AimBot/Gimbal
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9b8e204ff77d715e92186d5ba2b73f79047035b6
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5 Commits

Author SHA1 Message Date
SkyLiCoder 9b8e204ff7 feat: add DEBUG mode with host-side PID tuning, motor enable/disable protection 
- 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
 2026-05-31 03:49:41 +08:00
SkyLiCoder 8763b25839 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
 2026-05-30 20:40:00 +08:00
SkyLiCoder d56254d190 refactor: remove remote control, zero-force mode and emergency stop 
- 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 9b52a9ec64 refactor: rename opencv module to master_machine, remove old master_process 
- 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 5b3333125d 第一次提交 2026-05-29 17:36:34 +08:00