 SkyLiCoder
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8763b25839
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chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config
- Remove CMSIS-RTOS v1 (cmsis_os.h/cmsis_os.c), add CMSIS-RTOS v2 (cmsis_os2.c/freertos_os2.h/mpool.h)
- Update FreeRTOS kernel, port, and headers to match v2 integration
- Remove unused heap implementations, keep heap_4
- Update CubeMX project config (.mxproject, .ioc, CMakeLists.txt)
- Update FreeRTOSConfig.h, freertos.c, main.c, stm32h7xx_it.c
- Update application modules (master_machine, dmmotor)
- Add CMSIS-RTOS2 headers, mpu_syscall_numbers.h, newlib/picolibc support
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2026-05-30 20:40:00 +08:00 |
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SkyLiCoder
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67a26a5ff6
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cleanup: remove unused motor drivers and simplify motor_def.h
- Remove DJImotor, HTmotor, LKmotor, step_motor, servo_motor directories
- Remove Motor_Control_Setting_s and related enums (Closeloop_Type_e,
Feedback_Source_e, Feedfoward_Type_e, MOTOR_SEND_MODE_e, Motor_Working_Type_e)
- Merge motor_reverse_flag and feedback_reverse_flag into output_reverse
- Hardcode DM motor control: IMU angle feedback → angle PID → velocity output
- Simplify Motor_Init_Config_s to only: PID params, output_reverse, motor_type, CAN config
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2026-05-29 23:45:38 +08:00 |
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