From 3cb727e1518a9c11b5ee3025b83b305a82396ed8 Mon Sep 17 00:00:00 2001
From: SkyLi <SkyLiA7Mr@gmail.com>
Date: Tue, 2 Jun 2026 16:41:06 +0800
Subject: [PATCH] refactor: remove deprecated zero_force field from manual
 control frame
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

VISION_MANUAL_LEN 11→10, frame [SOF:0xA6][yaw_velocity:4][pitch_velocity:4][checksum:1].
Protocol comment, docs, README struct diagram all updated.
---
 README.md                               |  5 ++---
 docs/host_comm_guide.md                 | 14 ++++++--------
 modules/master_machine/master_machine.c |  5 ++---
 modules/master_machine/master_machine.h |  8 +++-----
 4 files changed, 13 insertions(+), 19 deletions(-)

diff --git a/README.md b/README.md
index 079e8ac..37b7da0 100644
--- a/README.md
+++ b/README.md
@@ -108,7 +108,7 @@ main()
 | 帧头 | 长度 | 用途 |
 |------|------|------|
 | 0xA5 | 10 | 自动/视觉追踪数据帧 (error_x, error_y) |
-| 0xA6 | 11 | 手动控制数据帧 (zero_force, yaw_velocity, pitch_velocity) |
+| 0xA6 | 10 | 手动控制数据帧 (yaw_velocity, pitch_velocity) |
 | 0xA7 | 3 | 命令帧 (模式切换, 激光) |
 | 0xA8 | 50 | 调试调参帧 (12 个 float PID 参数) |
 
@@ -135,7 +135,7 @@ main()
 ```
 上位机 USART10 → DecodeVision() → vision_data (全局结构体)
   ├── 0xA5 → auto_updated=1, error_x/y
-  ├── 0xA6 → manual_updated=1, zero_force, yaw/pitch velocity
+  ├── 0xA6 → manual_updated=1, yaw/pitch velocity
   ├── 0xA7 → cmd_pending=1, cmd
   └── 0xA8 → debug_updated=1, 12 个 PID 参数
 
@@ -323,7 +323,6 @@ typedef struct {
 typedef struct {
     float error_x, error_y;           // 自动模式: 归一化误差
     uint8_t auto_updated;
-    uint8_t zero_force;               // 手动模式: 零力标志
     float yaw_degree_velocity, pitch_degree_velocity;  // 手动模式: 角速度
     uint8_t manual_updated;
     // 调试模式数据
diff --git a/docs/host_comm_guide.md b/docs/host_comm_guide.md
index 145e967..a989070 100644
--- a/docs/host_comm_guide.md
+++ b/docs/host_comm_guide.md
@@ -53,29 +53,27 @@ def send_auto_tracking(ser, error_x: float, error_y: float):
 
 ---
 
-## 2. 手动控制数据帧 0xA6 (11 字节)
+## 2. 手动控制数据帧 0xA6 (10 字节)
 
 **用途**: 手动模式下发送角速度目标值。
 
 ```
-[SOF:0xA6][zero_force:1][yaw_velocity:4][pitch_velocity:4][checksum:1]
+[SOF:0xA6][yaw_velocity:4][pitch_velocity:4][checksum:1]
 ```
 
 | 偏移 | 长度 | 类型 | 含义 |
 |---|---|---|---|
 | 0 | 1 | uint8 | 帧头 0xA6 |
-| 1 | 1 | uint8 | 零力标志 (0=正常, 1=零力) |
-| 2 | 4 | float | Yaw 角速度 (degrees/s) |
-| 6 | 4 | float | Pitch 角速度 (degrees/s) |
-| 10 | 1 | uint8 | checksum |
+| 1 | 4 | float | Yaw 角速度 (degrees/s) |
+| 5 | 4 | float | Pitch 角速度 (degrees/s) |
+| 9 | 1 | uint8 | checksum |
 
 **Python 写入示例**:
 
 ```python
-def send_manual_control(ser, yaw_deg_per_s: float, pitch_deg_per_s: float, zero_force: int = 0):
+def send_manual_control(ser, yaw_deg_per_s: float, pitch_deg_per_s: float):
     data = bytearray()
     data.append(0xA6)
-    data.append(0 if zero_force else 0)
     data.extend(struct.pack('<ff', yaw_deg_per_s, pitch_deg_per_s))
     checksum = sum(data) & 0xFF
     data.append(checksum)
diff --git a/modules/master_machine/master_machine.c b/modules/master_machine/master_machine.c
index 02f13e7..ce0b5a7 100644
--- a/modules/master_machine/master_machine.c
+++ b/modules/master_machine/master_machine.c
@@ -37,9 +37,8 @@ static void DecodeVision()
     {
         if (calc_checksum(buf, VISION_MANUAL_LEN) != buf[VISION_MANUAL_LEN - 1])
             return;
-        vision_data.zero_force = buf[1];
-        memcpy(&vision_data.yaw_degree_velocity,   buf + 2, 4);
-        memcpy(&vision_data.pitch_degree_velocity, buf + 6, 4);
+        memcpy(&vision_data.yaw_degree_velocity,   buf + 1, 4);
+        memcpy(&vision_data.pitch_degree_velocity, buf + 5, 4);
         vision_data.manual_updated = 1;
     }
     else if (sof == VISION_SOF_DEBUG && len == VISION_DEBUG_LEN)
diff --git a/modules/master_machine/master_machine.h b/modules/master_machine/master_machine.h
index 93c410b..bd13643 100644
--- a/modules/master_machine/master_machine.h
+++ b/modules/master_machine/master_machine.h
@@ -15,9 +15,8 @@
  *   [SOF:0xA5][error_x:4][error_y:4][checksum:1]
  *   error_x/y: float, 归一化误差, 视觉PID外环反馈值
  *
- * ---- 手动控制数据帧 0xA6 (11 字节) ----
- *   [SOF:0xA6][zero_force:1][yaw_velocity:4][pitch_velocity:4][checksum:1]
- *   zero_force: 0=正常速度控制, 1=零力/保持当前位置
+ * ---- 手动控制数据帧 0xA6 (10 字节) ----
+ *   [SOF:0xA6][yaw_velocity:4][pitch_velocity:4][checksum:1]
  *   yaw_velocity/pitch_velocity: float, 角速度 (degrees/s)
  *
  * ---- 命令帧 0xA7 (3 字节) ----
@@ -40,7 +39,7 @@
 #define VISION_SOF_DEBUG   0xA8
 
 #define VISION_AUTO_LEN    10
-#define VISION_MANUAL_LEN  11
+#define VISION_MANUAL_LEN  10
 #define VISION_CMD_LEN     3
 #define VISION_DEBUG_LEN   50
 
@@ -67,7 +66,6 @@ typedef struct
     uint8_t auto_updated;   // 收到新的自动数据帧标志
 
     /* 手动模式数据 */
-    uint8_t zero_force;
     float yaw_degree_velocity;
     float pitch_degree_velocity;
     uint8_t manual_updated; // 收到新的手动数据帧标志