add some new modules

2026-07-24 03:27:45 +08:00 · 2025-11-17 16:27:19 +08:00
parent d1e7f30373
commit 56639afc18
62 changed files with 299 additions and 17 deletions
--- a/User_Code/module/algorithm/alg_balance/alg_balanced.md
+++ b/User_Code/module/algorithm/alg_balance/alg_balanced.md
--- a/User_Code/module/algorithm/controller/controller.md
+++ b/User_Code/module/algorithm/controller/controller.md
--- a/User_Code/module/algorithm/controller/ffc/ffc.md
+++ b/User_Code/module/algorithm/controller/ffc/ffc.md
@@ -0,0 +1 @@
+# 前馈
--- a/User_Code/module/algorithm/controller/lqr/lqr.md
+++ b/User_Code/module/algorithm/controller/lqr/lqr.md
--- a/User_Code/module/algorithm/controller/pid/pid.md
+++ b/User_Code/module/algorithm/controller/pid/pid.md
--- a/User_Code/module/algorithm/controller/vmc/vmc.md
+++ b/User_Code/module/algorithm/controller/vmc/vmc.md
--- a/User_Code/module/algorithm/QuaternionEKF/QuaternionEKF.c
+++ b/User_Code/module/algorithm/QuaternionEKF/QuaternionEKF.c
--- a/User_Code/module/algorithm/QuaternionEKF/QuaternionEKF.h
+++ b/User_Code/module/algorithm/QuaternionEKF/QuaternionEKF.h
--- a/User_Code/module/algorithm/kalman_filter/kalman_filter.c
+++ b/User_Code/module/algorithm/kalman_filter/kalman_filter.c
--- a/User_Code/module/algorithm/kalman_filter/kalman_filter.h
+++ b/User_Code/module/algorithm/kalman_filter/kalman_filter.h
--- a/User_Code/module/algorithm/matrix/matrix.h
+++ b/User_Code/module/algorithm/matrix/matrix.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_MATRIX_H
+#define TRONONEH7_SCAFFOLD_MATRIX_H
+
+#endif //TRONONEH7_SCAFFOLD_MATRIX_H
--- a/User_Code/module/paramdef/module_def.h
+++ b/User_Code/module/paramdef/module_def.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_MODULE_DEF_H
+#define TRONONEH7_SCAFFOLD_MODULE_DEF_H
+
+#endif //TRONONEH7_SCAFFOLD_MODULE_DEF_H
--- a/User_Code/module/periph/encoders/as5047p/as5047p.c
+++ b/User_Code/module/periph/encoders/as5047p/as5047p.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "as5047p.h"
--- a/User_Code/module/periph/encoders/as5047p/as5047p.h
+++ b/User_Code/module/periph/encoders/as5047p/as5047p.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_AS5047P_H
+#define TRONONEH7_SCAFFOLD_AS5047P_H
+
+#endif //TRONONEH7_SCAFFOLD_AS5047P_H
--- a/User_Code/module/periph/encoders/encoders.md
+++ b/User_Code/module/periph/encoders/encoders.md
--- a/User_Code/module/periph/encoders/ma600/ma600.c
+++ b/User_Code/module/periph/encoders/ma600/ma600.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "ma600.h"
--- a/User_Code/module/periph/encoders/ma600/ma600.h
+++ b/User_Code/module/periph/encoders/ma600/ma600.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_MA600_H
+#define TRONONEH7_SCAFFOLD_MA600_H
+
+#endif //TRONONEH7_SCAFFOLD_MA600_H
--- a/User_Code/module/periph/imu/BMI088/BMI088drv(reserved).md
+++ b/User_Code/module/periph/imu/BMI088/BMI088drv(reserved).md
--- a/User_Code/module/periph/imu/damiao_imu/damiao_imu.c
+++ b/User_Code/module/periph/imu/damiao_imu/damiao_imu.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "damiao_imu.h"
--- a/User_Code/module/periph/imu/damiao_imu/damiao_imu.h
+++ b/User_Code/module/periph/imu/damiao_imu/damiao_imu.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_DAMIAO_IMU_H
+#define TRONONEH7_SCAFFOLD_DAMIAO_IMU_H
+
+#endif //TRONONEH7_SCAFFOLD_DAMIAO_IMU_H
--- a/User_Code/module/periph/imu/damiao_imu/damiao_imu.md
+++ b/User_Code/module/periph/imu/damiao_imu/damiao_imu.md
--- a/User_Code/module/periph/imu/helios_imu/helios_imu.c
+++ b/User_Code/module/periph/imu/helios_imu/helios_imu.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "helios_imu.h"
--- a/User_Code/module/periph/imu/helios_imu/helios_imu.h
+++ b/User_Code/module/periph/imu/helios_imu/helios_imu.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_HELIOS_IMU_H
+#define TRONONEH7_SCAFFOLD_HELIOS_IMU_H
+
+#endif //TRONONEH7_SCAFFOLD_HELIOS_IMU_H
--- a/User_Code/module/periph/imu/helios_imu/helios_imu.md
+++ b/User_Code/module/periph/imu/helios_imu/helios_imu.md
--- a/User_Code/module/periph/laser_distfinder/beixing_tf03/tf03.c
+++ b/User_Code/module/periph/laser_distfinder/beixing_tf03/tf03.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "tf03.h"
--- a/User_Code/module/periph/laser_distfinder/beixing_tf03/tf03.h
+++ b/User_Code/module/periph/laser_distfinder/beixing_tf03/tf03.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_TF03_H
+#define TRONONEH7_SCAFFOLD_TF03_H
+
+#endif //TRONONEH7_SCAFFOLD_TF03_H
--- a/User_Code/module/periph/laser_distfinder/beixing_tf03/tf03.md
+++ b/User_Code/module/periph/laser_distfinder/beixing_tf03/tf03.md
--- a/User_Code/module/periph/power_meters/cone_powermeter/cone_powermeter.c
+++ b/User_Code/module/periph/power_meters/cone_powermeter/cone_powermeter.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "cone_powermeter.h"
--- a/User_Code/module/periph/power_meters/cone_powermeter/cone_powermeter.h
+++ b/User_Code/module/periph/power_meters/cone_powermeter/cone_powermeter.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_CONE_POWERMETER_H
+#define TRONONEH7_SCAFFOLD_CONE_POWERMETER_H
+
+#endif //TRONONEH7_SCAFFOLD_CONE_POWERMETER_H
--- a/User_Code/module/periph/power_meters/power_meter.md
+++ b/User_Code/module/periph/power_meters/power_meter.md
--- a/User_Code/module/periph/power_meters/xiditech/xidipowermeter.md
+++ b/User_Code/module/periph/power_meters/xiditech/xidipowermeter.md
--- a/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c
+++ b/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "xidipwmeter.h"
--- a/User_Code/module/periph/power_meters/xiditech/xidipwmeter.h
+++ b/User_Code/module/periph/power_meters/xiditech/xidipwmeter.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_XIDIPWMETER_H
+#define TRONONEH7_SCAFFOLD_XIDIPWMETER_H
+
+#endif //TRONONEH7_SCAFFOLD_XIDIPWMETER_H
--- a/User_Code/module/periph/remote_control/rc.c
+++ b/User_Code/module/periph/remote_control/rc.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "rc.h"
--- a/User_Code/module/periph/remote_control/rc.h
+++ b/User_Code/module/periph/remote_control/rc.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_RC_H
+#define TRONONEH7_SCAFFOLD_RC_H
+
+#endif //TRONONEH7_SCAFFOLD_RC_H
--- a/User_Code/module/periph/remote_control/rc_protocol.h
+++ b/User_Code/module/periph/remote_control/rc_protocol.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_RC_PROTOCOL_H
+#define TRONONEH7_SCAFFOLD_RC_PROTOCOL_H
+
+#endif //TRONONEH7_SCAFFOLD_RC_PROTOCOL_H
--- a/User_Code/module/periph/servo/hiwonder/hiwonder.c
+++ b/User_Code/module/periph/servo/hiwonder/hiwonder.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "hiwonder.h"
--- a/User_Code/module/periph/servo/hiwonder/hiwonder.h
+++ b/User_Code/module/periph/servo/hiwonder/hiwonder.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_HIWONDER_H
+#define TRONONEH7_SCAFFOLD_HIWONDER_H
+
+#endif //TRONONEH7_SCAFFOLD_HIWONDER_H
--- a/User_Code/module/periph/servo/mg996/mg996.c
+++ b/User_Code/module/periph/servo/mg996/mg996.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "mg996.h"
--- a/User_Code/module/periph/servo/mg996/mg996.h
+++ b/User_Code/module/periph/servo/mg996/mg996.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_MG996_H
+#define TRONONEH7_SCAFFOLD_MG996_H
+
+#endif //TRONONEH7_SCAFFOLD_MG996_H
--- a/User_Code/module/periph/servo/spt/spt.c
+++ b/User_Code/module/periph/servo/spt/spt.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "spt.h"
--- a/User_Code/module/periph/servo/spt/spt.h
+++ b/User_Code/module/periph/servo/spt/spt.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_SPT_H
+#define TRONONEH7_SCAFFOLD_SPT_H
+
+#endif //TRONONEH7_SCAFFOLD_SPT_H
--- a/User_Code/module/periph/supercap/dlut/dlut_supercap.c
+++ b/User_Code/module/periph/supercap/dlut/dlut_supercap.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "dlut_supercap.h"
--- a/User_Code/module/periph/supercap/dlut/dlut_supercap.h
+++ b/User_Code/module/periph/supercap/dlut/dlut_supercap.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_DLUT_SUPERCAP_H
+#define TRONONEH7_SCAFFOLD_DLUT_SUPERCAP_H
+
+#endif //TRONONEH7_SCAFFOLD_DLUT_SUPERCAP_H
--- a/User_Code/module/periph/supercap/glut/glut_supercap.c
+++ b/User_Code/module/periph/supercap/glut/glut_supercap.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "glut_supercap.h"
--- a/User_Code/module/periph/supercap/glut/glut_supercap.h
+++ b/User_Code/module/periph/supercap/glut/glut_supercap.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_GLUT_SUPERCAP_H
+#define TRONONEH7_SCAFFOLD_GLUT_SUPERCAP_H
+
+#endif //TRONONEH7_SCAFFOLD_GLUT_SUPERCAP_H
--- a/User_Code/module/periph/supercap/hkust/hkust_supercap.c
+++ b/User_Code/module/periph/supercap/hkust/hkust_supercap.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "hkust_supercap.h"
--- a/User_Code/module/periph/supercap/hkust/hkust_supercap.h
+++ b/User_Code/module/periph/supercap/hkust/hkust_supercap.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_HKUST_SUPERCAP_H
+#define TRONONEH7_SCAFFOLD_HKUST_SUPERCAP_H
+
+#endif //TRONONEH7_SCAFFOLD_HKUST_SUPERCAP_H
--- a/User_Code/module/periph/supercap/supercap.md
+++ b/User_Code/module/periph/supercap/supercap.md
--- a/User_Code/module/software/btb/btb.c
+++ b/User_Code/module/software/btb/btb.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "btb.h"
--- a/User_Code/module/software/btb/btb.h
+++ b/User_Code/module/software/btb/btb.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_BTB_H
+#define TRONONEH7_SCAFFOLD_BTB_H
+
+#endif //TRONONEH7_SCAFFOLD_BTB_H
--- a/User_Code/module/software/btb/btb.md
+++ b/User_Code/module/software/btb/btb.md
@@ -0,0 +1 @@
+# 板间通信
--- a/User_Code/module/software/daemon/daemon.h
+++ b/User_Code/module/software/daemon/daemon.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_DAEMON_H
+#define TRONONEH7_SCAFFOLD_DAEMON_H
+
+#endif //TRONONEH7_SCAFFOLD_DAEMON_H
--- a/User_Code/module/software/fsm/fsm.md
+++ b/User_Code/module/software/fsm/fsm.md
@@ -0,0 +1 @@
+# 有限状态机
--- a/User_Code/module/software/message_hub/message_hub.md
+++ b/User_Code/module/software/message_hub/message_hub.md
@@ -0,0 +1 @@
+# 消息中心
--- a/User_Code/module/software/vision/v_comm/v_comm.c
+++ b/User_Code/module/software/vision/v_comm/v_comm.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "v_comm.h"
--- a/User_Code/module/software/vision/v_comm/v_comm.h
+++ b/User_Code/module/software/vision/v_comm/v_comm.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_V_COMM_H
+#define TRONONEH7_SCAFFOLD_V_COMM_H
+
+#endif //TRONONEH7_SCAFFOLD_V_COMM_H
--- a/User_Code/module/software/vision/v_comm/v_protocol.h
+++ b/User_Code/module/software/vision/v_comm/v_protocol.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_V_PROTOCOL_H
+#define TRONONEH7_SCAFFOLD_V_PROTOCOL_H
+
+#endif //TRONONEH7_SCAFFOLD_V_PROTOCOL_H
--- a/User_Code/module/software/vision/vision.c
+++ b/User_Code/module/software/vision/vision.c
@@ -0,0 +1,5 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#include "vision.h"
--- a/User_Code/module/software/vision/vision.h
+++ b/User_Code/module/software/vision/vision.h
@@ -0,0 +1,8 @@
+//
+// Created by ASUS on 2025/11/17.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_VISION_H
+#define TRONONEH7_SCAFFOLD_VISION_H
+
+#endif //TRONONEH7_SCAFFOLD_VISION_H
--- a/User_Code/module/software/vision/vision.md
+++ b/User_Code/module/software/vision/vision.md
@@ -0,0 +1 @@
+# 视觉，通信，弹道解算相关
--- a/readme.md
+++ b/readme.md
@@ -1,9 +1,11 @@
 # TronOneH7_Scaffold
+
 # 创一达妙开发板脚手架

 介绍

-创一工作室基于达妙H7(MC02)开发板编写的c/cpp框架，使用Clion作为IDE，CMake+Ninja构建，Starm-Clang/arm-none-eabi-gcc工具链（自动检测），Ozone/Clion+OpenOCD/MDK进行调试，可以下载STM32CubeCLT进行环境安装，一键编译。
+创一工作室基于达妙H7(MC02)
+开发板编写的c/cpp框架，使用Clion作为IDE，CMake+Ninja构建，arm-none-eabi-gcc（首选）或Starm-Clang工具链（根据系统及处理器架构，环境情况自动检测），Ozone/Clion+OpenOCD/MDK进行调试，可以下载STM32CubeCLT进行环境安装，一键编译。

 ## 功能介绍和展示

@@ -12,11 +14,10 @@
 ### 优势

 - 轻量级框架，易于上手
-> 用软件开发的思想设计嵌入式系统是一种降维打击
->
-> <p align=right>—— 沃兹基·烁德</p>
+- 现代开发工具链，代码静态检查

 ---
+
 ### 效果展示

 实战展示：
@@ -30,6 +31,7 @@
 #### 应用封装

 ---
+
 ## 架构

 总览。
@@ -46,15 +48,13 @@

 ---

-
-
 ## 开发工具

 介绍完整的工作流。

 ### 工具链及环境配置

-### IDE?
+### CMake

 ### 调试和性能分析

@@ -80,35 +80,51 @@

 ---

-
-
 ## 致谢

 本项目高度参考以下项目的代码/库文件或仅参考设计思想，它们是：

-湖南大学-跃鹿 Basic_framework
+湖南大学-跃鹿 [Basic_framework](https://gitee.com/hnuyuelurm/basic_framework)

-大连民族大学-C.ONE One_framework
+大连民族大学-C.ONE [One_framework](https://gitee.com/dlmu-cone/one_framework)

-辽宁科技大学-COD COD_H7_Template_CLion
+辽宁科技大学-COD [COD_H7_Template_CLion](https://github.com/GrassFanWang/COD_H7_Template_CLion)

-深圳北理莫斯科大学-北极熊 StandardRobot++
+深圳北理莫斯科大学-北极熊 [StandardRobot++](https://gitee.com/SMBU-POLARBEAR/StandardRobotpp)
+
+中国科学技术大学-RoboWalker [麻神的PPT及舵轮例程，以及damiao_mc02_bsp库的内容](https://gitee.com/yssickjgd/RoboWalker2023_sentry)

 大连理工大学-凌Bug LingRoboMX(暂未开源)

 西南交通大学-Helios Helios_powerful_framework(暂未开源)

-青岛大学 XRobot
+青岛大学 [XRobot](https://xrobot-org.github.io/)

-吉林大学-吉甲大师 UIML
+吉林大学-吉甲大师 [UIML](https://github.com/wuchuang2001/UIML)

-哈工大深圳-南工骁鹰 EC2022
+哈工大深圳-南工骁鹰 [EC2022](https://rmbbs.robomaster.com/article/19321)
+
+---
+
+使用了以下开源库：
+
+大连民族大学-C.ONE [rpl](https://gitee.com/dlmu-cone/rpl)
+
+哈工程-创梦之翼(
+不过玺佬现在应该是在南科大叭) [IMU驱动控制程序-四元数及欧拉角解算](https://github.com/WangHongxi2001/RoboMaster-C-Board-INS-Example)
+
+西交利物浦大学-GMaster [电机功率模型](https://github.com/MaxwellDemonLin/Motor-modeling-and-power-control)
+
+香港科技大学-ENTERPRIZE [功率控制算法](https://github.com/hkustenterprize/RM2024-PowerModule)
+
+华南理工大学-华南虎 [电控SRML库](https://github.com/scutrobotlab/RM2021_Hero/tree/master/Chassis/SRML)
+
+华师佛山-VANGUARD [电控弹道解算例程](https://github.com/CodeAlanqian/SolveTrajectory)

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 还要非常感谢愿意与我队电控一起交流，并无私提供帮助的这些队伍，他们是（以下排名不分先后）：

-
 首都师范大学 W.PIE

 北京信息科技大学 星辰