SkyLiCoder
77a3aeb25c
fix: set txconf.Identifier from tx_id before CANTransmit, enable motor task
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- DM motor send functions now fill txconf.Identifier from tx_id before CANTransmit
(MIT=tid, PosVel=tid+0x100, Velocity=tid+0x200, SetMode=tid)
- Enable motor task with stack size 1024 1000Hz
- Increase FDCAN1 StdFiltersNbr from 1 to 14
- Comment out INS temperature log, DM error handling and PID for testing
- Remove test_robot_cmd.c
2026-05-31 01:04:19 +08:00
SkyLiCoder
d56254d190
refactor: remove remote control, zero-force mode and emergency stop
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- Remove RC_ctrl_t and RemoteControlInit from robot_cmd.c
- Delete GIMBAL_ZERO_FORCE, gimbal_mode_e, Robot_Status_e from robot_def.h
- Remove EmergencyHandler and robot_state from robot_cmd.c
- Remove emergency commands from master_machine.h
- Remove remote_control and can_comm from CMakeLists.txt
2026-05-30 01:14:00 +08:00
SkyLiCoder
ea493af11f
fix: remove attitude_t, unify with INS_t
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- Delete attitude_t struct from ins_task.h
- INS_Init() returns INS_t* directly instead of casting from INS.Gyro offset
- Change Gimbal_Upload_Data_s.gimbal_imu_data to INS_t* pointer
- Update gimbal.c and robot_cmd.c accordingly
2026-05-30 00:27:39 +08:00
SkyLiCoder
9b52a9ec64
refactor: rename opencv module to master_machine, remove old master_process
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- Delete modules/master_machine/ (old seasky protocol vision module)
- Rename modules/opencv/ → modules/master_machine/
- Rename opencv.h/c → master_machine.h/c
- Remove master_process.h include from robot_def.h and ins_task.c
- Remove VisionSetAltitude() call from ins_task.c (send not needed)
- Update all #include paths and CMakeLists.txt
2026-05-29 23:52:27 +08:00
SkyLiCoder
4d1702b577
refactor: migrate from DJI motors to DM motors, simplify to gimbal-only control
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- Rewrite DM motor driver based on DM_6220 reference protocol (MIT/PosVel/Velocity modes)
- Use velocity control mode: MCU runs angle PID with IMU feedback, motor handles speed loop
- Rewrite vision protocol with 3 frame types (0xA5 auto data, 0xA6 manual data, 0xA7 command)
- Decouple serial parsing (opencv module) from mode switching (robot_cmd module)
- Implement dual-loop architecture: vision PID outer loop → angle ref → motor PID inner loop
- Add KF/PID reset on mode switch transitions
- Merge motor_reverse_flag and feedback_reverse_flag into single output_reverse flag
- Remove DMMotorEnable/DMMotorStop (motor always runs, controlled by angle ref)
- Remove unused modules: DJI/LK/HT/step/servo motors, chassis, shoot, referee
- Add ExitRun0Mode() for STM32H723 power supply configuration
- Clean up CMakeLists: 115 → 76 C source files
2026-05-29 23:37:36 +08:00
SkyLiCoder
5b3333125d
第一次提交
2026-05-29 17:36:34 +08:00
SkyLiCoder