修复HT电机解算bug，待添加零位校准。修复bsp_can module id未初始化问题

.vscode/settings.json

@@ -42,7 +42,13 @@
         "quaternionekf.h": "c",
         "shoot.h": "c",
         "lk9025.h": "c",
-        "ht04.h": "c"
+        "ht04.h": "c",
+        "rtc.h": "c",
+        "tim.h": "c",
+        "usb_device.h": "c",
+        "gpio.h": "c",
+        "rng.h": "c",
+        "cmsis_os.h": "c"
     },
     "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
     "C_Cpp.intelliSenseEngineFallback": "enabled",

application/robot_def.h

@@ -55,14 +55,14 @@
 // 机器人状态
 typedef enum
 {
-    ROBOT_STOP,
+    ROBOT_STOP=0,
     ROBOT_READY,
 } Robot_Status_e;
 
 // 应用状态
 typedef enum
 {
-    APP_OFFLINE,
+    APP_OFFLINE=0,
     APP_ONLINE,
     APP_ERROR,
 } App_Status_e;
@@ -74,7 +74,7 @@ typedef enum
  */
 typedef enum
 {
-    CHASSIS_ZERO_FORCE,        // 电流零输入
+    CHASSIS_ZERO_FORCE=0,        // 电流零输入
     CHASSIS_ROTATE,            // 小陀螺模式
     CHASSIS_NO_FOLLOW,         // 不跟随，允许全向平移
     CHASSIS_FOLLOW_GIMBAL_YAW, // 跟随模式，底盘叠加角度环控制
@@ -83,7 +83,7 @@ typedef enum
 // 云台模式设置
 typedef enum
 {
-    GIMBAL_ZERO_FORCE, // 电流零输入
+    GIMBAL_ZERO_FORCE=0, // 电流零输入
     GIMBAL_FREE_MODE,  // 云台自由运动模式,即与底盘分离(底盘此时应为NO_FOLLOW)反馈值为电机total_angle;似乎可以改为全部用IMU数据?
     GIMBAL_GYRO_MODE,  // 云台陀螺仪反馈模式,反馈值为陀螺仪pitch,total_yaw_angle,底盘可以为小陀螺和跟随模式
 } gimbal_mode_e;
@@ -91,24 +91,24 @@ typedef enum
 // 发射模式设置
 typedef enum
 {
-    SHOOT_ON = 0,
+    SHOOT_OFF = 0,
-    SHOOT_OFF,
+    SHOOT_ON,
 } shoot_mode_e;
 typedef enum
 {
-    FRICTION_OFF, // 摩擦轮关闭
+    FRICTION_OFF=0, // 摩擦轮关闭
     FRICTION_ON,  // 摩擦轮开启
 } friction_mode_e;
 
 typedef enum
 {
-    LID_CLOSE, // 弹舱盖打开
+    LID_OPEN=0, // 弹舱盖打开
-    LID_OPEN,  // 弹舱盖关闭
+    LID_CLOSE,  // 弹舱盖关闭
 } lid_mode_e;
 
 typedef enum
 {
-    LOAD_STOP,      // 停止发射
+    LOAD_STOP=0,      // 停止发射
     LOAD_REVERSE,   // 反转
     LOAD_1_BULLET,  // 单发
     LOAD_3_BULLET,  // 三发

bsp/bsp_can.c

@@ -79,6 +79,7 @@ CANInstance *CANRegister(CAN_Init_Config_s *config)
     instance[idx]->tx_id = config->tx_id; // 好像没用,可以删掉
     instance[idx]->rx_id = config->rx_id;
     instance[idx]->can_module_callback = config->can_module_callback;
+    instance[idx]->id=config->id;
 
     CANAddFilter(instance[idx]); // 添加CAN过滤器规则
     return instance[idx++];      // 返回指针

modules/algorithm/controller.h

@@ -28,7 +28,7 @@
 // PID 优化环节使能标志位
 typedef enum
 {
-    NONE = 0b00000000,                        // 0000 0000
+    PID_IMPROVE_NONE = 0b00000000,                        // 0000 0000
     Integral_Limit = 0b00000001,              // 0000 0001
     Derivative_On_Measurement = 0b00000010,   // 0000 0010
     Trapezoid_Intergral = 0b00000100,         // 0000 0100

modules/master_machine/master_process.h

@@ -52,13 +52,14 @@ typedef enum
 
 typedef enum
 {
-	MODE_AIM = 0,
+	VISION_MODE_AIM = 0,
-	MODE_SMALL_BUFF = 1,
+	VISION_MODE_SMALL_BUFF = 1,
-	MODE_BIG_BUFF = 2
+	VISION_MODE_BIG_BUFF = 2
 } Work_Mode_e;
 
 typedef enum
 {
+	BULLET_SPEED_NONE = 0,
 	BIG_AMU_10 = 10,
 	SMALL_AMU_15 = 15,
 	BIG_AMU_16 = 16,

modules/motor/HT04.c

@@ -50,14 +50,14 @@ static void HTMotorDecode(CANInstance *motor_can)
     measure->last_angle = measure->total_angle;
 
     tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
-    measure->total_angle = RAD_2_ANGLE * uint_to_float(tmp, P_MAX, P_MIN, 16);
+    measure->total_angle = RAD_2_ANGLE * uint_to_float(tmp, P_MIN, P_MAX, 16);
 
     tmp = (uint16_t)((rxbuff[3] << 4) | (rxbuff[4] >> 4));
-    measure->speed_aps = RAD_2_ANGLE * SPEED_SMOOTH_COEF * uint_to_float(tmp, V_MAX, V_MIN, 12) +
+    measure->speed_aps = RAD_2_ANGLE * SPEED_SMOOTH_COEF * uint_to_float(tmp, V_MIN, V_MAX, 12) +
                          (1 - SPEED_SMOOTH_COEF) * measure->speed_aps;
 
     tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
-    measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MAX, T_MIN, 12) +
+    measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MIN, T_MAX, 12) +
                             (1 - CURRENT_SMOOTH_COEF) * measure->real_current;
 }
 

modules/motor/motor_def.h

@@ -45,7 +45,7 @@ typedef enum
 /* 反馈来源设定,若设为OTHER_FEED则需要指定数据来源指针,详见Motor_Controller_s*/
 typedef enum
 {
-    MOTOR_FEED,
+    MOTOR_FEED=0,
     OTHER_FEED,
 } Feedback_Source_e;
 
@@ -94,11 +94,12 @@ typedef struct
 /* 电机类型枚举 */
 typedef enum
 {
-    GM6020 = 0,
+    MOTOR_TYPE_NONE = 0,
-    M3508 = 1,
+    GM6020,
-    M2006 = 2,
+    M3508,
-    LK9025 = 3,
+    M2006,
-    HT04 = 4,
+    LK9025,
+    HT04,
 } Motor_Type_e;
 
 /**