11.18

.clang-format

@@ -34,8 +34,8 @@ AllowShortLoopsOnASingleLine: true
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: true
 AlwaysBreakTemplateDeclarations: Yes
-BinPackArguments: false 
-BinPackParameters: false
+BinPackArguments: true
+BinPackParameters: true
 BitFieldColonSpacing: Both
 BreakBeforeBraces: Custom
 BraceWrapping:
@@ -59,7 +59,7 @@ BreakConstructorInitializersBeforeComma: false
 BreakInheritanceList: AfterComma
 BreakBeforeTernaryOperators: true
 BreakStringLiterals: true
-ColumnLimit: 132
+ColumnLimit: 100
 CommentPragmas: "^ IWYU pragma:"
 CompactNamespaces: true
 ConstructorInitializerIndentWidth: 4
@@ -156,3 +156,4 @@ SpacesInSquareBrackets: false
 Standard: Auto
 TabWidth: 4
 UseTab: Always
+

.clang-tidy

@@ -1,4 +1,5 @@
-Checks: '-*,
+
+Checks: '-*,
     misc-throw-by-value-catch-by-reference,
     misc-misplaced-const,
     misc-unconventional-assign-operator,
@@ -39,7 +40,7 @@
     readability-deleted-default,
     readability-make-member-function-const,
     readability-misplaced-array-index,
-    readability-non-const-parameter,
+    <!-- readability-non-const-parameter, -->
     readability-qualified-auto,
     readability-redundant-access-specifiers,
     readability-redundant-control-flow,
@@ -156,9 +157,9 @@ WarningsAsErrors: '*'
 
 CheckOptions:
   - key: readability-identifier-naming.ClassCase
-    value: camelCase
+    value: CamelCase
   - key: readability-identifier-naming.EnumCase
-    value: camelBack
+    value: CamelCase
   - key: readability-identifier-naming.LocalVariableCase
     value: camelBack
   - key: readability-identifier-naming.StaticConstantCase
@@ -171,16 +172,15 @@ CheckOptions:
     value: ''
   - key: readability-identifier-naming.ProtectedMemberPrefix
     value: ''
-  - key: readability-identifier-naming.GlobalVariablePrefix
-    value: g
+
   - key: readability-identifier-naming.GlobalConstantCase
-    value: camelBack
+    value: UPPER_CASE
   - key: readability-identifier-naming.GlobalConstantPrefix
     value: ''
   - key: readability-identifier-naming.PublicMemberCase
     value: camelBack
   - key: readability-identifier-naming.MethodCase
-    value: camelCase
+    value: CamelCase
   - key: readability-identifier-naming.PrivateMethodPrefix
     value: ''
   - key: readability-identifier-naming.ProtectedMethodPrefix
@@ -202,4 +202,11 @@ CheckOptions:
   - key: readability-identifier-naming.UsingCase
     value: CamelCase
   - key: readability-identifier-naming.GlobalFunctionCase
-    value: CamelCase
+    value: CamelCase
+    value: Camel_Snake_Case
+  # - key: readability-identifier-naming.GlobalConstantPointerPrefix
+  #   value: p_
+  # - key: readability-identifier-naming.GlobalPointerPrefix
+  #   value: p_
+  - key: readability-identifier-naming.GlobalVariablePrefix
+    value: g_

Chassis/src/robot.c

@@ -19,11 +19,13 @@ void robotInit() {
   legInit(&robot->legL, LEGLEFT, motorL, motorLF, motorLB);
   legInit(&robot->legR, LEGRIGHT, motorR, motorRF, motorRB);
   legInit(&robot->legVir, LEGLEFT, NULL, NULL, NULL);
-  // TODO: 参数暂定 调节
+
   robot->yawpid = (PID *) malloc(sizeof(PID));
   robot->rollpid = (PID *) malloc(sizeof(PID));
   robot->splitpid = (PID *) malloc(sizeof(PID));
   robot->L0pid = (PID *) malloc(sizeof(PID));
+
+  // TODO: 参数暂定 调节
   pidInit(robot->yawpid, 1, 1, 1, 0, 0, PIDPOS);
   pidInit(robot->rollpid, 1, 1, 1, 0, 0, PIDPOS);
   pidInit(robot->splitpid, 1, 1, 1, 0, 0, PIDPOS);
@@ -50,8 +52,6 @@ void updateState() {
   robot->legR.TWheelnow = robot->legR.wheel->currentRead * M3508CURRENTTOTORQUE;
 
   flyCheck();
-
-
 }
 
 //----

Function/src/pid.c

@@ -66,6 +66,17 @@ float TposCompute(PID* pid, float input) {
   return pid->output;
 }
 
+//----
+// @brief PID初始化，设置kp,ki,kd 选定pid模式
+// 
+// @param pid 
+// @param kp 
+// @param ki 
+// @param kd 
+// @param outputLimit 
+// @param accErrLimit 
+// @param mode 
+//----
 void pidInit(PID* pid, float kp, float ki, float kd, float outputLimit, float accErrLimit, pidMode mode) {
   pid->kp = kp;
   pid->ki = ki;

Main/inc/bluetooth.h

@@ -4,11 +4,12 @@
 // @brief 蓝牙通讯
 // @version 1.0
 // @date 2023-11-17
-// 
+//
 // @copyright Copyright (c) 2023
-// 
+//
 //----
 #pragma once
+
 #include <stdlib.h>
 #include <stdbool.h>
 #include "stm32f4xx.h"
@@ -29,13 +30,12 @@ typedef struct {
   u8 txDataSize;
 
   bool gethead;
-}BlueToothMsg;
+} BlueToothMsg;
 
-extern BlueToothMsg* bluetoothmsg;
+extern BlueToothMsg *bluetoothmsg;
 
 void blueToothInit();
 void blueToothReceive(u8 data);
 void blueToothDeal();
 void blueToothClear();
-void blueToothSend(u8 id, void* data, u8 size);
-
+void blueToothSend(u8 id, void *data, u8 size);

Main/inc/main.h

@@ -4,9 +4,9 @@
 // @brief main函数，主程序
 // @version 1.0
 // @date 2023-11-17
-// 
+//
 // @copyright Copyright (c) 2023
-// 
+//
 //----
 #pragma once
 
@@ -19,6 +19,7 @@
 #include "os_cfg.h"
 #include "os_cpu.h"
 #include "ucos_ii.h"
+#include "masterparam.h"
 
 #define TASK_STK_SIZE 256
 
@@ -27,21 +28,21 @@ OS_STK taskStartStk[TASK_STK_SIZE];
 OS_STK taskLedStk[TASK_STK_SIZE];
 OS_STK taskBeepStk[TASK_STK_SIZE];
 
-OS_EVENT* beepShowSem;
+OS_EVENT *beepShowSem;
 u8 beepShowErr;
 
 extern u8 beepShowErr;
-extern OS_EVENT* beepShowSem;
+extern OS_EVENT *beepShowSem;
 extern OS_STK taskStartStk[TASK_STK_SIZE];
 
 #define START_TASK_PRIO 5
-static void taskStart(void* pdata);
+static void taskStart(void *pdata);
 
-#define LED_TASK_PRIO	12
-static void taskLed(void* pdata);
+#define LED_TASK_PRIO 12
+static void taskLed(void *pdata);
 
 #define BEEP_TASK_PRIO 11
-static void taskBeep(void* pdata);
+static void taskBeep(void *pdata);
 
 #define RUN_TASK_PRIO 6
-static void taskRun(void* pdata);
+static void taskRun(void *pdata);

Main/inc/controlparam.h → Main/inc/masterparam.h

@@ -10,6 +10,8 @@
 //----
 
 #pragma once
+
+#include <stdbool.h>
 #include "stm32f4xx.h"
 
 //----
@@ -35,3 +37,18 @@ typedef struct {
   bool begin; // 开始运行
   bool stop; // 急停 打算做一个功能就是为了防止程序疯跑，再怎么说没有急停开关好用
 }ControlParam;
+
+//----
+// @brief 主控参数
+// 
+//----
+typedef struct {
+  HandleParam handle;
+  ControlParam control;
+}Master;
+
+extern Master master;
+
+void HandleParamInit(HandleParam* handleparam);
+void ControlParamInit(ControlParam* controlparam);
+void MasterInit(Master* master);

Main/src/main.c

@@ -13,7 +13,7 @@ int main(){
 	tim2Init();
 	tim3Init();
 
-  // robotInit();
+  robotInit();
 
 	OSInit();
 	OSTaskCreate(taskStart, (void*) 0, &taskStartStk[TASK_STK_SIZE - 1], START_TASK_PRIO);	// 创建初始任务
@@ -62,6 +62,9 @@ static void taskRun(void* pdata) {
 	pdata = pdata;
 	while (1) {
 		updateState();
+		if(master.control.begin){
+			robotRun();
+		}
 		OSTimeDly(100);
 	}
 }

Main/src/masterparam.c

@@ -0,0 +1,25 @@
+#include "masterparam.h"
+
+Master master;
+
+void HandleParamInit(HandleParam* handleparam) {
+  handleparam->forward = 0;
+  handleparam->backward = 0;
+  handleparam->left = 0;
+  handleparam->right = 0;
+  handleparam->up = 0;
+  handleparam->down = 0;
+  handleparam->tiltleft = 0;
+  handleparam->tiltright = 0;
+}
+
+void ControlParamInit(ControlParam* controlparam) {
+  controlparam->begin = false;
+  controlparam->stop = true;
+}
+
+void MasterInit(Master* master) {
+  HandleParamInit(&master->handle);
+  ControlParamInit(&master->control);
+}
+