SkyLiCoder
8763b25839
chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config
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- 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
2026-05-30 20:40:00 +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
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