增加了遥控器按键功能并修改所有函数和类型定义为标准格式

2026-07-23 19:25:09 +08:00 · 2022-12-05 21:01:26 +08:00
parent 3947c48230
commit 9c9ea14bde
40 changed files with 352 additions and 251 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -36,7 +36,9 @@
        "*.tcc": "c",
        "type_traits": "c",
        "typeinfo": "c",
-        "general_def.h": "c"
+        "general_def.h": "c",
+        "super_cap.h": "c",
+        "motor_def.h": "c"
    },
    "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
 }
--- a/TODO.md
+++ b/TODO.md
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -22,7 +22,6 @@

 #include "arm_math.h"

-
 /* 根据robot_def.h中的macro自动计算的参数 */
 #define HALF_WHEEL_BASE (WHEEL_BASE / 2.0f)
 #define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f)
@@ -37,10 +36,10 @@ IMU_Data_t *Chassis_IMU_data;
 #endif                               // CHASSIS_BOARD
 static referee_info_t *referee_data; // 裁判系统的数据
 // static SuperCAP* cap; 尚未增加超级电容
-static dji_motor_instance *motor_lf; // left right forward back
-static dji_motor_instance *motor_rf;
-static dji_motor_instance *motor_lb;
-static dji_motor_instance *motor_rb;
+static DJIMotorInstance *motor_lf; // left right forward back
+static DJIMotorInstance *motor_rf;
+static DJIMotorInstance *motor_lb;
+static DJIMotorInstance *motor_rb;

 /* chassis 包含的信息交互模块和数据*/
 static Publisher_t *chassis_pub;
@@ -170,8 +169,8 @@ static void MecanumCalculate()
 {
    vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
    vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
-    vt_lb =  chassis_vx + chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
-    vt_rb =  chassis_vx - chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
+    vt_lb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
+    vt_rb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
 }

 /**
@@ -249,7 +248,7 @@ void ChassisTask()

    // 获取裁判系统数据
    // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
-    chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0; 
+    chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0;
    // 当前只做了17mm的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
    chassis_feedback_data.bullet_speed = referee_data->GameRobotStat.shooter_id1_17mm_speed_limit;
    chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -15,11 +15,11 @@
 #ifndef ONE_BOARD
 #include "can_comm.h"
 static CANCommInstance *chasiss_can_comm; // 双板通信
-#endif // !ONE_BOARD
+#endif                                    // !ONE_BOARD

-static RC_ctrl_t *remote_control_data;    // 遥控器数据,初始化时返回
-static Vision_Recv_s *vision_recv_data;   // 视觉接收数据指针,初始化时返回
-static Vision_Send_s vision_send_data;    // 视觉发送数据
+static RC_ctrl_t *remote_control_data;  // 遥控器数据,初始化时返回
+static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
+static Vision_Send_s vision_send_data;  // 视觉发送数据

 static Publisher_t *gimbal_cmd_pub;
 static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
@@ -38,8 +38,8 @@ static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反

 void GimbalCMDInit()
 {
-    remote_control_data = RC_init(&huart3); // 修改为对应串口,注意dbus协议串口需加反相器
-    vision_recv_data = VisionInit(&huart1); // 视觉通信串口
+    remote_control_data = RemoteControlInit(&huart3); // 修改为对应串口,注意dbus协议串口需加反相器
+    vision_recv_data = VisionInit(&huart1);           // 视觉通信串口

    gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
    gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
@@ -107,11 +107,11 @@ void GimbalCMDTask()
        MouseKeySetMode();

    // 设置视觉发送数据,work_mode在前一部分设置
-    vision_send_data.bullet_speed=chassis_fetch_data.bullet_speed;
-    vision_send_data.enemy_color=chassis_fetch_data.enemy_color;
-    vision_send_data.pitch=gimbal_fetch_data.gimbal_imu_data.Pitch;
-    vision_send_data.yaw=gimbal_fetch_data.gimbal_imu_data.Yaw;
-    vision_send_data.roll=gimbal_fetch_data.gimbal_imu_data.Roll;
+    vision_send_data.bullet_speed = chassis_fetch_data.bullet_speed;
+    vision_send_data.enemy_color = chassis_fetch_data.enemy_color;
+    vision_send_data.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
+    vision_send_data.yaw = gimbal_fetch_data.gimbal_imu_data.Yaw;
+    vision_send_data.roll = gimbal_fetch_data.gimbal_imu_data.Roll;

    // 推送消息,双板通信,视觉通信等
    // 应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -5,10 +5,9 @@
 #include "message_center.h"
 #include "general_def.h"

-
-static attitude_t *Gimbal_IMU_data;     // 云台IMU数据
-static dji_motor_instance *yaw_motor;   // yaw电机
-static dji_motor_instance *pitch_motor; // pitch电机
+static attitude_t *Gimbal_IMU_data;   // 云台IMU数据
+static DJIMotorInstance *yaw_motor;   // yaw电机
+static DJIMotorInstance *pitch_motor; // pitch电机

 static Publisher_t *gimbal_pub;
 static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给gimbal_cmd的云台状态信息
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -5,11 +5,10 @@
 #include "bsp_dwt.h"
 #include "general_def.h"

-
 /* 对于双发射机构的机器人,将下面的数据封装成结构体即可,生成两份shoot应用实例 */
-static dji_motor_instance *friction_l; // 左摩擦轮
-static dji_motor_instance *friction_r; // 右摩擦轮
-static dji_motor_instance *loader;     // 拨盘电机
+static DJIMotorInstance *friction_l; // 左摩擦轮
+static DJIMotorInstance *friction_r; // 右摩擦轮
+static DJIMotorInstance *loader;     // 拨盘电机
 // static servo_instance *lid; 需要增加弹舱盖

 static Publisher_t *shoot_pub;
--- a/bsp/bsp_buzzer.c
+++ b/bsp/bsp_buzzer.c
@@ -2,24 +2,24 @@
 #include "main.h"

 extern TIM_HandleTypeDef htim4;
-static uint8_t tmp_warning_level=0;
+static uint8_t tmp_warning_level = 0;

-void buzzer_init()
+void BuzzerInit()
 {
-    HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_3);
+    HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
 }

-void buzzer_on(uint16_t psc, uint16_t pwm,uint8_t level)
+void BuzzerOn(uint16_t psc, uint16_t pwm, uint8_t level)
 {
-    if(level>tmp_warning_level)
+    if (level > tmp_warning_level)
    {
-        tmp_warning_level=level;
+        tmp_warning_level = level;
        __HAL_TIM_PRESCALER(&htim4, psc);
        __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, pwm);
    }
 }
-void buzzer_off(void)
+void BuzzerOff(void)
 {
    __HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, 0);
-    tmp_warning_level=0;
+    tmp_warning_level = 0;
 }
--- a/bsp/bsp_buzzer.h
+++ b/bsp/bsp_buzzer.h
@@ -3,8 +3,8 @@

 #include <stdint-gcc.h>

-void buzzer_init();
-extern void buzzer_on(uint16_t psc, uint16_t pwm,uint8_t level);
-extern void buzzer_off(void);
+void BuzzerInit();
+extern void BuzzerOn(uint16_t psc, uint16_t pwm, uint8_t level);
+extern void BuzzerOff(void);

 #endif
--- a/bsp/bsp_can.c
+++ b/bsp/bsp_can.c
@@ -5,7 +5,7 @@

 /* can instance ptrs storage, used for recv callback */
 // 在CAN产生接收中断会遍历数组,选出hcan和rxid与发生中断的实例相同的那个,调用其回调函数
-static can_instance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
+static CANInstance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};

 /* ----------------two static function called by CANRegister()-------------------- */

@@ -24,7 +24,7 @@ static can_instance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
 *
 * @param _instance can instance owned by specific module
 */
-static void CANAddFilter(can_instance *_instance)
+static void CANAddFilter(CANInstance *_instance)
 {
    CAN_FilterTypeDef can_filter_conf;
    static uint8_t can1_filter_idx = 0, can2_filter_idx = 14;
@@ -60,15 +60,15 @@ static void CANServiceInit()

 /* ----------------------- two extern callable function -----------------------*/

-can_instance *CANRegister(can_instance_config_s *config)
+CANInstance *CANRegister(CAN_Init_Config_s *config)
 {
    static uint8_t idx; // 全局CAN实例索引,每次有新的模块注册会自增
    if (!idx)
    {
        CANServiceInit(); // 第一次注册,先进行硬件初始化
    }
-    instance[idx] = (can_instance *)malloc(sizeof(can_instance)); // 分配空间
-    memset(instance[idx], 0, sizeof(can_instance));
+    instance[idx] = (CANInstance *)malloc(sizeof(CANInstance)); // 分配空间
+    memset(instance[idx], 0, sizeof(CANInstance));
    // 进行发送报文的配置
    instance[idx]->txconf.StdId = config->tx_id;
    instance[idx]->txconf.IDE = CAN_ID_STD;
@@ -85,7 +85,7 @@ can_instance *CANRegister(can_instance_config_s *config)
 }

 /* TODO:目前似乎封装过度,应该添加一个指向tx_buff的指针,tx_buff不应该由CAN instance保存 */
-void CANTransmit(can_instance *_instance)
+void CANTransmit(CANInstance *_instance)
 {
    while (HAL_CAN_GetTxMailboxesFreeLevel(_instance->can_handle) == 0)
        ;
@@ -93,7 +93,7 @@ void CANTransmit(can_instance *_instance)
    HAL_CAN_AddTxMessage(_instance->can_handle, &_instance->txconf, _instance->tx_buff, &_instance->tx_mailbox);
 }

-void CANSetDLC(can_instance *_instance, uint8_t length)
+void CANSetDLC(CANInstance *_instance, uint8_t length)
 {
    if (length > 8) // 安全检查
        while (1)
--- a/bsp/bsp_can.h
+++ b/bsp/bsp_can.h
@@ -23,7 +23,7 @@ typedef struct _
    uint8_t rx_len;                // 接收长度,可能为0-8
    // 接收的回调函数,用于解析接收到的数据
    void (*can_module_callback)(struct _ *); // callback needs an instance to tell among registered ones
-} can_instance;
+} CANInstance;
 #pragma pack()

 /* this structure is used for initialization */
@@ -32,8 +32,8 @@ typedef struct
    CAN_HandleTypeDef *can_handle;
    uint32_t tx_id;
    uint32_t rx_id;
-    void (*can_module_callback)(can_instance *);
-} can_instance_config_s;
+    void (*can_module_callback)(CANInstance *);
+} CAN_Init_Config_s;

 /**
 * @brief 修改CAN发送报文的数据帧长度;注意最大长度为8,在没有进行修改的时候,默认长度为8
@@ -41,7 +41,7 @@ typedef struct
 * @param _instance 要修改长度的can实例
 * @param length    设定长度
 */
-void CANSetDLC(can_instance *_instance, uint8_t length);
+void CANSetDLC(CANInstance *_instance, uint8_t length);

 /**
 * @brief transmit mesg through CAN device,通过can实例发送消息
@@ -49,14 +49,14 @@ void CANSetDLC(can_instance *_instance, uint8_t length);
 *
 * @param _instance* can instance owned by module
 */
-void CANTransmit(can_instance *_instance);
+void CANTransmit(CANInstance *_instance);

 /**
 * @brief Register a module to CAN service,remember to call this before using a CAN device
 *        注册(初始化)一个can实例,需要传入初始化配置的指针.
 * @param config init config
- * @return can_instance* can instance owned by module
+ * @return CANInstance* can instance owned by module
 */
-can_instance *CANRegister(can_instance_config_s *config);
+CANInstance *CANRegister(CAN_Init_Config_s *config);

 #endif
--- a/bsp/bsp_init.c
+++ b/bsp/bsp_init.c
@@ -9,8 +9,8 @@
 void BSPInit()
 {
    DWT_Init(168);
-    BSP_Log_Init();
-    LED_init();
+    BSPLogInit();
+    LEDInit();
    IMUTempInit();
-    buzzer_init();
+    BuzzerInit();
 }
--- a/bsp/bsp_led.c
+++ b/bsp/bsp_led.c
@@ -4,14 +4,14 @@
 extern TIM_HandleTypeDef htim5;
 static uint8_t tmp_output_level = 0;

-void LED_init()
+void LEDInit()
 {
    HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_1);
    HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_3);
 }

-void aRGB_led_show(uint32_t aRGB)
+void FlowRGBShow(uint32_t aRGB)
 {
    static uint8_t alpha;
    static uint16_t red, green, blue;
--- a/bsp/bsp_led.h
+++ b/bsp/bsp_led.h
@@ -3,7 +3,7 @@

 #include <stdint-gcc.h>

-void LED_init();
-extern void aRGB_led_show(uint32_t aRGB);
+void LEDInit();
+extern void FlowRGBShow(uint32_t aRGB);

 #endif
--- a/bsp/bsp_log.c
+++ b/bsp/bsp_log.c
@@ -6,12 +6,12 @@

 #define BUFFER_INDEX 0

-void BSP_Log_Init()
+void BSPLogInit()
 {
    SEGGER_RTT_Init();
 }

-int printf_log(const char *fmt, ...)
+int PrintLog(const char *fmt, ...)
 {
    va_list args;
    va_start(args, fmt);
--- a/bsp/bsp_log.h
+++ b/bsp/bsp_log.h
@@ -1,9 +1,9 @@
 #ifndef _BSP_LOG_H
 #define _BSP_LOG_H

-void BSP_Log_Init();
+void BSPLogInit();

-int printf_log(const char *fmt, ...);
+int PrintLog(const char *fmt, ...);

 void Float2Str(char *str, float va);

--- a/bsp/bsp_temperature.c
+++ b/bsp/bsp_temperature.c
@@ -7,7 +7,7 @@ void IMUTempInit()
    HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
 }

-void imu_pwm_set(uint16_t pwm)
+void IMUPWMSet(uint16_t pwm)
 {
    __HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, pwm);
 }
--- a/bsp/bsp_temperature.h
+++ b/bsp/bsp_temperature.h
@@ -5,6 +5,6 @@
 #include "tim.h"

 void IMUTempInit();
-extern void imu_pwm_set(uint16_t pwm);
+extern void IMUPWMSet(uint16_t pwm);

 #endif
--- a/bsp/bsp_usart.c
+++ b/bsp/bsp_usart.c
@@ -14,7 +14,7 @@

 /* usart service instance, modules' info would be recoreded here using USARTRegister() */
 /* usart服务实例,所有注册了usart的模块信息会被保存在这里 */
-static usart_instance *instance[DEVICE_USART_CNT] = {NULL};
+static USARTInstance *instance[DEVICE_USART_CNT] = {NULL};

 /**
 * @brief usart service will start automatically, after each module registered
@@ -22,7 +22,7 @@ static usart_instance *instance[DEVICE_USART_CNT] = {NULL};
 *
 * @param _instance instance owned by module,模块拥有的串口实例
 */
-static void USARTServiceInit(usart_instance *_instance)
+static void USARTServiceInit(USARTInstance *_instance)
 {
    HAL_UARTEx_ReceiveToIdle_DMA(_instance->usart_handle, _instance->recv_buff, _instance->recv_buff_size);
    // 关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback()
@@ -31,23 +31,23 @@ static void USARTServiceInit(usart_instance *_instance)
    __HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
 }

-usart_instance* USARTRegister(USART_Init_Config_s *init_config)
+USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
 {
    static uint8_t idx;

-    instance[idx]=(usart_instance*)malloc(sizeof(usart_instance));
-    memset(instance[idx],0,sizeof(usart_instance));
+    instance[idx] = (USARTInstance *)malloc(sizeof(USARTInstance));
+    memset(instance[idx], 0, sizeof(USARTInstance));

-    instance[idx]->module_callback=init_config->module_callback;
-    instance[idx]->recv_buff_size=init_config->recv_buff_size;
-    instance[idx]->usart_handle=init_config->usart_handle;
+    instance[idx]->module_callback = init_config->module_callback;
+    instance[idx]->recv_buff_size = init_config->recv_buff_size;
+    instance[idx]->usart_handle = init_config->usart_handle;
    USARTServiceInit(instance[idx]);

    return instance[idx++];
 }

 /* @todo 当前仅进行了形式上的封装,后续要进一步考虑是否将module的行为与bsp完全分离 */
-void USARTSend(usart_instance *_instance, uint8_t *send_buf, uint16_t send_size)
+void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size)
 {
    HAL_UART_Transmit_DMA(_instance->usart_handle, send_buf, send_size);
 }
@@ -75,7 +75,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
        if (huart == instance[i]->usart_handle)
        {
            instance[i]->module_callback();
-            memset(instance[i]->recv_buff,0,Size); // 接收结束后清空buffer,对于变长数据是必要的
+            memset(instance[i]->recv_buff, 0, Size); // 接收结束后清空buffer,对于变长数据是必要的
            HAL_UARTEx_ReceiveToIdle_DMA(instance[i]->usart_handle, instance[i]->recv_buff, instance[i]->recv_buff_size);
            __HAL_DMA_DISABLE_IT(instance[i]->usart_handle->hdmarx, DMA_IT_HT);
            break;
--- a/bsp/bsp_usart.h
+++ b/bsp/bsp_usart.h
@@ -10,7 +10,7 @@
 /* application callback,which resolves specific protocol,解析协议的回调函数 */
 typedef void (*usart_module_callback)();

-/* usart_instance struct,each app would have one instance */
+/* USARTInstance struct,each app would have one instance */
 typedef struct
 {
    // 更新:弃用malloc方案,使用了固定大小的数组方便debug时查看
@@ -18,7 +18,7 @@ typedef struct
    uint8_t recv_buff_size;                // 模块接收一包数据的大小
    UART_HandleTypeDef *usart_handle;      // 实例对应的usart_handle
    usart_module_callback module_callback; // 解析收到的数据的回调函数
-} usart_instance;
+} USARTInstance;

 /* usart 初始化配置结构体 */
 typedef struct
@@ -33,7 +33,7 @@ typedef struct
 *
 * @param init_config 传入串口初始化结构体
 */
-usart_instance* USARTRegister(USART_Init_Config_s *init_config);
+USARTInstance *USARTRegister(USART_Init_Config_s *init_config);

 /**
 * @todo 是否需要进一步封装发送buff和size,并创建一个串口任务以一定频率自动发送?
@@ -45,6 +45,6 @@ usart_instance* USARTRegister(USART_Init_Config_s *init_config);
 * @param id specify which usart would be used
 * @param send_size how many bytes to send
 */
-void USARTSend(usart_instance *_instance, uint8_t *send_buf, uint16_t send_size);
+void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size);

 #endif
--- a/modules/algorithm/controller.c
+++ b/modules/algorithm/controller.c
@@ -12,14 +12,14 @@
 #include <memory.h>

 // PID优化环节函数声明
-static void f_Trapezoid_Intergral(PID_t *pid);       // 梯形积分
-static void f_Integral_Limit(PID_t *pid);            // 积分限幅
-static void f_Derivative_On_Measurement(PID_t *pid); // 微分先行(仅使用反馈值而不计参考输入的微分)
-static void f_Changing_Integration_Rate(PID_t *pid); // 变速积分(误差小时积分作用更强)
-static void f_Output_Filter(PID_t *pid);             // 输出滤波(平滑输出)
-static void f_Derivative_Filter(PID_t *pid);         // 微分滤波(采集时,滤除高频噪声)
-static void f_Output_Limit(PID_t *pid);              // 输出限幅
-static void f_PID_ErrorHandle(PID_t *pid);           // 堵转保护
+static void f_Trapezoid_Intergral(PIDInstance *pid);       // 梯形积分
+static void f_Integral_Limit(PIDInstance *pid);            // 积分限幅
+static void f_Derivative_On_Measurement(PIDInstance *pid); // 微分先行(仅使用反馈值而不计参考输入的微分)
+static void f_Changing_Integration_Rate(PIDInstance *pid); // 变速积分(误差小时积分作用更强)
+static void f_Output_Filter(PIDInstance *pid);             // 输出滤波(平滑输出)
+static void f_Derivative_Filter(PIDInstance *pid);         // 微分滤波(采集时,滤除高频噪声)
+static void f_Output_Limit(PIDInstance *pid);              // 输出限幅
+static void f_PID_ErrorHandle(PIDInstance *pid);           // 堵转保护

 /**
 * @brief 初始化PID,设置参数和启用的优化环节,将其他数据置零
@@ -27,12 +27,12 @@ static void f_PID_ErrorHandle(PID_t *pid);           // 堵转保护
 * @param pid    PID实例
 * @param config PID初始化设置
 */
-void PID_Init(PID_t *pid, PID_Init_config_s *config)
+void PID_Init(PIDInstance *pid, PID_Init_config_s *config)
 {
    // utilize the quality of struct that its memeory is continuous
    memcpy(pid, config, sizeof(PID_Init_config_s));
    // set rest of memory to 0
-    memset(&pid->Measure, 0, sizeof(PID_t) - sizeof(PID_Init_config_s));
+    memset(&pid->Measure, 0, sizeof(PIDInstance) - sizeof(PID_Init_config_s));
 }

 /**
@@ -42,7 +42,7 @@ void PID_Init(PID_t *pid, PID_Init_config_s *config)
 * @param[in]      期望值
 * @retval         返回空
 */
-float PID_Calculate(PID_t *pid, float measure, float ref)
+float PID_Calculate(PIDInstance *pid, float measure, float ref)
 {
    if (pid->Improve & ErrorHandle)
        f_PID_ErrorHandle(pid);
@@ -93,13 +93,13 @@ float PID_Calculate(PID_t *pid, float measure, float ref)
    return pid->Output;
 }

-static void f_Trapezoid_Intergral(PID_t *pid)
+static void f_Trapezoid_Intergral(PIDInstance *pid)
 {

    pid->ITerm = pid->Ki * ((pid->Err + pid->Last_Err) / 2) * pid->dt;
 }

-static void f_Changing_Integration_Rate(PID_t *pid)
+static void f_Changing_Integration_Rate(PIDInstance *pid)
 {
    if (pid->Err * pid->Iout > 0)
    {
@@ -114,7 +114,7 @@ static void f_Changing_Integration_Rate(PID_t *pid)
    }
 }

-static void f_Integral_Limit(PID_t *pid)
+static void f_Integral_Limit(PIDInstance *pid)
 {
    static float temp_Output, temp_Iout;
    temp_Iout = pid->Iout + pid->ITerm;
@@ -141,24 +141,24 @@ static void f_Integral_Limit(PID_t *pid)
    }
 }

-static void f_Derivative_On_Measurement(PID_t *pid)
+static void f_Derivative_On_Measurement(PIDInstance *pid)
 {
    pid->Dout = pid->Kd * (pid->Last_Measure - pid->Measure) / pid->dt;
 }

-static void f_Derivative_Filter(PID_t *pid)
+static void f_Derivative_Filter(PIDInstance *pid)
 {
    pid->Dout = pid->Dout * pid->dt / (pid->Derivative_LPF_RC + pid->dt) +
                pid->Last_Dout * pid->Derivative_LPF_RC / (pid->Derivative_LPF_RC + pid->dt);
 }

-static void f_Output_Filter(PID_t *pid)
+static void f_Output_Filter(PIDInstance *pid)
 {
    pid->Output = pid->Output * pid->dt / (pid->Output_LPF_RC + pid->dt) +
                  pid->Last_Output * pid->Output_LPF_RC / (pid->Output_LPF_RC + pid->dt);
 }

-static void f_Output_Limit(PID_t *pid)
+static void f_Output_Limit(PIDInstance *pid)
 {
    if (pid->Output > pid->MaxOut)
    {
@@ -171,7 +171,7 @@ static void f_Output_Limit(PID_t *pid)
 }

 // PID ERRORHandle Function
-static void f_PID_ErrorHandle(PID_t *pid)
+static void f_PID_ErrorHandle(PIDInstance *pid)
 {
    /*Motor Blocked Handle*/
    if (pid->Output < pid->MaxOut * 0.001f || fabsf(pid->Ref) < 0.0001f)
--- a/modules/algorithm/controller.h
+++ b/modules/algorithm/controller.h
@@ -93,7 +93,7 @@ typedef struct
    float dt;

    PID_ErrorHandler_t ERRORHandler;
-} PID_t;
+} PIDInstance;

 /* 用于PID初始化的结构体*/
 typedef struct
@@ -120,7 +120,7 @@ typedef struct
 * @param pid    PID实例指针
 * @param config PID初始化配置
 */
-void PID_Init(PID_t *pid, PID_Init_config_s *config);
+void PID_Init(PIDInstance *pid, PID_Init_config_s *config);

 /**
 * @brief 计算PID输出
@@ -130,6 +130,6 @@ void PID_Init(PID_t *pid, PID_Init_config_s *config);
 * @param ref     设定值
 * @return float  PID计算输出
 */
-float PID_Calculate(PID_t *pid, float measure, float ref);
+float PID_Calculate(PIDInstance *pid, float measure, float ref);

 #endif
--- a/modules/can_comm/can_comm.c
+++ b/modules/can_comm/can_comm.c
@@ -24,7 +24,7 @@ static void CANCommResetRx(CANCommInstance *ins)
 *
 * @param _instance
 */
-static void CANCommRxCallback(can_instance *_instance)
+static void CANCommRxCallback(CANInstance *_instance)
 {
    for (size_t i = 0; i < idx; i++)
    {
@@ -65,7 +65,7 @@ static void CANCommRxCallback(can_instance *_instance)
                        if (can_comm_instance[i]->raw_recvbuf[can_comm_instance[i]->recv_buf_len - 2] ==
                            crc_8(can_comm_instance[i]->raw_recvbuf + 2, can_comm_instance[i]->recv_data_len))
                        { // 通过校验,复制数据到unpack_data中
-                            memcpy(can_comm_instance[i]->unpacked_recv_data,can_comm_instance[i]->raw_recvbuf + 2,  can_comm_instance[i]->recv_data_len);
+                            memcpy(can_comm_instance[i]->unpacked_recv_data, can_comm_instance[i]->raw_recvbuf + 2, can_comm_instance[i]->recv_data_len);
                            can_comm_instance[i]->update_flag = 1; // 数据更新flag置为1
                        }
                        CANCommResetRx(can_comm_instance[i]);
@@ -91,7 +91,7 @@ CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config)
    can_comm_instance[idx]->raw_sendbuf[comm_config->send_data_len + CAN_COMM_OFFSET_BYTES - 1] = CAN_COMM_TAIL;

    comm_config->can_config.can_module_callback = CANCommRxCallback;
-    can_comm_instance[idx]->can_ins=CANRegister(&comm_config->can_config);
+    can_comm_instance[idx]->can_ins = CANRegister(&comm_config->can_config);
    return can_comm_instance[idx++];
 }

@@ -104,10 +104,10 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data)
    instance->raw_sendbuf[2 + instance->send_data_len] = crc8;

    for (size_t i = 0; i < instance->send_buf_len; i += 8)
-    {   // 如果是最后一包,send len将会小于8,要修改CAN的txconf中的DLC位,调用bsp_can提供的接口即可
+    { // 如果是最后一包,send len将会小于8,要修改CAN的txconf中的DLC位,调用bsp_can提供的接口即可
        send_len = instance->send_buf_len - i >= 8 ? 8 : instance->send_buf_len - i;
        CANSetDLC(instance->can_ins, send_len);
-        memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf+i, send_len);
+        memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf + i, send_len);
        CANTransmit(instance->can_ins);
    }
 }
--- a/modules/can_comm/can_comm.h
+++ b/modules/can_comm/can_comm.h
@@ -24,7 +24,7 @@
 /* CAN comm 结构体, 拥有CAN comm的app应该包含一个CAN comm指针 */
 typedef struct
 {
-    can_instance* can_ins;
+    CANInstance *can_ins;
    /* 发送部分 */
    uint8_t send_data_len;
    uint8_t send_buf_len;
@@ -44,7 +44,7 @@ typedef struct
 /* CAN comm 初始化结构体 */
 typedef struct
 {
-    can_instance_config_s can_config;
+    CAN_Init_Config_s can_config;
    uint8_t send_data_len;
    uint8_t recv_data_len;
 } CANComm_Init_Config_s;
@@ -55,7 +55,7 @@ typedef struct
 * @param config
 * @return CANCommInstance*
 */
-CANCommInstance *CANCommInit(CANComm_Init_Config_s* comm_config);
+CANCommInstance *CANCommInit(CANComm_Init_Config_s *comm_config);

 /**
 * @brief 发送数据
--- a/modules/imu/ins_task.c
+++ b/modules/imu/ins_task.c
@@ -20,7 +20,7 @@

 static INS_t INS;
 static IMU_Param_t IMU_Param;
-static PID_t TempCtrl = {0};
+static PIDInstance TempCtrl = {0};

 const float xb[3] = {1, 0, 0};
 const float yb[3] = {0, 1, 0};
@@ -33,7 +33,6 @@ static float RefTemp = 40; // 恒温设定温度

 static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]);

-
 /**
 * @brief 温度控制
 *
@@ -41,12 +40,13 @@ static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[
 static void IMU_Temperature_Ctrl(void)
 {
    PID_Calculate(&TempCtrl, BMI088.Temperature, RefTemp);
-    imu_pwm_set(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
+    IMUPWMSet(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
 }

-attitude_t* INS_Init(void)
+attitude_t *INS_Init(void)
 {
-    while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR);
+    while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR)
+        ;
    IMU_Param.scale[X] = 1;
    IMU_Param.scale[Y] = 1;
    IMU_Param.scale[Z] = 1;
--- a/modules/led_light/led_task.c
+++ b/modules/led_light/led_task.c
@@ -53,7 +53,7 @@ void led_RGB_flow_task()
 			blue += delta_blue;

 			aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0;
-			aRGB_led_show(aRGB);
+			FlowRGBShow(aRGB);
 		}
 	}
 }
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@@ -18,7 +18,7 @@ static Vision_Recv_s recv_data;
 // @todo:由于后续需要进行IMU-Cam的硬件触发采集控制,因此可能需要将发送设置为定时任务,或由IMU采集完成产生的中断唤醒的任务,
 // 使得时间戳对齐. 因此,在send_data中设定其他的标志位数据,让ins_task填充姿态值.
 // static Vision_Send_s send_data;
-static usart_instance *vision_usart_instance;
+static USARTInstance *vision_usart_instance;

 /**
 * @brief 接收解包回调函数,将在bsp_usart.c中被usart rx callback调用
@@ -28,7 +28,7 @@ static usart_instance *vision_usart_instance;
 static void DecodeVision()
 {
    static uint16_t flag_register;
-    get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t*)&recv_data.pitch);
+    get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t *)&recv_data.pitch);
    // TODO: code to resolve flag_register;
 }

--- a/modules/motor/HT04.c
+++ b/modules/motor/HT04.c
@@ -17,7 +17,7 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits)
    return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
 }

-static void DecodeJoint(can_instance *motor_instance)
+static void DecodeJoint(CANInstance *motor_instance)
 {
    uint16_t tmp;
    for (size_t i = 0; i < HT_MOTOR_CNT; i++)
@@ -36,11 +36,11 @@ static void DecodeJoint(can_instance *motor_instance)
    }
 }

-joint_instance *HTMotorInit(can_instance_config_s config)
+joint_instance *HTMotorInit(CAN_Init_Config_s config)
 {
    static uint8_t idx;
    joint_motor_info[idx] = (joint_instance *)malloc(sizeof(joint_instance));
-    joint_motor_info[idx]->motor_can_instace =CANRegister(&config);
+    joint_motor_info[idx]->motor_can_instace = CANRegister(&config);
    return joint_motor_info[idx++];
 }

--- a/modules/motor/HT04.h
+++ b/modules/motor/HT04.h
@@ -22,8 +22,8 @@ typedef struct // HT04
    float speed_rpm;
    float given_current;

-    PID_t pid;
-    can_instance *motor_can_instace;
+    PIDInstance pid;
+    CANInstance *motor_can_instace;
 } joint_instance;

 typedef enum
@@ -33,7 +33,7 @@ typedef enum
    CMD_ZERO_POSITION = 0xfe
 } joint_mode;

-joint_instance *HTMotorInit(can_instance_config_s config);
+joint_instance *HTMotorInit(CAN_Init_Config_s config);

 void JointControl(joint_instance *_instance, float current);

--- a/modules/motor/LK9025.c
+++ b/modules/motor/LK9025.c
@@ -2,7 +2,7 @@

 static driven_instance *driven_motor_info[LK_MOTOR_CNT];

-static void DecodeDriven(can_instance *_instance)
+static void DecodeDriven(CANInstance *_instance)
 {
    for (size_t i = 0; i < LK_MOTOR_CNT; i++)
    {
@@ -18,12 +18,12 @@ static void DecodeDriven(can_instance *_instance)
    }
 }

-driven_instance *LKMotroInit(can_instance_config_s config)
+driven_instance *LKMotroInit(CAN_Init_Config_s config)
 {
    static uint8_t idx;
    driven_motor_info[idx] = (driven_instance *)malloc(sizeof(driven_instance));
    config.can_module_callback = DecodeDriven;
-    driven_motor_info[idx]->motor_can_instance=CANRegister(&config);
+    driven_motor_info[idx]->motor_can_instance = CANRegister(&config);
    return driven_motor_info[idx++];
 }

--- a/modules/motor/LK9025.h
+++ b/modules/motor/LK9025.h
@@ -18,8 +18,8 @@ typedef struct // 9025
    int16_t given_current;
    uint8_t temperate;

-    PID_t *pid;
-    can_instance *motor_can_instance;
+    PIDInstance *pid;
+    CANInstance *motor_can_instance;

 } driven_instance;

@@ -28,7 +28,7 @@ typedef enum
    unused = 0,
 } driven_mode;

-driven_instance *LKMotroInit(can_instance_config_s config);
+driven_instance *LKMotroInit(CAN_Init_Config_s config);

 void DrivenControl(int16_t motor1_current, int16_t motor2_current);

--- a/modules/motor/dji_motor.c
+++ b/modules/motor/dji_motor.c
@@ -4,7 +4,7 @@
 static uint8_t idx = 0; // register idx,是该文件的全局电机索引,在注册时使用

 /* DJI电机的实例,此处仅保存指针,内存的分配将通过电机实例初始化时通过malloc()进行 */
-static dji_motor_instance *dji_motor_info[DJI_MOTOR_CNT] = {NULL};
+static DJIMotorInstance *dji_motor_info[DJI_MOTOR_CNT] = {NULL};

 /**
 * @brief 由于DJI电机发送以四个一组的形式进行,故对其进行特殊处理,用6个(2can*3group)can_instance专门负责发送
@@ -13,7 +13,7 @@ static dji_motor_instance *dji_motor_info[DJI_MOTOR_CNT] = {NULL};
 * can1: [0]:0x1FF,[1]:0x200,[2]:0x2FF
 * can2: [0]:0x1FF,[1]:0x200,[2]:0x2FF
 */
-static can_instance sender_assignment[6] =
+static CANInstance sender_assignment[6] =
    {
        [0] = {.can_handle = &hcan1, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
        [1] = {.can_handle = &hcan1, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
@@ -46,7 +46,7 @@ static void IDcrash_Handler(uint8_t conflict_motor_idx, uint8_t temp_motor_idx)
 *
 * @param config
 */
-static void MotorSenderGrouping(can_instance_config_s *config)
+static void MotorSenderGrouping(CAN_Init_Config_s *config)
 {
    uint8_t motor_id = config->tx_id - 1; // 下标从零开始,先减一方便赋值
    uint8_t motor_send_num;
@@ -116,11 +116,11 @@ static void MotorSenderGrouping(can_instance_config_s *config)
 *
 * @param _instance 收到数据的instance,通过遍历与所有电机进行对比以选择正确的实例
 */
-static void DecodeDJIMotor(can_instance *_instance)
+static void DecodeDJIMotor(CANInstance *_instance)
 {
    // 由于需要多次变址访存,直接将buff和measure地址保存在寄存器里避免多次存取
    static uint8_t *rxbuff;
-    static dji_motor_measure *measure;
+    static DJI_Motor_Measure_s *measure;

    for (size_t i = 0; i < DJI_MOTOR_CNT; i++)
    {
@@ -151,10 +151,10 @@ static void DecodeDJIMotor(can_instance *_instance)
 }

 // 电机初始化,返回一个电机实例
-dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config)
+DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config)
 {
-    dji_motor_info[idx] = (dji_motor_instance *)malloc(sizeof(dji_motor_instance));
-    memset(dji_motor_info[idx], 0, sizeof(dji_motor_instance));
+    dji_motor_info[idx] = (DJIMotorInstance *)malloc(sizeof(DJIMotorInstance));
+    memset(dji_motor_info[idx], 0, sizeof(DJIMotorInstance));

    // motor basic setting
    dji_motor_info[idx]->motor_type = config->motor_type;
@@ -177,7 +177,7 @@ dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config)
    return dji_motor_info[idx++];
 }

-void DJIMotorChangeFeed(dji_motor_instance *motor, Closeloop_Type_e loop, Feedback_Source_e type)
+void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback_Source_e type)
 {
    if (loop == ANGLE_LOOP)
    {
@@ -189,23 +189,23 @@ void DJIMotorChangeFeed(dji_motor_instance *motor, Closeloop_Type_e loop, Feedba
    }
 }

-void DJIMotorStop(dji_motor_instance *motor)
+void DJIMotorStop(DJIMotorInstance *motor)
 {
    motor->stop_flag = MOTOR_STOP;
 }

-void DJIMotorEnable(dji_motor_instance *motor)
+void DJIMotorEnable(DJIMotorInstance *motor)
 {
    motor->stop_flag = MOTOR_ENALBED;
 }

-void DJIMotorOuterLoop(dji_motor_instance *motor, Closeloop_Type_e outer_loop)
+void DJIMotorOuterLoop(DJIMotorInstance *motor, Closeloop_Type_e outer_loop)
 {
    motor->motor_settings.outer_loop_type = outer_loop;
 }

 // 设置参考值
-void DJIMotorSetRef(dji_motor_instance *motor, float ref)
+void DJIMotorSetRef(DJIMotorInstance *motor, float ref)
 {
    motor->motor_controller.pid_ref = ref;
 }
@@ -217,10 +217,10 @@ void DJIMotorControl()
    // 同样可以提高可读性
    static uint8_t group, num;
    static int16_t set;
-    static dji_motor_instance *motor;
+    static DJIMotorInstance *motor;
    static Motor_Control_Setting_s *motor_setting;
    static Motor_Controller_s *motor_controller;
-    static dji_motor_measure *motor_measure;
+    static DJI_Motor_Measure_s *motor_measure;
    static float pid_measure;
    // 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
    for (size_t i = 0; i < DJI_MOTOR_CNT; i++)
--- a/modules/motor/dji_motor.h
+++ b/modules/motor/dji_motor.h
@@ -24,8 +24,7 @@
 /* 滤波系数设置为1的时候即关闭滤波 */
 #define SPEED_SMOOTH_COEF 0.9f    // better to be greater than 0.85
 #define CURRENT_SMOOTH_COEF 0.98f // this coef *must* be greater than 0.95
-#define ECD_ANGLE_COEF 0.043945f // 360/8192,将编码器值转化为角度制
-
+#define ECD_ANGLE_COEF 0.043945f  // 360/8192,将编码器值转化为角度制

 /* DJI电机CAN反馈信息*/
 typedef struct
@@ -38,7 +37,7 @@ typedef struct
    uint8_t temperate;         // 温度 Celsius
    int16_t total_round;       // 总圈数,注意方向
    int32_t total_angle;       // 总角度,注意方向
-} dji_motor_measure;
+} DJI_Motor_Measure_s;

 /**
 * @brief DJI intelligent motor typedef
@@ -47,7 +46,7 @@ typedef struct
 typedef struct
 {
    /* motor measurement recv from CAN feedback */
-    dji_motor_measure motor_measure;
+    DJI_Motor_Measure_s motor_measure;

    /* basic config of a motor*/
    Motor_Control_Setting_s motor_settings;
@@ -56,7 +55,7 @@ typedef struct
    Motor_Controller_s motor_controller;

    /* the CAN instance own by motor instance*/
-    can_instance *motor_can_instance;
+    CANInstance *motor_can_instance;

    /* sender assigment*/
    uint8_t sender_group;
@@ -65,7 +64,7 @@ typedef struct
    Motor_Type_e motor_type;        // 电机类型
    Motor_Working_Type_e stop_flag; // 启停标志

-} dji_motor_instance;
+} DJIMotorInstance;

 /**
 * @brief 调用此函数注册一个DJI智能电机,需要传递较多的初始化参数,请在application初始化的时候调用此函数
@@ -81,9 +80,9 @@ typedef struct
 *
 * @param config 电机初始化结构体,包含了电机控制设置,电机PID参数设置,电机类型以及电机挂载的CAN设置
 *
- * @return dji_motor_instance*
+ * @return DJIMotorInstance*
 */
-dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config);
+DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config);

 /**
 * @brief 被application层的应用调用,给电机设定参考值.
@@ -92,7 +91,7 @@ dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config);
 * @param motor 要设置的电机
 * @param ref 设定参考值
 */
-void DJIMotorSetRef(dji_motor_instance *motor, float ref);
+void DJIMotorSetRef(DJIMotorInstance *motor, float ref);

 /**
 * @brief 切换反馈的目标来源,如将角速度和角度的来源换为IMU(小陀螺模式常用)
@@ -101,7 +100,7 @@ void DJIMotorSetRef(dji_motor_instance *motor, float ref);
 * @param loop  要切换反馈数据来源的控制闭环
 * @param type  目标反馈模式
 */
-void DJIMotorChangeFeed(dji_motor_instance *motor, Closeloop_Type_e loop, Feedback_Source_e type);
+void DJIMotorChangeFeed(DJIMotorInstance *motor, Closeloop_Type_e loop, Feedback_Source_e type);

 /**
 * @brief 该函数被motor_task调用运行在rtos上,motor_stask内通过osDelay()确定控制频率
@@ -113,14 +112,14 @@ void DJIMotorControl();
 * @brief 停止电机,注意不是将设定值设为零,而是直接给电机发送的电流值置零
 *
 */
-void DJIMotorStop(dji_motor_instance *motor);
+void DJIMotorStop(DJIMotorInstance *motor);

 /**
 * @brief 启动电机,此时电机会响应设定值
 *        初始化时不需要此函数,因为stop_flag的默认值为0
 *
 */
-void DJIMotorEnable(dji_motor_instance *motor);
+void DJIMotorEnable(DJIMotorInstance *motor);

 /**
 * @brief 修改电机闭环目标(外层闭环)
@@ -128,6 +127,6 @@ void DJIMotorEnable(dji_motor_instance *motor);
 * @param motor  要修改的电机实例指针
 * @param outer_loop 外层闭环类型
 */
-void DJIMotorOuterLoop(dji_motor_instance *motor, Closeloop_Type_e outer_loop);
+void DJIMotorOuterLoop(DJIMotorInstance *motor, Closeloop_Type_e outer_loop);

 #endif // !DJI_MOTOR_H
--- a/modules/motor/motor_def.h
+++ b/modules/motor/motor_def.h
@@ -75,9 +75,9 @@ typedef struct
    // float *speed_foward_ptr;
    // float *current_foward_ptr;

-    PID_t current_PID;
-    PID_t speed_PID;
-    PID_t angle_PID;
+    PIDInstance current_PID;
+    PIDInstance speed_PID;
+    PIDInstance angle_PID;

    float pid_ref; // 将会作为每个环的输入和输出顺次通过串级闭环
 } Motor_Controller_s;
@@ -114,7 +114,7 @@ typedef struct
    Motor_Controller_Init_s controller_param_init_config;
    Motor_Control_Setting_s controller_setting_init_config;
    Motor_Type_e motor_type;
-    can_instance_config_s can_init_config;
+    CAN_Init_Config_s can_init_config;
 } Motor_Init_Config_s;

 #endif // !MOTOR_DEF_H
--- a/modules/referee/referee.c
+++ b/modules/referee/referee.c
@@ -7,26 +7,26 @@
 // 参考深圳大学  Infantry_X-master
 #define RE_RX_BUFFER_SIZE 200

-// static usart_instance referee_usart_instance;
-static usart_instance* referee_usart_instance;
+// static USARTInstance referee_usart_instance;
+static USARTInstance *referee_usart_instance;

 /**************裁判系统数据******************/
 static referee_info_t referee_info;
-static uint8_t Judge_Self_ID;		  // 当前机器人的ID
+static uint8_t Judge_Self_ID;		 // 当前机器人的ID
 static uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID

-static void ReceiveCallback()
+static void RCRxCallback()
 {
 	JudgeReadData(referee_usart_instance->recv_buff);
 }

-referee_info_t* RefereeInit(UART_HandleTypeDef *referee_usart_handle)
+referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
 {
 	USART_Init_Config_s conf;
-	conf.module_callback = ReceiveCallback;
+	conf.module_callback = RCRxCallback;
 	conf.usart_handle = referee_usart_handle;
 	conf.recv_buff_size = RE_RX_BUFFER_SIZE;
-	referee_usart_instance=USARTRegister(&conf);
+	referee_usart_instance = USARTRegister(&conf);
 	return &referee_info;
 }

--- a/modules/referee/referee.h
+++ b/modules/referee/referee.h
@@ -338,6 +338,7 @@ typedef struct

 	ext_SendClientData_t ShowData;	 // 客户端信息
 	ext_CommunatianData_t CommuData; // 队友通信信息
+
 } referee_info_t;

 #pragma pack()
--- a/modules/remote/remote.md
+++ b/modules/remote/remote.md
@@ -0,0 +1,70 @@
+remote_control
+<p align='right'>neozng1@hnu.edu.cn</p>
+```
+/*************************发射机DT7***************************
+ *                                                            *
+ *   -----------------------------------------------------    *
+ *   |     (上-1)                               (上-1)   |    *
+ *   |SW_L|(中-3)                          SW_R|(中-3)   |    *
+ *   |     (下-2)                               (下-2)   |    *
+ *   |                                                   |    *
+ *   |    | ^ |                                | ^ |     |    *
+ *   |    | 3 |左摇杆                     右摇杆| 1 |     |    *
+ *   | ---     ---                          ---     ---  |    *
+ *   |<           2>                       <           0>|    *
+ *   | ---     ---                          ---     ---  |    *
+ *   |    |   |                                |   |     |    *
+ *   |    |   |                                |   |     |    *
+ *   |                                                   |    *
+ *   -----------------------------------------------------    *
+ *                                                            *
+ **************************遥控器信息**************************
+ *域            通道0      通道1   通道2   通道3   S1     S2  *
+ *偏移            0          11      22      33    44     46  *
+ *长度(bit)      11          11      11      11     2      2  *
+ *符号位         无          无      无      无    无     无  *
+ *范围           ***********最大值1684*********    *最大值3*  *
+ *               *          中间值1024        *    *最小值1*  *
+ *               ***********最小值364**********               *
+ *功能                                            1:上   1:上 *
+ *                                                2:下   2:下 *
+ *                                                3:中   3:中 *
+ *                                                            *
+ ***************************鼠标信息***************************
+ *域         鼠标x轴   鼠标y轴   鼠标z轴   鼠标左键   鼠标右键*
+ *偏移         48        64        80        86        94   *
+ *长度         16        16        16        8         8    *
+ *符号位       有        有        有        无         无   *
+ *范围         ******最大值32767*****        ***最大值1***   *
+ *             *     最小值-32768   *        ***最小值0***   *
+ *             ******静止值0*********                        *
+ *功能       ***鼠标在XYZ轴的移动速度***   *鼠标左右键是否按下*
+ *           *  负值表示往左移动       *   *    0:没按下      *
+ *           ***正值表示往右移动********   *****1:按下*********
+ *                                                           *
+ *                                                           *
+ ***************************键盘信息***************************
+ *域              按键                                       *
+ *偏移            102                                        *
+ *长度            16                                         *
+ *符号位          无                                          *
+ *范围            位值标识                                    *
+ *功能            每个按键对应一个bit                          *
+ *                Bit 0:W键                                   *
+ *                Bit 1:S键                                   *
+ *                Bit 2:A键                                   *
+ *                Bit 3:D键                                   *
+ *                Bit 4:Shift键                               *
+ *                Bit 5:Ctrl键                                *
+ *                Bit 6:Q键                                   *
+ *                Bit 7:E键                                   *
+ *                Bit 8:R键                                   *
+ *                Bit 9:F键                                   *
+ *                Bit10:G键                                   *
+ *                Bit11:Z键                                   *
+ *                Bit12:X键                                   *
+ *                Bit13:C键                                   *
+ *                Bit14:V键                                   *
+ *                Bit15:B键                                   *
+ **************************************************************/
+```
--- a/modules/remote/remote_control.c
+++ b/modules/remote/remote_control.c
@@ -1,13 +1,13 @@
 #include "remote_control.h"
 #include "string.h"
 #include "bsp_usart.h"
+#include "memory.h"

 #define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小
-
 // 遥控器数据
-static RC_ctrl_t rc_ctrl;
+static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据,[1]:上一次的数据.用于按键判断
 // 遥控器拥有的串口实例
-static usart_instance* rc_usart_instance;
+static USARTInstance *rc_usart_instance;

 /**
 * @brief          remote control protocol resolution
@@ -15,33 +15,50 @@ static usart_instance* rc_usart_instance;
 * @param[out]     rc_ctrl: remote control data struct point
 * @retval         none
 */
-static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
+static void sbus_to_rc(volatile const uint8_t *sbus_buf)
 {
-    if (sbus_buf == NULL || rc_ctrl == NULL)
-    {
-        return;
-    }
-    rc_ctrl->rc.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff;        //!< Channel 0
-    rc_ctrl->rc.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1
-    rc_ctrl->rc.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) |          //!< Channel 2
-                         (sbus_buf[4] << 10)) &
-                        0x07ff;
-    rc_ctrl->rc.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3
-    rc_ctrl->rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003);                       //!< Switch left
-    rc_ctrl->rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2;                  //!< Switch right
-    rc_ctrl->mouse.x = sbus_buf[6] | (sbus_buf[7] << 8);                    //!< Mouse X axis
-    rc_ctrl->mouse.y = sbus_buf[8] | (sbus_buf[9] << 8);                    //!< Mouse Y axis
-    rc_ctrl->mouse.z = sbus_buf[10] | (sbus_buf[11] << 8);                  //!< Mouse Z axis
-    rc_ctrl->mouse.press_l = sbus_buf[12];                                  //!< Mouse Left Is Press ?
-    rc_ctrl->mouse.press_r = sbus_buf[13];                                  //!< Mouse Right Is Press ?
-    rc_ctrl->key.v = sbus_buf[14] | (sbus_buf[15] << 8);                    //!< KeyBoard value
-    rc_ctrl->rc.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8);                 // NULL
+    memcpy(&rc_ctrl[1], &rc_ctrl[0], sizeof(RC_ctrl_t)); // 保存上一次的数据
+    // 摇杆
+    rc_ctrl[0].joy_stick.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff;                              //!< Channel 0
+    rc_ctrl[0].joy_stick.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff;                       //!< Channel 1
+    rc_ctrl[0].joy_stick.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2
+    rc_ctrl[0].joy_stick.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff;                       //!< Channel 3
+    rc_ctrl[0].joy_stick.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8);                                       // 拨轮
+    // 开关,0左1右
+    rc_ctrl[0].joy_stick.s[0] = ((sbus_buf[5] >> 4) & 0x0003);      //!< Switch left
+    rc_ctrl[0].joy_stick.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right

-    rc_ctrl->rc.ch[0] -= RC_CH_VALUE_OFFSET;
-    rc_ctrl->rc.ch[1] -= RC_CH_VALUE_OFFSET;
-    rc_ctrl->rc.ch[2] -= RC_CH_VALUE_OFFSET;
-    rc_ctrl->rc.ch[3] -= RC_CH_VALUE_OFFSET;
-    rc_ctrl->rc.ch[4] -= RC_CH_VALUE_OFFSET;
+    // 鼠标解析
+    rc_ctrl[0].mouse.x = sbus_buf[6] | (sbus_buf[7] << 8);   //!< Mouse X axis
+    rc_ctrl[0].mouse.y = sbus_buf[8] | (sbus_buf[9] << 8);   //!< Mouse Y axis
+    rc_ctrl[0].mouse.z = sbus_buf[10] | (sbus_buf[11] << 8); //!< Mouse Z axis
+    rc_ctrl[0].mouse.press_l = sbus_buf[12];                 //!< Mouse Left Is Press ?
+    rc_ctrl[0].mouse.press_r = sbus_buf[13];                 //!< Mouse Right Is Press ?
+
+    // 按键值,每个键1bit,key_temp共16位;按键顺序在remote_control.h的宏定义中可见
+    rc_ctrl[0].key_temp = sbus_buf[14] | (sbus_buf[15] << 8); //!< KeyBoard value
+
+    // @todo 似乎可以直接用位域操作进行,把key_temp通过强制类型转换变成key类型? 方案见remote_control.md
+    // 按键值解算,利用宏+循环减少代码长度
+    for (uint16_t i = 0x0001, j = 0; i < 0x8001; i *= 2, j++) // 依次查看每一个键
+    {
+        // 如果键按下,对应键的key press状态置1,否则为0
+        rc_ctrl[0].key[KEY_PRESS][j] = rc_ctrl[0].key_temp & i;
+        // 如果当前按下且上一次没按下,切换按键状态.一些工作要通过按键状态而不是按键是否按下来确定(实际上是大部分)
+        rc_ctrl[0].key[KEY_STATE][j] = rc_ctrl[0].key[KEY_PRESS][j] && !rc_ctrl[1].key[KEY_PRESS][j];
+        // 检查是否有组合键按下
+        if (rc_ctrl[0].key_temp & 0x0001u << Key_Shift) // 按下ctrl
+            rc_ctrl[0].key[KEY_PRESS_WITH_SHIFT][j] = rc_ctrl[0].key_temp & i;
+        if (rc_ctrl[0].key_temp & 0x0001u << Key_Ctrl) //  按下shift
+            rc_ctrl[0].key[KEY_PRESS_WITH_CTRL][j] = rc_ctrl[0].key_temp & i;
+    }
+
+    // 减去偏置值
+    rc_ctrl[0].joy_stick.ch[0] -= RC_CH_VALUE_OFFSET;
+    rc_ctrl[0].joy_stick.ch[1] -= RC_CH_VALUE_OFFSET;
+    rc_ctrl[0].joy_stick.ch[2] -= RC_CH_VALUE_OFFSET;
+    rc_ctrl[0].joy_stick.ch[3] -= RC_CH_VALUE_OFFSET;
+    rc_ctrl[0].joy_stick.ch[4] -= RC_CH_VALUE_OFFSET;
 }

 /**
@@ -50,15 +67,15 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
 *        对sbus_to_rc的简单封装
 *
 */
-static void ReceiveCallback()
+static void RCRxCallback()
 {
-    sbus_to_rc(rc_usart_instance->recv_buff, &rc_ctrl);
+    sbus_to_rc(rc_usart_instance->recv_buff);
 }

-RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle)
+RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
 {
    USART_Init_Config_s conf;
-    conf.module_callback = ReceiveCallback;
+    conf.module_callback = RCRxCallback;
    conf.usart_handle = rc_usart_handle;
    conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
    rc_usart_instance = USARTRegister(&conf);
--- a/modules/remote/remote_control.h
+++ b/modules/remote/remote_control.h
@@ -17,9 +17,16 @@
 #include "main.h"
 #include "usart.h"

+// 获取按键操作
+#define KEY_PRESS 0
+#define KEY_STATE 1
+#define KEY_PRESS_WITH_CTRL 2
+#define KEY_PRESS_WITH_SHIFT 3
+
 #define RC_CH_VALUE_MIN ((uint16_t)364)
 #define RC_CH_VALUE_OFFSET ((uint16_t)1024)
 #define RC_CH_VALUE_MAX ((uint16_t)1684)
+
 /* ----------------------- RC Switch Definition----------------------------- */
 #define RC_SW_UP ((uint16_t)1)
 #define RC_SW_MID ((uint16_t)3)
@@ -27,31 +34,34 @@
 #define switch_is_down(s) (s == RC_SW_DOWN)
 #define switch_is_mid(s) (s == RC_SW_MID)
 #define switch_is_up(s) (s == RC_SW_UP)
+
 /* ----------------------- PC Key Definition-------------------------------- */
-#define KEY_PRESSED_OFFSET_W ((uint16_t)1 << 0)
-#define KEY_PRESSED_OFFSET_S ((uint16_t)1 << 1)
-#define KEY_PRESSED_OFFSET_A ((uint16_t)1 << 2)
-#define KEY_PRESSED_OFFSET_D ((uint16_t)1 << 3)
-#define KEY_PRESSED_OFFSET_SHIFT ((uint16_t)1 << 4)
-#define KEY_PRESSED_OFFSET_CTRL ((uint16_t)1 << 5)
-#define KEY_PRESSED_OFFSET_E ((uint16_t)1 << 7)
-#define KEY_PRESSED_OFFSET_Q ((uint16_t)1 << 6)
-#define KEY_PRESSED_OFFSET_R ((uint16_t)1 << 8)
-#define KEY_PRESSED_OFFSET_F ((uint16_t)1 << 9)
-#define KEY_PRESSED_OFFSET_G ((uint16_t)1 << 10)
-#define KEY_PRESSED_OFFSET_Z ((uint16_t)1 << 11)
-#define KEY_PRESSED_OFFSET_X ((uint16_t)1 << 12)
-#define KEY_PRESSED_OFFSET_C ((uint16_t)1 << 13)
-#define KEY_PRESSED_OFFSET_V ((uint16_t)1 << 14)
-#define KEY_PRESSED_OFFSET_B ((uint16_t)1 << 15)
+// 对应key[x][0~16],获取对应的键;例如通过key[KEY_PRESS][Key_W]获取W键是否按下
+#define Key_W 0
+#define Key_S 1
+#define Key_D 2
+#define Key_A 3
+#define Key_Shift 4
+#define Key_Ctrl 5
+#define Key_Q 6
+#define Key_E 7
+#define Key_R 8
+#define Key_F 9
+#define Key_G 10
+#define Key_Z 11
+#define Key_X 12
+#define Key_C 13
+#define Key_V 14
+#define Key_B 15
+
 /* ----------------------- Data Struct ------------------------------------- */
 typedef struct
 {
    struct
    {
-        int16_t ch[5];
-        char s[2];
-    } rc;
+        int16_t ch[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4
+        uint8_t s[2];  //[0]:left [1]:right
+    } joy_stick;
    struct
    {
        int16_t x;
@@ -60,12 +70,33 @@ typedef struct
        uint8_t press_l;
        uint8_t press_r;
    } mouse;
-    struct
-    {
-        uint16_t v;
-    } key;
+
+    uint16_t key_temp;
+    uint8_t key[4][16];
+
 } RC_ctrl_t;

+// 待测试的位域结构体,可以极大提升解析速度
+typedef struct
+{
+    uint16_t w : 1;
+    uint16_t s : 1;
+    uint16_t d : 1;
+    uint16_t a : 1;
+    uint16_t shift : 1;
+    uint16_t ctrl : 1;
+    uint16_t q : 1;
+    uint16_t e : 1;
+    uint16_t r : 1;
+    uint16_t f : 1;
+    uint16_t g : 1;
+    uint16_t z : 1;
+    uint16_t x : 1;
+    uint16_t c : 1;
+    uint16_t v : 1;
+    uint16_t b : 1;
+} Key_t;
+
 /* ------------------------- Internal Data ----------------------------------- */

 /**
@@ -74,6 +105,6 @@ typedef struct
 * @attention 注意分配正确的串口硬件,遥控器在C板上使用USART3
 *
 */
-RC_ctrl_t *RC_init(UART_HandleTypeDef *rc_usart_handle);
+RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle);

 #endif
--- a/modules/super_cap/super_cap.c
+++ b/modules/super_cap/super_cap.c
@@ -10,7 +10,7 @@
 #include "stdlib.h"
 static SuperCapInstance *super_cap_instance = NULL;

-static void SuperCapRxCallback(can_instance *_instance)
+static void SuperCapRxCallback(CANInstance *_instance)
 {
    static uint8_t *rxbuff;
    static SuperCap_Msg_s *Msg;
@@ -25,9 +25,6 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)
 {
    super_cap_instance = (SuperCapInstance *)malloc(sizeof(SuperCapInstance));
    memset(super_cap_instance, 0, sizeof(SuperCapInstance));
-    super_cap_instance->recv_data_len = supercap_config->recv_data_len;
-    super_cap_instance->send_data_len = supercap_config->send_data_len;
-
    supercap_config->can_config.can_module_callback = SuperCapRxCallback;
    super_cap_instance->can_ins = CANRegister(&supercap_config->can_config);
    return super_cap_instance;
@@ -35,9 +32,7 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config)

 void SuperCapSend(SuperCapInstance *instance, uint8_t *data)
 {
-
-    CANSetDLC(instance->can_ins, 8);
-    memcpy(instance->can_ins->tx_buff, data, instance->send_data_len);
+    memcpy(instance->can_ins->tx_buff, data, 8);
    CANTransmit(instance->can_ins);
 }

--- a/modules/super_cap/super_cap.h
+++ b/modules/super_cap/super_cap.h
@@ -1,50 +1,39 @@
 /*
- * @Descripttion: 
- * @version: 
+ * @Descripttion:
+ * @version:
 * @Author: Chenfu
 * @Date: 2022-12-02 21:32:47
 * @LastEditTime: 2022-12-05 15:25:46
 */
 #ifndef SUPER_CAP_H
-#define SUPER_CAP_H 
+#define SUPER_CAP_H

 #include "bsp_can.h"

-typedef struct 
+typedef struct
 {
    uint16_t vol;
    uint16_t current;
    uint16_t power;
-}SuperCap_Msg_s;
+} SuperCap_Msg_s;

 #pragma pack(1)
 typedef struct
 {
-    can_instance* can_ins;
-    /* 发送部分 */
-    uint8_t send_data_len;
-    uint8_t raw_sendbuf; 
-    /* 接收部分 */
-    uint8_t recv_data_len;
-    uint8_t raw_recvbuff;
-
+    CANInstance *can_ins;
    SuperCap_Msg_s cap_msg;
-    
 } SuperCapInstance;
 #pragma pack()

 typedef struct
 {
-    can_instance_config_s can_config;
+    CAN_Init_Config_s can_config;
    uint8_t send_data_len;
    uint8_t recv_data_len;
 } SuperCap_Init_Config_s;

-SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s* supercap_config);
+SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config);

 void SuperCapSend(SuperCapInstance *instance, uint8_t *data);

-
 #endif // !SUPER_CAP_Hd
-
-