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feat: add DEBUG mode with host-side PID tuning, motor enable/disable protection

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- Add DEBUG mode (parallel to AUTO/MANUAL) for real-time PID parameter tuning
- New 0xA8 debug frame: 12 floats for vision/motor angle PID tuning params
- DMMotorSetMode: send zero-velocity before disable, clear PID to prevent jumps
- motor_enable topic: pub from robot_cmd, sub in gimbal, controls motor on/off
- motor_pid topic: pub from robot_cmd, sub in gimbal, updates motor angle PID
- Rename DM motor enums (DM_CMD_ENABLE_MODE/DISABLE_MODE, DM_Motor_Ctrl_Mode_e)
- SwitchToAuto/Manual: re-enable motors when switching back from DEBUG mode
- Static-allocate enable_msg/pid_tune in GimbalTask to avoid stack churn
- Add docs/host_comm_guide.md with Python Tkinter tuning GUI example
- Remove ARCHITECTURE.md
This commit is contained in:
李傲琦
2026-05-31 03:49:41 +08:00
parent 77a3aeb25c
commit 9b8e204ff7
10 changed files with 747 additions and 643 deletions
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modules/master_machine/master_machine.c
+19
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@@ -42,6 +42,25 @@ static void DecodeVision()
memcpy(&vision_data.pitch_ref, buf + 6, 4);
vision_data.manual_updated = 1;
}
else if (sof == VISION_SOF_DEBUG && len == VISION_DEBUG_LEN)
{
if (calc_checksum(buf, VISION_DEBUG_LEN) != buf[VISION_DEBUG_LEN - 1])
return;
uint8_t *p = buf + 1;
memcpy(&vision_data.vision_yaw_Kp, p, 4); p += 4;
memcpy(&vision_data.vision_yaw_Ki, p, 4); p += 4;
memcpy(&vision_data.vision_yaw_Kd, p, 4); p += 4;
memcpy(&vision_data.vision_pitch_Kp, p, 4); p += 4;
memcpy(&vision_data.vision_pitch_Ki, p, 4); p += 4;
memcpy(&vision_data.vision_pitch_Kd, p, 4); p += 4;
memcpy(&vision_data.motor_yaw_Kp, p, 4); p += 4;
memcpy(&vision_data.motor_yaw_Ki, p, 4); p += 4;
memcpy(&vision_data.motor_yaw_Kd, p, 4); p += 4;
memcpy(&vision_data.motor_pitch_Kp, p, 4); p += 4;
memcpy(&vision_data.motor_pitch_Ki, p, 4); p += 4;
memcpy(&vision_data.motor_pitch_Kd, p, 4);
vision_data.debug_updated = 1;
}
else if (sof == VISION_SOF_CMD && len == VISION_CMD_LEN)
{
if (calc_checksum(buf, VISION_CMD_LEN) != buf[VISION_CMD_LEN - 1])