT04.md
@@ -9,8 +9,34 @@
 
 请注意发送和反馈数据的**单位**。
 
+> ~~HT的电机协议做的真不行，纯纯直接抄mit还抄不明白，之后全部换成LK！~~
 
+另一种上电时校准编码器的方法:
 
+```c
+static void HTMotorDecode(CANInstance *motor_can)
+{
+    uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
+    uint8_t *rxbuff = motor_can->rx_buff;
+    HTMotor_Measure_t *measure = &((HTMotorInstance *)motor_can->id)->measure; // 将can实例中保存的id转换成电机实例的指针
 
+    measure->last_angle = measure->total_angle;
+    tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
+    measure->total_angle = uint_to_float(tmp, P_MIN, P_MAX, 16) - measure->angle_bias;
 
-> ~~HT的电机协议做的真不行，纯纯直接抄mit还抄不明白，之后全部换成LK！~~
\ No newline at end of file
+    tmp = (uint16_t)(rxbuff[3] << 4) | (rxbuff[4] >> 4);
+    measure->speed_rads = AverageFilter((uint_to_float(tmp, V_MIN, V_MAX, 12) - HT_SPEED_BIAS), measure->speed_buff, SPEED_BUFFER_SIZE);
+
+    tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
+    measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MIN, T_MAX, 12) +
+                            (1 - CURRENT_SMOOTH_COEF) * measure->real_current;
+
+    if (!measure->first_feedback_flag) // 初始化的时候设置偏置
+    {
+        measure->first_feedback_flag = 1;
+        measure->angle_bias = measure->total_angle;
+        measure->total_angle = 0;
+        measure->speed_rads = 0;
+    }
+}
+```
diff --git a/modules/motor/LKmotor/LK9025.c b/modules/motor/LKmotor/LK9025.c
index 6a4143a..2323734 100644
--- a/modules/motor/LKmotor/LK9025.c
+++ b/modules/motor/LKmotor/LK9025.c
@@ -1,6 +1,8 @@
 #include "LK9025.h"
 #include "stdlib.h"
 #include "general_def.h"
+#include "daemon.h"
+#include "bsp_dwt.h"
 
 static uint8_t idx;
 static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL};
@@ -14,10 +16,12 @@ static CANInstance *sender_instance; // 多电机发送时使用的caninstance(
  */
 static void LKMotorDecode(CANInstance *_instance)
 {
-    LKMotor_Measure_t *measure;
-    uint8_t *rx_buff;
-    rx_buff = _instance->rx_buff;
-    measure = &(((LKMotorInstance *)_instance->id)->measure); // 通过caninstance保存的id获取对应的motorinstance
+    LKMotorInstance *motor = (LKMotorInstance *)_instance->id; // 通过caninstance保存的father id获取对应的motorinstance
+    LKMotor_Measure_t *measure = &motor->measure;
+    uint8_t *rx_buff = _instance->rx_buff;
+
+    DaemonReload(motor->daemon); // 喂狗
+    measure->feed_dt = DWT_GetDeltaT(&measure->feed_dwt_cnt);
 
     measure->last_ecd = measure->ecd;
     measure->ecd = (uint16_t)((rx_buff[7] << 8) | rx_buff[6]);
@@ -30,12 +34,11 @@ static void LKMotorDecode(CANInstance *_instance)
     measure->real_current = (1 - CURRENT_SMOOTH_COEF) * measure->real_current +
                             CURRENT_SMOOTH_COEF * (float)((int16_t)(rx_buff[3] << 8 | rx_buff[2]));
 
-    measure->temperate = rx_buff[1];
+    measure->temperature = rx_buff[1];
 
-    // 计算多圈角度
-    if (measure->ecd - measure->last_ecd > 32678)
+    if (measure->ecd - measure->last_ecd > 32768)
         measure->total_round--;
-    else if (measure->ecd - measure->last_ecd < -32678)
+    else if (measure->ecd - measure->last_ecd < -32768)
         measure->total_round++;
     measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
 }
@@ -66,7 +69,16 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
     }
 
     LKMotorEnable(motor);
+    DWT_GetDeltaT(&motor->measure.feed_dwt_cnt);
     lkmotor_instance[idx++] = motor;
+
+    Daemon_Init_Config_s daemon_config = {
+        .callback = NULL,
+        .owner_id = motor,
+        .reload_count = 5, // 0.05秒
+    };
+    motor->daemon = DaemonRegister(&daemon_config);
+
     return motor;
 }
 
@@ -91,7 +103,7 @@ void LKMotorControl()
             if (setting->angle_feedback_source == OTHER_FEED)
                 pid_measure = *motor->other_angle_feedback_ptr;
             else
-                pid_measure = measure->total_angle;
+                pid_measure = measure->real_current;
             pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
             if (setting->feedforward_flag & SPEED_FEEDFORWARD)
                 pid_ref += *motor->speed_feedforward_ptr;
@@ -104,10 +116,10 @@ void LKMotorControl()
             else
                 pid_measure = measure->speed_rads;
             pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
+            if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
+                pid_ref += *motor->current_feedforward_ptr;
         }
 
-        if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
-            pid_ref += *motor->current_feedforward_ptr;
         if (setting->close_loop_type & CURRENT_LOOP)
         {
             pid_ref = PIDCalculate(&motor->current_PID, measure->real_current, pid_ref);
@@ -126,9 +138,7 @@ void LKMotorControl()
     }
 
     if (idx) // 如果有电机注册了
-    {
-        CANTransmit(sender_instance, 1);
-    }
+        CANTransmit(sender_instance, 0.2);
 }
 
 void LKMotorStop(LKMotorInstance *motor)
@@ -145,3 +155,8 @@ void LKMotorSetRef(LKMotorInstance *motor, float ref)
 {
     motor->pid_ref = ref;
 }
+
+uint8_t LKMotorIsOnline(LKMotorInstance *motor)
+{
+    return DaemonIsOnline(motor->daemon);
+}
diff --git a/modules/motor/LKmotor/LK9025.h b/modules/motor/LKmotor/LK9025.h
index c8ac2d3..a5cef5a 100644
--- a/modules/motor/LKmotor/LK9025.h
+++ b/modules/motor/LKmotor/LK9025.h
@@ -5,6 +5,7 @@
 #include "bsp_can.h"
 #include "controller.h"
 #include "motor_def.h"
+#include "daemon.h"
 
 #define LK_MOTOR_MX_CNT 4 // 最多允许4个LK电机使用多电机指令,挂载在一条总线上
 
@@ -23,11 +24,13 @@ typedef struct // 9025
     float angle_single_round; // 单圈角度
     float speed_rads;         // speed rad/s
     int16_t real_current;     // 实际电流
-    uint8_t temperate;        // 温度,C°
+    uint8_t temperature;      // 温度,C°
 
     float total_angle;   // 总角度
     int32_t total_round; // 总圈数
 
+    float feed_dt;
+    uint32_t feed_dwt_cnt;
 } LKMotor_Measure_t;
 
 typedef struct
@@ -49,6 +52,8 @@ typedef struct
 
     CANInstance *motor_can_ins;
 
+    DaemonInstance *daemon;
+
 } LKMotorInstance;
 
 /**
@@ -88,4 +93,6 @@ void LKMotorStop(LKMotorInstance *motor);
  */
 void LKMotorEnable(LKMotorInstance *motor);
 
+uint8_t LKMotorIsOnline(LKMotorInstance *motor);
+
 #endif // LK9025_H
diff --git a/modules/motor/motor_task.c b/modules/motor/motor_task.c
index 91f0034..47ff232 100644
--- a/modules/motor/motor_task.c
+++ b/modules/motor/motor_task.c
@@ -5,10 +5,9 @@
 #include "step_motor.h"
 #include "servo_motor.h"
 
-
 void MotorControlTask()
 {
-    // static uint8_t cnt = 0; 设定任务频率
+    // static uint8_t cnt = 0; 设定不同电机的任务频率
     // if(cnt%5==0) //200hz
     // if(cnt%10==0) //100hz
     DJIMotorControl();
@@ -16,10 +15,13 @@ void MotorControlTask()
     /* 如果有对应的电机则取消注释,可以加入条件编译或者register对应的idx判断是否注册了电机 */
     LKMotorControl();
 
-    HTMotorControl();
+    // legacy support
+    // 由于ht04电机的反馈方式为接收到一帧消息后立刻回传,以此方式连续发送可能导致总线拥塞
+    // 为了保证高频率控制,HTMotor中提供了以任务方式启动控制的接口,可通过宏定义切换
+    // HTMotorControl();
+    // 将所有的CAN设备集中在一处发送,最高反馈频率仅能达到500Hz,为了更好的控制效果,应使用新的HTMotorControlInit()接口
 
     ServeoMotorControl();
 
-    //StepMotorControl();
+    // StepMotorControl();
 }
-