remote control init

2026-07-23 19:25:09 +08:00 · 2025-12-15 21:31:36 +08:00
parent 2d905efeb7
commit a78fe6ea11
10 changed files with 893 additions and 109 deletions
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -121,14 +121,14 @@ const osThreadAttr_t WS2812Task_attributes = {

 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
-//Todo: 测试instask
+//@Todo:测试instask
 const osThreadAttr_t instask_attributes = {
-        .name = "instask",
-        .priority = osPriorityAboveNormal, // 较高优先级
-        .stack_size = 1024 * 4 // 栈大小，单位是字节（通常是字数的4倍）
+  .name = "instask",
+  .priority = osPriorityAboveNormal, // 较高优先级
+  .stack_size = 1024 * 4 // 栈大小，单位是字节（通常是字数的4倍）
 };

-//Todo:测试使用
+//@Todo:测试使用
 osThreadId insTaskHandle;

 void StartINSTASK(void const *argument);
@@ -136,28 +136,38 @@ void StartINSTASK(void const *argument);
 /* USER CODE END FunctionPrototypes */

 void StartDefaultTask(void *argument);
+
 void ShootTask(void *argument);
+
 void GimbalTask(void *argument);
+
 void ChassisTask(void *argument);
+
 void StartInitTask(void *argument);
+
 void VisionTask(void *argument);
+
 void CmdTask(void *argument);
+
 void RefereeTask(void *argument);
+
 extern void ws2812Task(void *argument);

 extern void MX_USB_DEVICE_Init(void);
+
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

 /* Hook prototypes */
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
+
 void vApplicationMallocFailedHook(void);

 /* USER CODE BEGIN 4 */
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
 {
-    /* Run time stack overflow checking is performed if
-    configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
-    called if a stack overflow is detected. */
+  /* Run time stack overflow checking is performed if
+  configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
+  called if a stack overflow is detected. */
 }

 /* USER CODE END 4 */
@@ -165,16 +175,16 @@ void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
 /* USER CODE BEGIN 5 */
 void vApplicationMallocFailedHook(void)
 {
-    /* vApplicationMallocFailedHook() will only be called if
-    configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
-    function that will get called if a call to pvPortMalloc() fails.
-    pvPortMalloc() is called internally by the kernel whenever a task, queue,
-    timer or semaphore is created. It is also called by various parts of the
-    demo application. If heap_1.c or heap_2.c are used, then the size of the
-    heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
-    FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
-    to query the size of free heap space that remains (although it does not
-    provide information on how the remaining heap might be fragmented). */
+  /* vApplicationMallocFailedHook() will only be called if
+  configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
+  function that will get called if a call to pvPortMalloc() fails.
+  pvPortMalloc() is called internally by the kernel whenever a task, queue,
+  timer or semaphore is created. It is also called by various parts of the
+  demo application. If heap_1.c or heap_2.c are used, then the size of the
+  heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
+  FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
+  to query the size of free heap space that remains (although it does not
+  provide information on how the remaining heap might be fragmented). */
 }

 /* USER CODE END 5 */
@@ -184,25 +194,26 @@ void vApplicationMallocFailedHook(void)
  * @param  None
  * @retval None
  */
-void MX_FREERTOS_Init(void) {
+void MX_FREERTOS_Init(void)
+{
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
-    /* add mutexes, ... */
+  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
-    /* add semaphores, ... */
+  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
-    /* start timers, add new ones, ... */
+  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
-    /* add queues, ... */
+  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
@@ -234,16 +245,15 @@ void MX_FREERTOS_Init(void) {
  WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
-    /* add threads, ... */
-    //Todo：INS_Task是测试版本
-    // 创建线程
-    insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes);
+  /* add threads, ... */
+  //@Todo:INS_Task是测试版本
+  // 创建线程
+  insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes);
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
-    /* add events, ... */
+  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */
-
 }

 /* USER CODE BEGIN Header_StartDefaultTask */
@@ -258,11 +268,11 @@ __weak void StartDefaultTask(void *argument)
  /* init code for USB_DEVICE */
  MX_USB_DEVICE_Init();
  /* USER CODE BEGIN StartDefaultTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END StartDefaultTask */
 }

@@ -276,11 +286,11 @@ __weak void StartDefaultTask(void *argument)
 __weak void ShootTask(void *argument)
 {
  /* USER CODE BEGIN ShootTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END ShootTask */
 }

@@ -294,11 +304,11 @@ __weak void ShootTask(void *argument)
 __weak void GimbalTask(void *argument)
 {
  /* USER CODE BEGIN GimbalTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END GimbalTask */
 }

@@ -312,11 +322,11 @@ __weak void GimbalTask(void *argument)
 __weak void ChassisTask(void *argument)
 {
  /* USER CODE BEGIN ChassisTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END ChassisTask */
 }

@@ -330,11 +340,11 @@ __weak void ChassisTask(void *argument)
 __weak void StartInitTask(void *argument)
 {
  /* USER CODE BEGIN StartInitTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END StartInitTask */
 }

@@ -348,11 +358,11 @@ __weak void StartInitTask(void *argument)
 __weak void VisionTask(void *argument)
 {
  /* USER CODE BEGIN VisionTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END VisionTask */
 }

@@ -366,11 +376,11 @@ __weak void VisionTask(void *argument)
 __weak void CmdTask(void *argument)
 {
  /* USER CODE BEGIN CmdTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END CmdTask */
 }

@@ -384,36 +394,38 @@ __weak void CmdTask(void *argument)
 __weak void RefereeTask(void *argument)
 {
  /* USER CODE BEGIN RefereeTask */
-    /* Infinite loop */
-    for (;;)
-    {
-        osDelay(1);
-    }
+  /* Infinite loop */
+  for (;;)
+  {
+    osDelay(1);
+  }
  /* USER CODE END RefereeTask */
 }

 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */

-//Todo:INS_Task是测试阶段使用。
+//@Todo:INS_Task是测试阶段使用。
 __attribute__((noreturn)) void StartINSTASK(void const *argument)
 {
-    static float ins_start;
-    static float ins_dt;
-    INS_Init(); // 确保BMI088被正确初始化.
-    // LOGINFO("[freeRTOS] INS Task Start");
-    for (;;)
-    {
-        // 1kHz
-        // ins_start = DWT_GetTimeline_ms();
-        INS_Task();
-        // ins_dt = DWT_GetTimeline_ms() - ins_start;
-        // if (ins_dt > 1)
-        //     Todo: LOGERROR("[freeRTOS] INS Task is being DELAY! dt = [%f]", &ins_dt);
-        // // VisionSend(); // 解算完成后发送视觉数据,但是当前的实现不太优雅,后续若添加硬件触发需要重新考虑结构的组织
-        osDelay(1); // 1ms, 1kHz
-    }
+  static float ins_start;
+  static float ins_dt;
+  INS_Init(); // 确保BMI088被正确初始化.
+  // LOGINFO("[freeRTOS] INS Task Start");
+  for (;;)
+  {
+    // 1kHz
+    // ins_start = DWT_GetTimeline_ms();
+    INS_Task();
+    // ins_dt = DWT_GetTimeline_ms() - ins_start;
+    // if (ins_dt > 1)
+    // @Todo: LOGERROR("[freeRTOS] INS Task is being DELAY! dt = [%f]", &ins_dt);
+    // // VisionSend(); // 解算完成后发送视觉数据,但是当前的实现不太优雅,后续若添加硬件触发需要重新考虑结构的组织
+    osDelay(1); // 1ms, 1kHz
+  }
 }

+
+
 /* USER CODE END Application */

--- a/User_Code/application/indicator_app/ws2812status.c
+++ b/User_Code/application/indicator_app/ws2812status.c
@@ -53,6 +53,7 @@ void robotSelfCheck(void)
 void ws2812Task(void *argument)
 {
    (void) argument;
+    RobotMode_t RobotMode = REMOTE_NOT_CONNECTED; // 初始状态为遥控器未连接
    while (1)
    {
        switch (RobotMode)
--- a/User_Code/bsp/usart/bsp_usart.c
+++ b/User_Code/bsp/usart/bsp_usart.c
@@ -17,7 +17,7 @@
 /* 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 uint8_t idx;
-static USARTInstance *usart_instance[DEVICE_USART_CNT] = {NULL};
+static USART_Instance *usart_instance[DEVICE_USART_CNT] = {NULL};

 /**
 * @brief 启动串口服务,会在每个实例注册之后自动启用接收,当前实现为DMA接收,后续可能添加IT和BLOCKING接收
@@ -27,7 +27,7 @@ static USARTInstance *usart_instance[DEVICE_USART_CNT] = {NULL};
 *
 * @param _instance instance owned by module,模块拥有的串口实例
 */
-void USARTServiceInit(USARTInstance *_instance)
+void USARTServiceInit(USART_Instance *_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()
@@ -36,7 +36,7 @@ void USARTServiceInit(USARTInstance *_instance)
    __HAL_DMA_DISABLE_IT(_instance->usart_handle->hdmarx, DMA_IT_HT);
 }

-USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
+USART_Instance *USARTRegister(USART_Init_Config_s *init_config)
 {
    if (idx >= DEVICE_USART_CNT) // 超过最大实例数
        while (1)
@@ -47,8 +47,8 @@ USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
            while (1)
                LOGERROR("[bsp_usart] USART instance already registered!");

-    USARTInstance *instance = (USARTInstance *) malloc(sizeof(USARTInstance));
-    memset(instance, 0, sizeof(USARTInstance));
+    USART_Instance *instance = (USART_Instance *) malloc(sizeof(USART_Instance));
+    memset(instance, 0, sizeof(USART_Instance));

    instance->usart_handle = init_config->usart_handle;
    instance->recv_buff_size = init_config->recv_buff_size;
@@ -60,7 +60,7 @@ USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
 }

 /* @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(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size, USART_TRANSFER_MODE mode)
+void USARTSend(USART_Instance *_instance, uint8_t *send_buf, uint16_t send_size, USART_TRANSFER_MODE mode)
 {
    switch (mode)
    {
@@ -80,7 +80,7 @@ void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size,
 }

 /* 串口发送时,gstate会被设为BUSY_TX */
-uint8_t USARTIsReady(USARTInstance *_instance)
+uint8_t USARTIsReady(USART_Instance *_instance)
 {
    if (_instance->usart_handle->gState | HAL_UART_STATE_BUSY_TX)
        return 0;
@@ -141,3 +141,5 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
        }
    }
 }
+
+
--- a/User_Code/bsp/usart/bsp_usart.h
+++ b/User_Code/bsp/usart/bsp_usart.h
@@ -27,7 +27,7 @@ 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
-} USARTInstance;
+} USART_Instance;

 /* usart 初始化配置结构体 */
 typedef struct
@@ -42,14 +42,14 @@ typedef struct
 *
 * @param init_config 传入串口初始化结构体
 */
-USARTInstance *USARTRegister(USART_Init_Config_s *init_config);
+USART_Instance *USARTRegister(USART_Init_Config_s *init_config);

 /**
 * @brief 启动串口服务,需要传入一个usart实例.一般用于lost callback的情况(使用串口的模块daemon)
 *
 * @param _instance
 */
-void USARTServiceInit(USARTInstance *_instance);
+void USARTServiceInit(USART_Instance *_instance);


 /**
@@ -62,7 +62,7 @@ void USARTServiceInit(USARTInstance *_instance);
 * @param send_buf 待发送数据的buffer
 * @param send_size how many bytes to send
 */
-void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size, USART_TRANSFER_MODE mode);
+void USARTSend(USART_Instance *_instance, uint8_t *send_buf, uint16_t send_size, USART_TRANSFER_MODE mode);

 /**
 * @brief 判断串口是否准备好,用于连续或异步的IT/DMA发送
@@ -70,6 +70,6 @@ void USARTSend(USARTInstance *_instance, uint8_t *send_buf, uint16_t send_size,
 * @param _instance 要判断的串口实例
 * @return uint8_t ready 1, busy 0
 */
-uint8_t USARTIsReady(USARTInstance *_instance);
+uint8_t USARTIsReady(USART_Instance *_instance);

 #endif
--- a/User_Code/module/paramdef/robot_def.h
+++ b/User_Code/module/paramdef/robot_def.h
@@ -2,7 +2,8 @@
 #ifndef ROBOT_DEF_H
 #define ROBOT_DEF_H

-typedef enum {
+typedef enum
+{
    NORMAL_MODE = 0, // 正常模式，对应数值0
    SYS_ERROR_OCCURRED = 1, // 系统错误，对应数值1
    REMOTE_NOT_CONNECTED = 2, // 遥控器未连接，对应数值2
@@ -12,8 +13,7 @@ typedef enum {
    // 添加其他模式
 } RobotMode_t; //机器人控制模式

-// 声明并初始化变量
-RobotMode_t RobotMode = REMOTE_NOT_CONNECTED; // 初始状态为遥控器未连接
+extern RobotMode_t RobotMode;


 // #pragma pack() // 开启字节对齐,结束前面的#pragma pack(1)
--- a/User_Code/module/periph/remote_control/key_define.h
+++ b/User_Code/module/periph/remote_control/key_define.h
@@ -0,0 +1,70 @@
+//
+// Created by ASUS on 2025/12/14.
+//
+
+#ifndef TRONONEH7_SCAFFOLD_KEY_DEFINE_H
+#define TRONONEH7_SCAFFOLD_KEY_DEFINE_H
+
+#ifndef KEY_DEFINE_H
+#define KEY_DEFINE_H
+
+#include "stdint.h"
+
+// 用于遥控器数据读取,遥控器数据是一个大小为2的数组
+#define LAST 1
+#define TEMP 0
+
+// 获取按键操作
+#define KEY_PRESS            0
+#define KEY_STATE            1
+#define KEY_PRESS_WITH_CTRL  1
+#define KEY_PRESS_WITH_SHIFT 2
+
+/* ----------------------- PC Key Definition-------------------------------- */
+// 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,后续改为位域后删除
+#define Key_W     0
+#define Key_S     1
+#define Key_A     2
+#define Key_D     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 ------------------------------------- */
+// 待测试的位域结构体,可以极大提升解析速度
+typedef union
+{
+    struct // 用于访问键盘状态
+    {
+        uint16_t w: 1;
+        uint16_t s: 1;
+        uint16_t a: 1;
+        uint16_t d: 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;
+    };
+
+    uint16_t keys; // 用于memcpy而不需要进行强制类型转换
+} Key_t;
+#endif // !KEY_DEFINE_H
+
+#endif //TRONONEH7_SCAFFOLD_KEY_DEFINE_H
--- a/User_Code/module/periph/remote_control/rc.c
+++ b/User_Code/module/periph/remote_control/rc.c
@@ -1,5 +1,430 @@
-//
-// Created by ASUS on 2025/11/17.
-//
+
+/*************************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                                   *
+ **************************************************************/

 #include "rc.h"
+#include "string.h"
+#include "bsp_usart.h"
+#include "memory.h"
+#include "stdlib.h"
+#include "daemon.h"
+#include "indicator_app/ws2812status.h"
+#include "robot_def.h"
+
+#define REMOTE_CONTROL_FRAME_SIZE 25u // 遥控器接收的buffer大小
+
+//@todo：测试define
+#define REMOTE_FS_I6X
+
+// 定义SBUS协议的起始标志
+#define SBUS_HEAD 0X0F
+
+// 定义SBUS协议的结束标志
+#define SBUS_END 0X00
+
+// 遥控器数据
+static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断
+static uint8_t rc_init_flag = 0; // 遥控器初始化标志位
+
+// 遥控器拥有的串口实例,因为遥控器是单例,所以这里只有一个,就不封装了
+static USART_Instance *rc_usart_instance;
+static Daemon_Instance *rc_daemon_instance;
+
+
+#ifdef REMOTE_DJI_DT7
+/**
+ * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0
+ *
+ */
+static void RectifyRCjoystick()
+{
+    for (uint8_t i = 0; i < 5; ++i)
+        if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660)
+            *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0;
+}
+
+/**
+ * @brief 遥控器数据解析
+ *
+ * @param sbus_buf 接收buffer
+ */
+static void sbus_to_rc(const uint8_t *sbus_buf)
+{
+    // 摇杆,直接解算时减去偏置
+    rc_ctrl[TEMP].rc.rocker_r_ = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 0
+    rc_ctrl[TEMP].rc.rocker_r1 = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff) - RC_CH_VALUE_OFFSET;
+    //!< Channel 1
+    rc_ctrl[TEMP].rc.rocker_l_ = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) -
+                                 RC_CH_VALUE_OFFSET; //!< Channel 2
+    rc_ctrl[TEMP].rc.rocker_l1 = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET;
+    //!< Channel 3
+    rc_ctrl[TEMP].rc.dial = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET; // 左侧拨轮
+    RectifyRCjoystick();
+    // 开关,0左1右
+    rc_ctrl[TEMP].rc.switch_right = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch right
+    rc_ctrl[TEMP].rc.switch_left = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch left
+
+    // 鼠标解析
+    rc_ctrl[TEMP].mouse.x = (sbus_buf[6] | (sbus_buf[7] << 8)); //!< Mouse X axis
+    rc_ctrl[TEMP].mouse.y = (sbus_buf[8] | (sbus_buf[9] << 8)); //!< Mouse Y axis
+    rc_ctrl[TEMP].mouse.z = (sbus_buf[10] | (sbus_buf[11] << 8)); //!< Mouse Z axis   // 滚轮
+    rc_ctrl[TEMP].mouse.press_l = sbus_buf[12]; //!< Mouse Left Is Press ?
+    rc_ctrl[TEMP].mouse.press_r = sbus_buf[13]; //!< Mouse Right Is Press ?
+
+    //  位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后
+    *(uint16_t *) &rc_ctrl[TEMP].key[KEY_PRESS] = (uint16_t) (sbus_buf[14] | (sbus_buf[15] << 8));
+    if (rc_ctrl[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下
+        rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] = rc_ctrl[TEMP].key[KEY_PRESS];
+    else
+        memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
+    if (rc_ctrl[TEMP].key[KEY_PRESS].shift) // shift键按下
+        rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] = rc_ctrl[TEMP].key[KEY_PRESS];
+    else
+        memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));
+
+    uint16_t key_now = rc_ctrl[TEMP].key[KEY_PRESS].keys, // 当前按键是否按下
+            key_last = rc_ctrl[LAST].key[KEY_PRESS].keys, // 上一次按键是否按下
+            key_with_ctrl = rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL].keys, // 当前ctrl组合键是否按下
+            key_with_shift = rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT].keys, //  当前shift组合键是否按下
+            key_last_with_ctrl = rc_ctrl[LAST].key[KEY_PRESS_WITH_CTRL].keys, // 上一次ctrl组合键是否按下
+            key_last_with_shift = rc_ctrl[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下
+
+    for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++)
+    {
+        if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过
+            continue;
+        // 如果当前按键按下,上一次按键没有按下,且ctrl和shift组合键没有按下,则按键按下计数加1(检测到上升沿)
+        if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j))
+            rc_ctrl[TEMP].key_count[KEY_PRESS][i]++;
+        // 当前ctrl组合键按下,上一次ctrl组合键没有按下,则ctrl组合键按下计数加1(检测到上升沿)
+        if ((key_with_ctrl & j) && !(key_last_with_ctrl & j))
+            rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
+        // 当前shift组合键按下,上一次shift组合键没有按下,则shift组合键按下计数加1(检测到上升沿)
+        if ((key_with_shift & j) && !(key_last_with_shift & j))
+            rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
+    }
+
+    memcpy(&rc_ctrl[LAST], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
+}
+#endif
+
+#ifdef REMOTE_FS_I6X
+/**
+ * @brief 遥控器数据解析
+ *
+ * @param sbus_buf 接收buffer
+ */
+static void sbus_to_rc(const uint8_t *sbus_buf)
+{
+    // // 摇杆,直接解算时减去偏置
+    // rc_ctrl[TEMP].rc.rocker_r_ = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET;                              //!< Channel 0
+    // rc_ctrl[TEMP].rc.rocker_r1 = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff) - RC_CH_VALUE_OFFSET;                       //!< Channel 1
+    // rc_ctrl[TEMP].rc.rocker_l_ = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2
+    // rc_ctrl[TEMP].rc.rocker_l1 = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET;                       //!< Channel 3
+    // rc_ctrl[TEMP].rc.dial      = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET;                            // 左侧拨轮
+    // RectifyRCjoystick();
+    // // 开关,0左1右
+    // rc_ctrl[TEMP].rc.switch_right = ((sbus_buf[5] >> 4) & 0x0003);      //!< Switch right
+    // rc_ctrl[TEMP].rc.switch_left  = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch left
+
+    // // 鼠标解析
+    // rc_ctrl[TEMP].mouse.x       = (sbus_buf[6] | (sbus_buf[7] << 8)); //!< Mouse X axis
+    // rc_ctrl[TEMP].mouse.y       = (sbus_buf[8] | (sbus_buf[9] << 8)); //!< Mouse Y axis
+    // rc_ctrl[TEMP].mouse.z       = (sbus_buf[10] | (sbus_buf[11] << 8)); //!< Mouse Z axis   // 滚轮
+    // rc_ctrl[TEMP].mouse.press_l = sbus_buf[12];                       //!< Mouse Left Is Press ?
+    // rc_ctrl[TEMP].mouse.press_r = sbus_buf[13];                       //!< Mouse Right Is Press ?
+
+    // //  位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后
+    // *(uint16_t *)&rc_ctrl[TEMP].key[KEY_PRESS] = (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8));
+    // if (rc_ctrl[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下
+    //     rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] = rc_ctrl[TEMP].key[KEY_PRESS];
+    // else
+    //     memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
+    // if (rc_ctrl[TEMP].key[KEY_PRESS].shift) // shift键按下
+    //     rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] = rc_ctrl[TEMP].key[KEY_PRESS];
+    // else
+    //     memset(&rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));
+
+    // uint16_t key_now        = rc_ctrl[TEMP].key[KEY_PRESS].keys,            // 当前按键是否按下
+    //     key_last            = rc_ctrl[LAST].key[KEY_PRESS].keys,            // 上一次按键是否按下
+    //     key_with_ctrl       = rc_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL].keys,  // 当前ctrl组合键是否按下
+    //     key_with_shift      = rc_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT].keys, //  当前shift组合键是否按下
+    //     key_last_with_ctrl  = rc_ctrl[LAST].key[KEY_PRESS_WITH_CTRL].keys,  // 上一次ctrl组合键是否按下
+    //     key_last_with_shift = rc_ctrl[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下
+
+    // for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++) {
+    //     if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过
+    //         continue;
+    //     // 如果当前按键按下,上一次按键没有按下,且ctrl和shift组合键没有按下,则按键按下计数加1(检测到上升沿)
+    //     if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j))
+    //         rc_ctrl[TEMP].key_count[KEY_PRESS][i]++;
+    //     // 当前ctrl组合键按下,上一次ctrl组合键没有按下,则ctrl组合键按下计数加1(检测到上升沿)
+    //     if ((key_with_ctrl & j) && !(key_last_with_ctrl & j))
+    //         rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
+    //     // 当前shift组合键按下,上一次shift组合键没有按下,则shift组合键按下计数加1(检测到上升沿)
+    //     if ((key_with_shift & j) && !(key_last_with_shift & j))
+    //         rc_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
+    // }
+
+    if ((sbus_buf[0] != SBUS_HEAD) || (sbus_buf[24] != SBUS_END))
+        return;
+
+    // if (sbus_buf[23] == 0x0C)
+    // 	rc_ctrl->online = 0;
+    // else
+    // 	rc_ctrl->online = 1;
+
+    rc_ctrl[TEMP].rc.ch[0] = ((sbus_buf[1] | sbus_buf[2] << 8) & 0x07FF); // 通道1 (云台yaw)
+    rc_ctrl[TEMP].rc.ch[1] = ((sbus_buf[2] >> 3 | sbus_buf[3] << 5) & 0x07FF); // 通道2 (云台pitch)
+    rc_ctrl[TEMP].rc.ch[2] = ((sbus_buf[3] >> 6 | sbus_buf[4] << 2 | sbus_buf[5] << 10) & 0x07FF); // 通道3 (前后)
+    rc_ctrl[TEMP].rc.ch[3] = ((sbus_buf[5] >> 1 | sbus_buf[6] << 7) & 0x07FF); // 通道4 (左右)
+    rc_ctrl[TEMP].rc.ch[4] = ((sbus_buf[6] >> 4 | sbus_buf[7] << 4) & 0x07FF); // 通道5 (SWA)
+    rc_ctrl[TEMP].rc.ch[5] = ((sbus_buf[7] >> 7 | sbus_buf[8] << 1 | sbus_buf[9] << 9) & 0x07FF); // 通道6 (SWB)
+    rc_ctrl[TEMP].rc.ch[6] = ((sbus_buf[9] >> 2 | sbus_buf[10] << 6) & 0x07FF); // 通道7 (SWC)
+    rc_ctrl[TEMP].rc.ch[7] = ((sbus_buf[10] >> 5 | sbus_buf[11] << 3) & 0x07FF); // 通道8 (SWD)
+    rc_ctrl[TEMP].rc.ch[8] = ((sbus_buf[12] | sbus_buf[13] << 8) & 0x07FF); // 通道9 (VrA旋钮)
+    rc_ctrl[TEMP].rc.ch[9] = ((sbus_buf[13] >> 3 | sbus_buf[14] << 5) & 0x07FF); // 通道10 (VrB旋钮)
+
+    // rc_ctrl[TEMP].rc.ch[0] = ((sbus_buf[0] | sbus_buf[1] << 8) & 0x07FF);					   // 通道1 (云台yaw)
+    // rc_ctrl[TEMP].rc.ch[1] = ((sbus_buf[1] >> 3 | sbus_buf[2] << 5) & 0x07FF);				   // 通道2 (云台pitch)
+    // rc_ctrl[TEMP].rc.ch[2] = ((sbus_buf[2] >> 6 | sbus_buf[3] << 2 | sbus_buf[4] << 10) & 0x07FF); // 通道3 (前后)
+    // rc_ctrl[TEMP].rc.ch[3] = ((sbus_buf[4] >> 1 | sbus_buf[5] << 7) & 0x07FF);				   // 通道4 (左右)
+    // rc_ctrl[TEMP].rc.ch[4] = ((sbus_buf[5] >> 4 | sbus_buf[6] << 4) & 0x07FF);				   // 通道5 (SWA)
+    // rc_ctrl[TEMP].rc.ch[5] = ((sbus_buf[6] >> 7 | sbus_buf[7] << 1 | sbus_buf[8] << 9) & 0x07FF);  // 通道6 (SWB)
+    // rc_ctrl[TEMP].rc.ch[6] = ((sbus_buf[8] >> 2 | sbus_buf[9] << 6) & 0x07FF);			   // 通道7 (SWC)
+    // rc_ctrl[TEMP].rc.ch[7] = ((sbus_buf[9] >> 5 | sbus_buf[10] << 3) & 0x07FF);			   // 通道8 (SWD)
+    // rc_ctrl[TEMP].rc.ch[8] = ((sbus_buf[11] | sbus_buf[12] << 8) & 0x07FF);				   // 通道9 (VrA旋钮)
+    // rc_ctrl[TEMP].rc.ch[9] = ((sbus_buf[12] >> 3 | sbus_buf[13] << 5) & 0x07FF);			   // 通道10 (VrB旋钮)
+
+    rc_ctrl[TEMP].sw_a = (rc_ctrl[TEMP].rc.ch[4] == 0x00F0) ? RC_SW_UP : RC_SW_DOWN;
+    rc_ctrl[TEMP].sw_b = rc_ctrl[TEMP].rc.ch[5]; //3档
+    rc_ctrl[TEMP].sw_c = rc_ctrl[TEMP].rc.ch[6]; //3档
+    rc_ctrl[TEMP].sw_d = (rc_ctrl[TEMP].rc.ch[7] == 0x00F0) ? RC_SW_UP : RC_SW_DOWN;
+
+    // 解析SWB状态
+    if (rc_ctrl[TEMP].rc.ch[6] == 0x00F0)
+    {
+        rc_ctrl[TEMP].sw_b = RC_SW_UP;
+    }
+    else if (rc_ctrl[TEMP].rc.ch[6] == 0x0400)
+    {
+        rc_ctrl[TEMP].sw_b = RC_SW_MID;
+    }
+    else if (rc_ctrl[TEMP].rc.ch[6] == 0x070F)
+    {
+        rc_ctrl[TEMP].sw_b = RC_SW_DOWN;
+    }
+    else
+    {
+        rc_ctrl[TEMP].sw_b = 0;
+    }
+
+    if (rc_ctrl[TEMP].sw_b != rc_ctrl[TEMP].sw_b_last)
+    {
+        if (rc_ctrl[TEMP].sw_b == RC_SW_UP)
+        {
+            rc_ctrl[TEMP].sw_b_midtoup_flag = 1;
+            rc_ctrl[TEMP].sw_b_uptomid_flag = 0;
+            rc_ctrl[TEMP].sw_b_midtodown_flag = 0;
+        }
+        else if (rc_ctrl[TEMP].sw_b == RC_SW_MID)
+        {
+            rc_ctrl[TEMP].sw_b_midtoup_flag = 0;
+            rc_ctrl[TEMP].sw_b_uptomid_flag = 1;
+            rc_ctrl[TEMP].sw_b_midtodown_flag = 0;
+        }
+        else if (rc_ctrl[TEMP].sw_b == RC_SW_DOWN)
+        {
+            rc_ctrl[TEMP].sw_b_midtoup_flag = 0;
+            rc_ctrl[TEMP].sw_b_uptomid_flag = 0;
+            rc_ctrl[TEMP].sw_b_midtodown_flag = 1;
+        }
+    }
+    rc_ctrl[TEMP].sw_b_last = rc_ctrl[TEMP].sw_b;
+
+    // 解析SWC状态
+    if (rc_ctrl[TEMP].rc.ch[6] == 0x00F0)
+    {
+        rc_ctrl[TEMP].sw_c = RC_SW_UP;
+    }
+    else if (rc_ctrl[TEMP].rc.ch[6] == 0x0400)
+    {
+        rc_ctrl[TEMP].sw_c = RC_SW_MID;
+    }
+    else if (rc_ctrl[TEMP].rc.ch[6] == 0x070F)
+    {
+        rc_ctrl[TEMP].sw_c = RC_SW_DOWN;
+    }
+    else
+    {
+        rc_ctrl[TEMP].sw_c = 0;
+    }
+
+    if (rc_ctrl[TEMP].sw_c != rc_ctrl[TEMP].sw_c_last)
+    {
+        if (rc_ctrl[TEMP].sw_c == RC_SW_UP)
+        {
+            rc_ctrl[TEMP].sw_c_midtoup_flag = 1;
+            rc_ctrl[TEMP].sw_c_uptomid_flag = 0;
+            rc_ctrl[TEMP].sw_c_midtodown_flag = 0;
+        }
+        else if (rc_ctrl[TEMP].sw_c == RC_SW_MID)
+        {
+            rc_ctrl[TEMP].sw_c_midtoup_flag = 0;
+            rc_ctrl[TEMP].sw_c_uptomid_flag = 1;
+            rc_ctrl[TEMP].sw_c_midtodown_flag = 0;
+        }
+        else if (rc_ctrl[TEMP].sw_c == RC_SW_DOWN)
+        {
+            rc_ctrl[TEMP].sw_c_midtoup_flag = 0;
+            rc_ctrl[TEMP].sw_c_uptomid_flag = 0;
+            rc_ctrl[TEMP].sw_c_midtodown_flag = 1;
+        }
+    }
+    rc_ctrl[TEMP].sw_c_last = rc_ctrl[TEMP].sw_c;
+
+    // SWA和SWB的状态变化
+    if (rc_ctrl[TEMP].sw_a != rc_ctrl[TEMP].sw_a_last)
+    {
+        rc_ctrl[TEMP].sw_a_up_to_down_flag = (rc_ctrl[TEMP].sw_a == RC_SW_UP) ? 1 : 0;
+    }
+    rc_ctrl[TEMP].sw_a_last = rc_ctrl[TEMP].sw_a;
+
+    // if (rc_ctrl[TEMP].sw_b != rc_ctrl[TEMP].sw_b_last) {
+    //     rc_ctrl[TEMP].sw_b_up_to_down_flag = (rc_ctrl[TEMP].sw_b == RC_SW_UP) ? 1 : 0;
+    // }
+    // rc_ctrl[TEMP].sw_b_last = rc_ctrl[TEMP].sw_b;
+
+    // SWD的状态变化
+    if (rc_ctrl[TEMP].sw_d != rc_ctrl[TEMP].sw_d_last)
+    {
+        rc_ctrl[TEMP].sw_d_up_to_down_flag = (rc_ctrl[TEMP].sw_d == RC_SW_UP) ? 1 : 0;
+    }
+    rc_ctrl[TEMP].sw_d_last = rc_ctrl[TEMP].sw_d;
+
+    // 修正 ch1~ch4
+    rc_ctrl[TEMP].ch1 = rc_ctrl[TEMP].rc.ch[0] - 1024;
+    rc_ctrl[TEMP].ch2 = rc_ctrl[TEMP].rc.ch[1] - 1024;
+    rc_ctrl[TEMP].ch3 = rc_ctrl[TEMP].rc.ch[2] - 1024;
+    rc_ctrl[TEMP].ch4 = rc_ctrl[TEMP].rc.ch[3] - 1024;
+    // ...existing code...
+
+    memcpy(&rc_ctrl[LAST], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
+}
+#endif
+
+/**
+ * @brief 对sbus_to_rc的简单封装,用于注册到bsp_usart的回调函数中
+ *
+ */
+static void RemoteControlRxCallback()
+{
+    sbus_to_rc(rc_usart_instance->recv_buff); // 进行协议解析
+    DaemonReload(rc_daemon_instance); // 先喂狗
+}
+
+/**
+ * @brief 遥控器离线的回调函数,注册到守护进程中,串口掉线时调用
+ *
+ */
+static void RCLostCallback(void *id)
+{
+    memset(rc_ctrl, 0, sizeof(rc_ctrl)); // 清空遥控器数据
+    USARTServiceInit(rc_usart_instance); // 尝试重新启动接收
+
+    RobotMode = REMOTE_NOT_CONNECTED;
+
+    // LEDErrLog(0, LED_COLOR_R); // 红灯常亮 表示遥控器离线
+}
+
+RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
+{
+    USART_Init_Config_s conf;
+    conf.module_callback = RemoteControlRxCallback;
+    conf.usart_handle = rc_usart_handle;
+    conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
+
+    rc_usart_instance = USARTRegister(&conf);
+
+    // 进行守护进程的注册,用于定时检查遥控器是否正常工作
+    Daemon_Init_Config_s daemon_conf = {
+        .reload_count = 10, // 100ms未收到数据视为离线,遥控器的接收频率实际上是1000/14Hz(大约70Hz)
+        .callback = RCLostCallback,
+        .owner_id = NULL, // 只有1个遥控器,不需要owner_id
+    };
+    rc_daemon_instance = DaemonRegister(&daemon_conf);
+
+    rc_init_flag = 1;
+    return rc_ctrl;
+}
+
+uint8_t RemoteControlIsOnline()
+{
+    if (rc_init_flag)
+        return DaemonIsOnline(rc_daemon_instance);
+    return 0;
+}
--- a/User_Code/module/periph/remote_control/rc.h
+++ b/User_Code/module/periph/remote_control/rc.h
@@ -6,3 +6,149 @@
 #define TRONONEH7_SCAFFOLD_RC_H

 #endif //TRONONEH7_SCAFFOLD_RC_H
+
+/**
+ * @file remote.h
+ * @author TuxMonkey (nqx_2004@qq.com)
+ * @brief 遥控器模块
+ * @version 0.1
+ * @date 2025-01-06
+ *
+ * @copyright Copyright (c) 2025
+ *
+ */
+
+#ifndef REMOTE_H
+#define REMOTE_H
+
+//@todo：测试define
+#define REMOTE_FS_I6X
+
+#include "stdint.h"
+#include "main.h"
+#include "usart.h"
+#include "key_define.h"
+#include "robot_def.h"
+
+// 检查接收值是否出错
+#define RC_CH_VALUE_MIN    ((uint16_t)0)
+#define RC_CH_VALUE_OFFSET ((uint16_t)1024)
+#define RC_CH_VALUE_MAX    ((uint16_t)2048)
+
+/* ----------------------- RC Switch Definition----------------------------- */
+#define RC_SW_UP   ((uint16_t)1) // 开关向上时的值
+#define RC_SW_MID  ((uint16_t)3) // 开关中间时的值
+#define RC_SW_DOWN ((uint16_t)2) // 开关向下时的值
+// 三个判断开关状态的宏
+#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)
+
+
+#ifdef REMOTE_DJI_DT7
+typedef struct
+{
+    struct
+    {
+        int16_t rocker_l_; // 左水平
+        int16_t rocker_l1; // 左竖直
+        int16_t rocker_r_; // 右水平
+        int16_t rocker_r1; // 右竖直
+        int16_t dial; // 侧边拨轮
+
+        uint8_t switch_left; // 左侧开关
+        uint8_t switch_right; // 右侧开关
+    } rc;
+
+    struct
+    {
+        int16_t x;
+        int16_t y;
+        int16_t z;
+        uint8_t press_l;
+        uint8_t press_r;
+    } mouse;
+
+    Key_t key[3]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
+
+    uint8_t key_count[3][16];
+} RC_ctrl_t;
+#endif // REMOTE_DJI_DT7
+
+// @todo 当前结构体嵌套过深,需要进行优化
+#ifdef REMOTE_FS_I6X
+typedef struct
+{
+    struct
+    {
+        // int16_t rocker_l_; // 左水平
+        // int16_t rocker_l1; // 左竖直
+        // int16_t rocker_r_; // 右水平
+        // int16_t rocker_r1; // 右竖直
+        // int16_t dial;      // 侧边拨轮
+
+        // uint8_t switch_left;  // 左侧开关
+        // uint8_t switch_right; // 右侧开关
+
+        int16_t ch[10];
+    } rc;
+
+    struct
+    {
+        int16_t x;
+        int16_t y;
+        int16_t z;
+        uint8_t press_l;
+        uint8_t press_r;
+    } mouse;
+
+    uint8_t sw_a; // SWA
+    uint8_t sw_b; // SWB
+    uint16_t sw_c; // SWC 3
+    uint8_t sw_d; // SWD
+    int16_t ch1; // 通道1 (云台yaw)
+    int16_t ch2; // 通道2 (云台pitch)
+    int16_t ch3; // 通道3 (前后)
+    int16_t ch4; // 通道4 (左右)
+    uint8_t sw_a_last;
+    uint8_t sw_b_last;
+    uint16_t sw_c_last;
+    uint8_t sw_d_last;
+
+    uint8_t sw_a_up_to_down_flag;
+
+    uint8_t sw_b_midtoup_flag;
+    uint8_t sw_b_uptomid_flag;
+    uint8_t sw_b_midtodown_flag;
+    uint8_t sw_b_downtomid_flag;
+
+    uint8_t sw_c_midtoup_flag;
+    uint8_t sw_c_uptomid_flag;
+    uint8_t sw_c_midtodown_flag;
+    uint8_t sw_c_downtomid_flag;
+    uint8_t sw_d_up_to_down_flag;
+    uint16_t online;
+
+    Key_t key[3]; // 改为位域后的键盘索引,空间减少8倍,速度增加16~倍
+
+    uint8_t key_count[3][16];
+} RC_ctrl_t;
+#endif // FSI6X
+/* ------------------------- Internal Data ----------------------------------- */
+
+/**
+ * @brief 初始化遥控器,该函数会将遥控器注册到串口
+ *
+ * @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 *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle);
+
+/**
+ * @brief 检查遥控器是否在线,若尚未初始化也视为离线
+ *
+ * @return uint8_t 1:在线 0:离线
+ */
+uint8_t RemoteControlIsOnline();
+
+#endif // REMOTE_H
--- a/User_Code/module/software/daemon/daemon.c
+++ b/User_Code/module/software/daemon/daemon.c
@@ -0,0 +1,64 @@
+#include "daemon.h"
+#include "bsp_dwt.h"
+#include "stdlib.h"
+#include "memory.h"
+
+/* 用于保存所有的daemon instance */
+static Daemon_Instance *daemon_instances[DAEMON_MAX_NUM];
+static uint8_t idx; // 用于记录当前注册的daemon数量
+
+Daemon_Instance *DaemonRegister(Daemon_Init_Config_s *config)
+{
+    Daemon_Instance *daemon_instance = (Daemon_Instance *) malloc(sizeof(Daemon_Instance));
+    memset(daemon_instance, 0, sizeof(Daemon_Instance));
+
+    daemon_instance->id = config->owner_id;
+    daemon_instance->reload_count = config->reload_count == 0 ? 100 : config->reload_count; // 默认重载值为100
+    daemon_instance->callback = config->callback;
+    daemon_instance->temp_count = config->init_count == 0 ? 100 : config->init_count; // 默认上线等待时间为100
+    daemon_instance->temp_count = config->reload_count;
+
+    daemon_instances[idx++] = daemon_instance;
+
+    return daemon_instance;
+}
+
+/**
+ * @brief 当模块收到新的数据或进行其他动作时,调用该函数重载temp_count,相当于"喂狗"
+ *
+ * @param daemon daemon实例指针
+ */
+void DaemonReload(Daemon_Instance *daemon)
+{
+    daemon->temp_count = daemon->reload_count;
+}
+
+/**
+ * @brief 确认模块是否离线
+ *
+ * @param daemon
+ * @return uint8_t 若在线且工作正常,返回1;否则返回零. 后续根据异常类型和离线状态等进行优化.
+ */
+uint8_t DaemonIsOnline(Daemon_Instance *daemon)
+{
+    return daemon->temp_count > 0;
+}
+
+/**
+ * @brief 放入rtos中,会给每个daemon实例的temp_count按频率进行递减操作.
+ *        模块成功接受数据或成功操作则会重载temp_count的值为reload_count.
+ *
+ */
+void DaemonTask(void)
+{
+    Daemon_Instance *daemon;
+    for (uint8_t i = 0; i < idx; i++)
+    {
+        daemon = daemon_instances[i];
+        if (daemon->temp_count > 0) // 如果计数器还有值,说明上一次喂狗后还没有超时,则计数器减一
+            daemon->temp_count--;
+        else if (daemon->callback != NULL) // 等于零说明超时了,调用回调函数(如果有的话)
+            daemon->callback(daemon->id);
+        // @todo 可以加入蜂鸣器或者led等提示
+    }
+}
--- a/User_Code/module/software/daemon/daemon.h
+++ b/User_Code/module/software/daemon/daemon.h
@@ -1,8 +1,72 @@
-//
-// Created by ASUS on 2025/11/17.
-//
+/**
+* @file daemon.h
+ * @author TuxMonkey (nqx_2004@qq.com)
+ * @brief   守护进程
+ * @version 0.1
+ * @date 2025-01-04
+ *
+ * @copyright Copyright (c) 2025
+ *
+ */

-#ifndef TRONONEH7_SCAFFOLD_DAEMON_H
-#define TRONONEH7_SCAFFOLD_DAEMON_H
+#ifndef DAEMON_H
+#define DAEMON_H

-#endif //TRONONEH7_SCAFFOLD_DAEMON_H
+#include "stdint.h"
+#include "memory.h"
+
+#define DAEMON_MAX_NUM 32 // 支持的最大守护进程数量
+
+/* 模块离线处理函数指针 */
+typedef void (*offline_callback)(void *);
+
+typedef struct daemon_ins
+{
+    uint16_t reload_count; // 重载值
+    offline_callback callback; // 离线处理函数,当模块离线时调用
+
+    uint16_t temp_count; // 当前值,减为零说明模块离线或异常
+    void *id; // 模块id,用于标识模块,初始化时传入
+} Daemon_Instance;
+
+/* daemon初始化配置 */
+typedef struct
+{
+    uint16_t reload_count; // 实际上这是app唯一需要设置的值?
+    uint16_t init_count; // 上线等待时间,有些模块需要收到主控的指令才会反馈报文,或pc等需要开机时间
+    offline_callback callback; // 异常处理函数,当模块发生异常时会被调用
+
+    void *owner_id; // id取拥有daemon的实例的地址,如DJIMotorInstance*,cast成void*类型
+} Daemon_Init_Config_s;
+
+/**
+ * @brief 注册一个daemon实例
+ *
+ * @param config 初始化配置
+ * @return DaemonInstance* 返回实例指针
+ */
+Daemon_Instance *DaemonRegister(Daemon_Init_Config_s *config);
+
+/**
+ * @brief 当模块收到新的数据或进行其他动作时,调用该函数重载temp_count,相当于"喂狗"
+ *
+ * @param daemon daemon实例指针
+ */
+void DaemonReload(Daemon_Instance *daemon);
+
+/**
+ * @brief 确认模块是否离线
+ *
+ * @param daemon
+ * @return uint8_t 若在线且工作正常,返回1;否则返回零. 后续根据异常类型和离线状态等进行优化.
+ */
+uint8_t DaemonIsOnline(Daemon_Instance *daemon);
+
+/**
+ * @brief 放入rtos中,会给每个daemon实例的temp_count按频率进行递减操作.
+ *        模块成功接受数据或成功操作则会重载temp_count的值为reload_count.
+ *
+ */
+void DaemonTask(void);
+
+#endif // DAEMON_H