From e3d432f3b5d37b91c54619f39f93c1011a44fa37 Mon Sep 17 00:00:00 2001 From: LSMushui Date: Sat, 12 Sep 2026 11:51:41 +0800 Subject: [PATCH] =?UTF-8?q?refactor(modules):=20=E6=8C=89=E8=A7=92?= =?UTF-8?q?=E8=89=B2=E9=87=8D=E6=8E=92=20modules/=20=E7=9B=AE=E5=BD=95,?= =?UTF-8?q?=E6=B6=88=E9=99=A4=E5=91=BD=E5=90=8D=E4=B8=8D=E4=B8=80=E8=87=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 原 modules/ 下目录大小写混用(BMI088/BUZZER/DR16/IST8310/LED/PID 为大写, attitude/c_comm/filter/gimbal/ins/motor/referee/shoot 为小写),且把第三方 移植代码(QuaternionEKF/kalman_filter)与本工程封装(ins)混在同一目录。 新结构(全部小写,按角色分层,第三方代码单独隔离): modules/ algorithm/ pid.c/h filter.c/h 通用算法 imu/ attitude.c/h ins.c/h 姿态与惯导封装 imu/qekf/ QuaternionEKF.c/h kalman_filter.c/h (移植自 Wang Hongxi INS 例程) sensor/ bmi088.c/h ist8310.c/h 板载传感器驱动 comms/ dr16.c/h c_comm.c/h referee.c/h motor/ dji_motor.c/h 电机抽象 control/ gimbal.c/h shoot.c/h 整车控制逻辑 (底盘为 chassis.c/h) dev/ led.c/h buzzer.c/h 板级指示/发声 共移动 58 个文件(每板 29 个),旧目录全部删除。 工程文件同步(每个工程各 2 个): - .uvprojx: Modules 分组 16 个 改为新路径; 2 个非空 元素:15 个旧模块路径收敛为 8 个新目录, 并顺带删除陈旧项 ../modules/AHRS(目录根本不存在,legacy 时代残留) 与冗余项 ..\bsp(与 ../Bsp/Inc 重复) - .uvoptx: 16 个 同步 关于"为什么不用改源码": Keil 的 include 靠 IncludePath 解析,本工程所有 #include 都是纯文件名形式(无路径限定),所以移动目录只需改工程配置。 另外 .h 完全不登记在工程里(只有 16 个 .c 被登记),故头文件只需移动。 回归验证(无法在此环境编译,用等价判据): - 两个工程引用的 98 / 95 个 全部真实存在 - 磁盘上 47 / 45 个 .c 全部仍被工程引用 —— 即没有任何文件掉出编译 - 2 个 IncludePath 元素均含全部 8 个新模块目录,无旧路径残留 - 所有 IncludePath 指向的目录均真实存在 - .uvprojx/.uvoptx XML 良构 - 两棵树结构一致(chassis/gimbal 等板级差异符合预期) ⚠️ 仍需在 Keil 里点一次编译确认(见 README 的构建章节)。 --- 云台/MDK-ARM/Simba-ELCT-FrameWork.uvoptx | 30 ++++++++-------- 云台/MDK-ARM/Simba-ELCT-FrameWork.uvprojx | 34 +++++++++---------- 云台/modules/{filter => algorithm}/filter.c | 0 云台/modules/{filter => algorithm}/filter.h | 0 云台/modules/{PID => algorithm}/pid.c | 0 云台/modules/{PID => algorithm}/pid.h | 0 云台/modules/{c_comm => comms}/c_comm.c | 0 云台/modules/{c_comm => comms}/c_comm.h | 0 云台/modules/{DR16 => comms}/dr16.c | 0 云台/modules/{DR16 => comms}/dr16.h | 0 云台/modules/{referee => comms}/referee.c | 0 云台/modules/{referee => comms}/referee.h | 0 云台/modules/{gimbal => control}/gimbal.c | 0 云台/modules/{gimbal => control}/gimbal.h | 0 云台/modules/{shoot => control}/shoot.c | 0 云台/modules/{shoot => control}/shoot.h | 0 云台/modules/{BUZZER => dev}/buzzer.c | 0 云台/modules/{BUZZER => dev}/buzzer.h | 0 云台/modules/{LED => dev}/led.c | 0 云台/modules/{LED => dev}/led.h | 0 云台/modules/{attitude => imu}/attitude.c | 0 云台/modules/{attitude => imu}/attitude.h | 0 云台/modules/{ins => imu}/ins.c | 0 云台/modules/{ins => imu}/ins.h | 0 .../modules/{ins => imu/qekf}/QuaternionEKF.c | 0 .../modules/{ins => imu/qekf}/QuaternionEKF.h | 0 .../modules/{ins => imu/qekf}/kalman_filter.c | 0 .../modules/{ins => imu/qekf}/kalman_filter.h | 0 云台/modules/{BMI088 => sensor}/bmi088.c | 0 云台/modules/{BMI088 => sensor}/bmi088.h | 0 云台/modules/{IST8310 => sensor}/ist8310.c | 0 云台/modules/{IST8310 => sensor}/ist8310.h | 0 底盘/MDK-ARM/Simba-ELCT-FrameWork.uvoptx | 28 +++++++-------- 底盘/MDK-ARM/Simba-ELCT-FrameWork.uvprojx | 32 ++++++++--------- 底盘/modules/{filter => algorithm}/filter.c | 0 底盘/modules/{filter => algorithm}/filter.h | 0 底盘/modules/{PID => algorithm}/pid.c | 0 底盘/modules/{PID => algorithm}/pid.h | 0 底盘/modules/{c_comm => comms}/c_comm.c | 0 底盘/modules/{c_comm => comms}/c_comm.h | 0 底盘/modules/{DR16 => comms}/dr16.c | 0 底盘/modules/{DR16 => comms}/dr16.h | 0 底盘/modules/{referee => comms}/referee.c | 0 底盘/modules/{referee => comms}/referee.h | 0 底盘/modules/{chassis => control}/chassis.c | 0 底盘/modules/{chassis => control}/chassis.h | 0 底盘/modules/{BUZZER => dev}/buzzer.c | 0 底盘/modules/{BUZZER => dev}/buzzer.h | 0 底盘/modules/{LED => dev}/led.c | 0 底盘/modules/{LED => dev}/led.h | 0 底盘/modules/{attitude => imu}/attitude.c | 0 底盘/modules/{attitude => imu}/attitude.h | 0 底盘/modules/{ins => imu}/ins.c | 0 底盘/modules/{ins => imu}/ins.h | 0 .../modules/{ins => imu/qekf}/QuaternionEKF.c | 0 .../modules/{ins => imu/qekf}/QuaternionEKF.h | 0 .../modules/{ins => imu/qekf}/kalman_filter.c | 0 .../modules/{ins => imu/qekf}/kalman_filter.h | 0 底盘/modules/{BMI088 => sensor}/bmi088.c | 0 底盘/modules/{BMI088 => sensor}/bmi088.h | 0 底盘/modules/{IST8310 => sensor}/ist8310.c | 0 底盘/modules/{IST8310 => sensor}/ist8310.h | 0 62 files changed, 62 insertions(+), 62 deletions(-) rename 云台/modules/{filter => algorithm}/filter.c (100%) rename 云台/modules/{filter => algorithm}/filter.h (100%) rename 云台/modules/{PID => algorithm}/pid.c (100%) rename 云台/modules/{PID => algorithm}/pid.h (100%) rename 云台/modules/{c_comm => comms}/c_comm.c (100%) rename 云台/modules/{c_comm => comms}/c_comm.h (100%) rename 云台/modules/{DR16 => comms}/dr16.c (100%) rename 云台/modules/{DR16 => comms}/dr16.h (100%) rename 云台/modules/{referee => comms}/referee.c (100%) rename 云台/modules/{referee => comms}/referee.h (100%) rename 云台/modules/{gimbal => control}/gimbal.c (100%) rename 云台/modules/{gimbal => control}/gimbal.h (100%) rename 云台/modules/{shoot => control}/shoot.c (100%) rename 云台/modules/{shoot => control}/shoot.h (100%) rename 云台/modules/{BUZZER => dev}/buzzer.c (100%) rename 云台/modules/{BUZZER => dev}/buzzer.h (100%) rename 云台/modules/{LED => dev}/led.c (100%) rename 云台/modules/{LED => dev}/led.h (100%) rename 云台/modules/{attitude => imu}/attitude.c (100%) rename 云台/modules/{attitude => imu}/attitude.h (100%) rename 云台/modules/{ins => imu}/ins.c (100%) rename 云台/modules/{ins => imu}/ins.h (100%) rename 云台/modules/{ins => imu/qekf}/QuaternionEKF.c (100%) rename 云台/modules/{ins => imu/qekf}/QuaternionEKF.h (100%) rename 云台/modules/{ins => imu/qekf}/kalman_filter.c (100%) rename 云台/modules/{ins => imu/qekf}/kalman_filter.h (100%) rename 云台/modules/{BMI088 => sensor}/bmi088.c (100%) rename 云台/modules/{BMI088 => sensor}/bmi088.h (100%) rename 云台/modules/{IST8310 => sensor}/ist8310.c (100%) rename 云台/modules/{IST8310 => sensor}/ist8310.h (100%) rename 底盘/modules/{filter => algorithm}/filter.c (100%) rename 底盘/modules/{filter => algorithm}/filter.h (100%) rename 底盘/modules/{PID => algorithm}/pid.c (100%) rename 底盘/modules/{PID => algorithm}/pid.h (100%) rename 底盘/modules/{c_comm => comms}/c_comm.c (100%) rename 底盘/modules/{c_comm => comms}/c_comm.h (100%) rename 底盘/modules/{DR16 => comms}/dr16.c (100%) rename 底盘/modules/{DR16 => comms}/dr16.h (100%) rename 底盘/modules/{referee => comms}/referee.c (100%) rename 底盘/modules/{referee => comms}/referee.h (100%) rename 底盘/modules/{chassis => control}/chassis.c (100%) rename 底盘/modules/{chassis => control}/chassis.h (100%) rename 底盘/modules/{BUZZER => dev}/buzzer.c (100%) rename 底盘/modules/{BUZZER => dev}/buzzer.h (100%) rename 底盘/modules/{LED => dev}/led.c (100%) rename 底盘/modules/{LED => dev}/led.h (100%) rename 底盘/modules/{attitude => imu}/attitude.c (100%) rename 底盘/modules/{attitude => imu}/attitude.h (100%) rename 底盘/modules/{ins => imu}/ins.c (100%) rename 底盘/modules/{ins => imu}/ins.h (100%) rename 底盘/modules/{ins => imu/qekf}/QuaternionEKF.c (100%) rename 底盘/modules/{ins => imu/qekf}/QuaternionEKF.h (100%) rename 底盘/modules/{ins => imu/qekf}/kalman_filter.c (100%) rename 底盘/modules/{ins => imu/qekf}/kalman_filter.h (100%) rename 底盘/modules/{BMI088 => sensor}/bmi088.c (100%) rename 底盘/modules/{BMI088 => sensor}/bmi088.h (100%) rename 底盘/modules/{IST8310 => sensor}/ist8310.c (100%) rename 底盘/modules/{IST8310 => sensor}/ist8310.h (100%) diff --git a/云台/MDK-ARM/Simba-ELCT-FrameWork.uvoptx b/云台/MDK-ARM/Simba-ELCT-FrameWork.uvoptx index 3b9b4c4..601c11e 100644 --- a/云台/MDK-ARM/Simba-ELCT-FrameWork.uvoptx +++ b/云台/MDK-ARM/Simba-ELCT-FrameWork.uvoptx @@ -1215,7 +1215,7 @@ 0 0 0 - ..\modules\PID\pid.c + ..\modules\algorithm\pid.c pid.c 0 0 @@ -1227,7 +1227,7 @@ 0 0 0 - ..\modules\filter\filter.c + ..\modules\algorithm\filter.c filter.c 0 0 @@ -1251,7 +1251,7 @@ 0 0 0 - ..\modules\DR16\dr16.c + ..\modules\comms\dr16.c dr16.c 0 0 @@ -1263,7 +1263,7 @@ 0 0 0 - ..\modules\referee\referee.c + ..\modules\comms\referee.c referee.c 0 0 @@ -1275,7 +1275,7 @@ 0 0 0 - ..\modules\LED\led.c + ..\modules\dev\led.c led.c 0 0 @@ -1287,7 +1287,7 @@ 0 0 0 - ..\modules\BUZZER\buzzer.c + ..\modules\dev\buzzer.c buzzer.c 0 0 @@ -1299,7 +1299,7 @@ 0 0 0 - ..\modules\c_comm\c_comm.c + ..\modules\comms\c_comm.c c_comm.c 0 0 @@ -1311,7 +1311,7 @@ 0 0 0 - ..\modules\BMI088\bmi088.c + ..\modules\sensor\bmi088.c bmi088.c 0 0 @@ -1323,7 +1323,7 @@ 0 0 0 - ..\modules\IST8310\ist8310.c + ..\modules\sensor\ist8310.c ist8310.c 0 0 @@ -1335,7 +1335,7 @@ 0 0 0 - ..\modules\attitude\attitude.c + ..\modules\imu\attitude.c attitude.c 0 0 @@ -1347,7 +1347,7 @@ 0 0 0 - ..\modules\ins\kalman_filter.c + ..\modules\imu\qekf\kalman_filter.c kalman_filter.c 0 0 @@ -1359,7 +1359,7 @@ 0 0 0 - ..\modules\ins\QuaternionEKF.c + ..\modules\imu\qekf\QuaternionEKF.c QuaternionEKF.c 0 0 @@ -1371,7 +1371,7 @@ 0 0 0 - ..\modules\ins\ins.c + ..\modules\imu\ins.c ins.c 0 0 @@ -1383,7 +1383,7 @@ 0 0 0 - ..\modules\gimbal\gimbal.c + ..\modules\control\gimbal.c gimbal.c 0 0 @@ -1395,7 +1395,7 @@ 0 0 0 - ..\modules\shoot\shoot.c + ..\modules\control\shoot.c shoot.c 0 0 diff --git a/云台/MDK-ARM/Simba-ELCT-FrameWork.uvprojx b/云台/MDK-ARM/Simba-ELCT-FrameWork.uvprojx index b926025..49c255c 100644 --- a/云台/MDK-ARM/Simba-ELCT-FrameWork.uvprojx +++ b/云台/MDK-ARM/Simba-ELCT-FrameWork.uvprojx @@ -341,7 +341,7 @@ USE_HAL_DRIVER,STM32F407xx,ARM_MATH_CM4,ROBOT_TYPE_GIMBAL - ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../USB_DEVICE/App;../USB_DEVICE/Target;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Application/Task/;../Bsp/Inc;../Application;../Application/Task/Inc;../modules/PID;../modules/filter;../modules/motor;../modules/DR16;../modules/referee;../modules/LED;../modules/BUZZER;../modules/c_comm;../modules/BMI088;../modules/IST8310;../modules/AHRS;../modules/attitude;../modules/gimbal;../modules/shoot;../modules/ins;../Middlewares/ST/ARM/DSP/Inc + ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../USB_DEVICE/App;../USB_DEVICE/Target;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Application/Task/;../Bsp/Inc;../Application;../Application/Task/Inc;../Middlewares/ST/ARM/DSP/Inc;../modules/algorithm;../modules/imu;../modules/imu/qekf;../modules/sensor;../modules/comms;../modules/motor;../modules/control;../modules/dev @@ -359,7 +359,7 @@ - ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;..\Application\Task\Inc;..\bsp;../Application;../Application/Task/Inc;../modules/PID;../modules/filter;../modules/motor;../modules/DR16;../modules/referee;../modules/LED;../modules/BUZZER;../modules/c_comm;../modules/BMI088;../modules/IST8310;../modules/AHRS;../modules/attitude;../modules/gimbal;../modules/shoot;../modules/ins;../Middlewares/ST/ARM/DSP/Inc + ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;..\Application\Task\Inc;../Application;../Application/Task/Inc;../Middlewares/ST/ARM/DSP/Inc;../modules/algorithm;../modules/imu;../modules/imu/qekf;../modules/sensor;../modules/comms;../modules/motor;../modules/control;../modules/dev @@ -2402,12 +2402,12 @@ pid.c 1 - ..\modules\PID\pid.c + ..\modules\algorithm\pid.c filter.c 1 - ..\modules\filter\filter.c + ..\modules\algorithm\filter.c dji_motor.c @@ -2417,67 +2417,67 @@ dr16.c 1 - ..\modules\DR16\dr16.c + ..\modules\comms\dr16.c referee.c 1 - ..\modules\referee\referee.c + ..\modules\comms\referee.c led.c 1 - ..\modules\LED\led.c + ..\modules\dev\led.c buzzer.c 1 - ..\modules\BUZZER\buzzer.c + ..\modules\dev\buzzer.c c_comm.c 1 - ..\modules\c_comm\c_comm.c + ..\modules\comms\c_comm.c bmi088.c 1 - ..\modules\BMI088\bmi088.c + ..\modules\sensor\bmi088.c ist8310.c 1 - ..\modules\IST8310\ist8310.c + ..\modules\sensor\ist8310.c attitude.c 1 - ..\modules\attitude\attitude.c + ..\modules\imu\attitude.c kalman_filter.c 1 - ..\modules\ins\kalman_filter.c + ..\modules\imu\qekf\kalman_filter.c QuaternionEKF.c 1 - ..\modules\ins\QuaternionEKF.c + ..\modules\imu\qekf\QuaternionEKF.c ins.c 1 - ..\modules\ins\ins.c + ..\modules\imu\ins.c gimbal.c 1 - ..\modules\gimbal\gimbal.c + ..\modules\control\gimbal.c shoot.c 1 - ..\modules\shoot\shoot.c + ..\modules\control\shoot.c diff --git a/云台/modules/filter/filter.c b/云台/modules/algorithm/filter.c similarity index 100% rename from 云台/modules/filter/filter.c rename to 云台/modules/algorithm/filter.c diff --git a/云台/modules/filter/filter.h b/云台/modules/algorithm/filter.h similarity index 100% rename from 云台/modules/filter/filter.h rename to 云台/modules/algorithm/filter.h diff --git a/云台/modules/PID/pid.c b/云台/modules/algorithm/pid.c similarity index 100% rename from 云台/modules/PID/pid.c rename to 云台/modules/algorithm/pid.c diff --git a/云台/modules/PID/pid.h b/云台/modules/algorithm/pid.h similarity index 100% rename from 云台/modules/PID/pid.h rename to 云台/modules/algorithm/pid.h diff --git a/云台/modules/c_comm/c_comm.c b/云台/modules/comms/c_comm.c similarity index 100% rename from 云台/modules/c_comm/c_comm.c rename to 云台/modules/comms/c_comm.c diff --git a/云台/modules/c_comm/c_comm.h b/云台/modules/comms/c_comm.h similarity index 100% rename from 云台/modules/c_comm/c_comm.h rename to 云台/modules/comms/c_comm.h diff --git a/云台/modules/DR16/dr16.c b/云台/modules/comms/dr16.c similarity index 100% rename from 云台/modules/DR16/dr16.c rename to 云台/modules/comms/dr16.c diff --git a/云台/modules/DR16/dr16.h b/云台/modules/comms/dr16.h similarity index 100% rename from 云台/modules/DR16/dr16.h rename to 云台/modules/comms/dr16.h diff --git a/云台/modules/referee/referee.c b/云台/modules/comms/referee.c similarity index 100% rename from 云台/modules/referee/referee.c rename to 云台/modules/comms/referee.c diff --git a/云台/modules/referee/referee.h b/云台/modules/comms/referee.h similarity index 100% rename from 云台/modules/referee/referee.h rename to 云台/modules/comms/referee.h diff --git a/云台/modules/gimbal/gimbal.c b/云台/modules/control/gimbal.c similarity index 100% rename from 云台/modules/gimbal/gimbal.c rename to 云台/modules/control/gimbal.c diff --git a/云台/modules/gimbal/gimbal.h b/云台/modules/control/gimbal.h similarity index 100% rename from 云台/modules/gimbal/gimbal.h rename to 云台/modules/control/gimbal.h diff --git a/云台/modules/shoot/shoot.c b/云台/modules/control/shoot.c similarity index 100% rename from 云台/modules/shoot/shoot.c rename to 云台/modules/control/shoot.c diff --git a/云台/modules/shoot/shoot.h b/云台/modules/control/shoot.h similarity index 100% rename from 云台/modules/shoot/shoot.h rename to 云台/modules/control/shoot.h diff --git a/云台/modules/BUZZER/buzzer.c b/云台/modules/dev/buzzer.c similarity index 100% rename from 云台/modules/BUZZER/buzzer.c rename to 云台/modules/dev/buzzer.c diff --git a/云台/modules/BUZZER/buzzer.h b/云台/modules/dev/buzzer.h similarity index 100% rename from 云台/modules/BUZZER/buzzer.h rename to 云台/modules/dev/buzzer.h diff --git a/云台/modules/LED/led.c b/云台/modules/dev/led.c similarity index 100% rename from 云台/modules/LED/led.c rename to 云台/modules/dev/led.c diff --git a/云台/modules/LED/led.h b/云台/modules/dev/led.h similarity index 100% rename from 云台/modules/LED/led.h rename to 云台/modules/dev/led.h diff --git a/云台/modules/attitude/attitude.c b/云台/modules/imu/attitude.c similarity index 100% rename from 云台/modules/attitude/attitude.c rename to 云台/modules/imu/attitude.c diff --git a/云台/modules/attitude/attitude.h b/云台/modules/imu/attitude.h similarity index 100% rename from 云台/modules/attitude/attitude.h rename to 云台/modules/imu/attitude.h diff --git a/云台/modules/ins/ins.c b/云台/modules/imu/ins.c similarity index 100% rename from 云台/modules/ins/ins.c rename to 云台/modules/imu/ins.c diff --git a/云台/modules/ins/ins.h b/云台/modules/imu/ins.h similarity index 100% rename from 云台/modules/ins/ins.h rename to 云台/modules/imu/ins.h diff --git a/云台/modules/ins/QuaternionEKF.c b/云台/modules/imu/qekf/QuaternionEKF.c similarity index 100% rename from 云台/modules/ins/QuaternionEKF.c rename to 云台/modules/imu/qekf/QuaternionEKF.c diff --git a/云台/modules/ins/QuaternionEKF.h b/云台/modules/imu/qekf/QuaternionEKF.h similarity index 100% rename from 云台/modules/ins/QuaternionEKF.h rename to 云台/modules/imu/qekf/QuaternionEKF.h diff --git a/云台/modules/ins/kalman_filter.c b/云台/modules/imu/qekf/kalman_filter.c similarity index 100% rename from 云台/modules/ins/kalman_filter.c rename to 云台/modules/imu/qekf/kalman_filter.c diff --git a/云台/modules/ins/kalman_filter.h b/云台/modules/imu/qekf/kalman_filter.h similarity index 100% rename from 云台/modules/ins/kalman_filter.h rename to 云台/modules/imu/qekf/kalman_filter.h diff --git a/云台/modules/BMI088/bmi088.c b/云台/modules/sensor/bmi088.c similarity index 100% rename from 云台/modules/BMI088/bmi088.c rename to 云台/modules/sensor/bmi088.c diff --git a/云台/modules/BMI088/bmi088.h b/云台/modules/sensor/bmi088.h similarity index 100% rename from 云台/modules/BMI088/bmi088.h rename to 云台/modules/sensor/bmi088.h diff --git a/云台/modules/IST8310/ist8310.c b/云台/modules/sensor/ist8310.c similarity index 100% rename from 云台/modules/IST8310/ist8310.c rename to 云台/modules/sensor/ist8310.c diff --git a/云台/modules/IST8310/ist8310.h b/云台/modules/sensor/ist8310.h similarity index 100% rename from 云台/modules/IST8310/ist8310.h rename to 云台/modules/sensor/ist8310.h diff --git a/底盘/MDK-ARM/Simba-ELCT-FrameWork.uvoptx b/底盘/MDK-ARM/Simba-ELCT-FrameWork.uvoptx index 1ede12c..83a1fa7 100644 --- a/底盘/MDK-ARM/Simba-ELCT-FrameWork.uvoptx +++ b/底盘/MDK-ARM/Simba-ELCT-FrameWork.uvoptx @@ -1186,7 +1186,7 @@ 0 0 0 - ..\modules\PID\pid.c + ..\modules\algorithm\pid.c pid.c 0 0 @@ -1198,7 +1198,7 @@ 0 0 0 - ..\modules\filter\filter.c + ..\modules\algorithm\filter.c filter.c 0 0 @@ -1222,7 +1222,7 @@ 0 0 0 - ..\modules\DR16\dr16.c + ..\modules\comms\dr16.c dr16.c 0 0 @@ -1234,7 +1234,7 @@ 0 0 0 - ..\modules\referee\referee.c + ..\modules\comms\referee.c referee.c 0 0 @@ -1246,7 +1246,7 @@ 0 0 0 - ..\modules\LED\led.c + ..\modules\dev\led.c led.c 0 0 @@ -1258,7 +1258,7 @@ 0 0 0 - ..\modules\BUZZER\buzzer.c + ..\modules\dev\buzzer.c buzzer.c 0 0 @@ -1270,7 +1270,7 @@ 0 0 0 - ..\modules\c_comm\c_comm.c + ..\modules\comms\c_comm.c c_comm.c 0 0 @@ -1282,7 +1282,7 @@ 0 0 0 - ..\modules\chassis\chassis.c + ..\modules\control\chassis.c chassis.c 0 0 @@ -1294,7 +1294,7 @@ 0 0 0 - ..\modules\BMI088\bmi088.c + ..\modules\sensor\bmi088.c bmi088.c 0 0 @@ -1306,7 +1306,7 @@ 0 0 0 - ..\modules\IST8310\ist8310.c + ..\modules\sensor\ist8310.c ist8310.c 0 0 @@ -1318,7 +1318,7 @@ 0 0 0 - ..\modules\attitude\attitude.c + ..\modules\imu\attitude.c attitude.c 0 0 @@ -1330,7 +1330,7 @@ 0 0 0 - ..\modules\ins\kalman_filter.c + ..\modules\imu\qekf\kalman_filter.c kalman_filter.c 0 0 @@ -1342,7 +1342,7 @@ 0 0 0 - ..\modules\ins\QuaternionEKF.c + ..\modules\imu\qekf\QuaternionEKF.c QuaternionEKF.c 0 0 @@ -1354,7 +1354,7 @@ 0 0 0 - ..\modules\ins\ins.c + ..\modules\imu\ins.c ins.c 0 0 diff --git a/底盘/MDK-ARM/Simba-ELCT-FrameWork.uvprojx b/底盘/MDK-ARM/Simba-ELCT-FrameWork.uvprojx index 868f983..f666c48 100644 --- a/底盘/MDK-ARM/Simba-ELCT-FrameWork.uvprojx +++ b/底盘/MDK-ARM/Simba-ELCT-FrameWork.uvprojx @@ -341,7 +341,7 @@ USE_HAL_DRIVER,STM32F407xx,ARM_MATH_CM4,ROBOT_TYPE_CHASSIS - ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../USB_DEVICE/App;../USB_DEVICE/Target;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Application/Task/;../Bsp/Inc;../Application;../Application/Task/Inc;../modules/PID;../modules/filter;../modules/motor;../modules/DR16;../modules/referee;../modules/LED;../modules/BUZZER;../modules/c_comm;../modules/chassis;../modules/BMI088;../modules/IST8310;../modules/attitude;../modules/ins;../Middlewares/ST/ARM/DSP/Inc + ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../USB_DEVICE/App;../USB_DEVICE/Target;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Application/Task/;../Bsp/Inc;../Application;../Application/Task/Inc;../Middlewares/ST/ARM/DSP/Inc;../modules/algorithm;../modules/imu;../modules/imu/qekf;../modules/sensor;../modules/comms;../modules/motor;../modules/control;../modules/dev @@ -359,7 +359,7 @@ - ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;..\Application\Task\Inc;..\bsp;../Application;../Application/Task/Inc;../modules/PID;../modules/filter;../modules/motor;../modules/DR16;../modules/referee;../modules/LED;../modules/BUZZER;../modules/c_comm;../modules/chassis;../modules/BMI088;../modules/IST8310;../modules/attitude;../modules/ins;../Middlewares/ST/ARM/DSP/Inc + ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;..\Application\Task\Inc;../Application;../Application/Task/Inc;../Middlewares/ST/ARM/DSP/Inc;../modules/algorithm;../modules/imu;../modules/imu/qekf;../modules/sensor;../modules/comms;../modules/motor;../modules/control;../modules/dev @@ -2341,12 +2341,12 @@ pid.c 1 - ..\modules\PID\pid.c + ..\modules\algorithm\pid.c filter.c 1 - ..\modules\filter\filter.c + ..\modules\algorithm\filter.c dji_motor.c @@ -2356,62 +2356,62 @@ dr16.c 1 - ..\modules\DR16\dr16.c + ..\modules\comms\dr16.c referee.c 1 - ..\modules\referee\referee.c + ..\modules\comms\referee.c led.c 1 - ..\modules\LED\led.c + ..\modules\dev\led.c buzzer.c 1 - ..\modules\BUZZER\buzzer.c + ..\modules\dev\buzzer.c c_comm.c 1 - ..\modules\c_comm\c_comm.c + ..\modules\comms\c_comm.c chassis.c 1 - ..\modules\chassis\chassis.c + ..\modules\control\chassis.c bmi088.c 1 - ..\modules\BMI088\bmi088.c + ..\modules\sensor\bmi088.c ist8310.c 1 - ..\modules\IST8310\ist8310.c + ..\modules\sensor\ist8310.c attitude.c 1 - ..\modules\attitude\attitude.c + ..\modules\imu\attitude.c kalman_filter.c 1 - ..\modules\ins\kalman_filter.c + ..\modules\imu\qekf\kalman_filter.c QuaternionEKF.c 1 - ..\modules\ins\QuaternionEKF.c + ..\modules\imu\qekf\QuaternionEKF.c ins.c 1 - ..\modules\ins\ins.c + ..\modules\imu\ins.c diff --git a/底盘/modules/filter/filter.c b/底盘/modules/algorithm/filter.c similarity index 100% rename from 底盘/modules/filter/filter.c rename to 底盘/modules/algorithm/filter.c diff --git a/底盘/modules/filter/filter.h b/底盘/modules/algorithm/filter.h similarity index 100% rename from 底盘/modules/filter/filter.h rename to 底盘/modules/algorithm/filter.h diff --git a/底盘/modules/PID/pid.c b/底盘/modules/algorithm/pid.c similarity index 100% rename from 底盘/modules/PID/pid.c rename to 底盘/modules/algorithm/pid.c diff --git a/底盘/modules/PID/pid.h b/底盘/modules/algorithm/pid.h similarity index 100% rename from 底盘/modules/PID/pid.h rename to 底盘/modules/algorithm/pid.h diff --git a/底盘/modules/c_comm/c_comm.c b/底盘/modules/comms/c_comm.c similarity index 100% rename from 底盘/modules/c_comm/c_comm.c rename to 底盘/modules/comms/c_comm.c diff --git a/底盘/modules/c_comm/c_comm.h b/底盘/modules/comms/c_comm.h similarity index 100% rename from 底盘/modules/c_comm/c_comm.h rename to 底盘/modules/comms/c_comm.h diff --git a/底盘/modules/DR16/dr16.c b/底盘/modules/comms/dr16.c similarity index 100% rename from 底盘/modules/DR16/dr16.c rename to 底盘/modules/comms/dr16.c diff --git a/底盘/modules/DR16/dr16.h b/底盘/modules/comms/dr16.h similarity index 100% rename from 底盘/modules/DR16/dr16.h rename to 底盘/modules/comms/dr16.h diff --git a/底盘/modules/referee/referee.c b/底盘/modules/comms/referee.c similarity index 100% rename from 底盘/modules/referee/referee.c rename to 底盘/modules/comms/referee.c diff --git a/底盘/modules/referee/referee.h b/底盘/modules/comms/referee.h similarity index 100% rename from 底盘/modules/referee/referee.h rename to 底盘/modules/comms/referee.h diff --git a/底盘/modules/chassis/chassis.c b/底盘/modules/control/chassis.c similarity index 100% rename from 底盘/modules/chassis/chassis.c rename to 底盘/modules/control/chassis.c diff --git a/底盘/modules/chassis/chassis.h b/底盘/modules/control/chassis.h similarity index 100% rename from 底盘/modules/chassis/chassis.h rename to 底盘/modules/control/chassis.h diff --git a/底盘/modules/BUZZER/buzzer.c b/底盘/modules/dev/buzzer.c similarity index 100% rename from 底盘/modules/BUZZER/buzzer.c rename to 底盘/modules/dev/buzzer.c diff --git a/底盘/modules/BUZZER/buzzer.h b/底盘/modules/dev/buzzer.h similarity index 100% rename from 底盘/modules/BUZZER/buzzer.h rename to 底盘/modules/dev/buzzer.h diff --git a/底盘/modules/LED/led.c b/底盘/modules/dev/led.c similarity index 100% rename from 底盘/modules/LED/led.c rename to 底盘/modules/dev/led.c diff --git a/底盘/modules/LED/led.h b/底盘/modules/dev/led.h similarity index 100% rename from 底盘/modules/LED/led.h rename to 底盘/modules/dev/led.h diff --git a/底盘/modules/attitude/attitude.c b/底盘/modules/imu/attitude.c similarity index 100% rename from 底盘/modules/attitude/attitude.c rename to 底盘/modules/imu/attitude.c diff --git a/底盘/modules/attitude/attitude.h b/底盘/modules/imu/attitude.h similarity index 100% rename from 底盘/modules/attitude/attitude.h rename to 底盘/modules/imu/attitude.h diff --git a/底盘/modules/ins/ins.c b/底盘/modules/imu/ins.c similarity index 100% rename from 底盘/modules/ins/ins.c rename to 底盘/modules/imu/ins.c diff --git a/底盘/modules/ins/ins.h b/底盘/modules/imu/ins.h similarity index 100% rename from 底盘/modules/ins/ins.h rename to 底盘/modules/imu/ins.h diff --git a/底盘/modules/ins/QuaternionEKF.c b/底盘/modules/imu/qekf/QuaternionEKF.c similarity index 100% rename from 底盘/modules/ins/QuaternionEKF.c rename to 底盘/modules/imu/qekf/QuaternionEKF.c diff --git a/底盘/modules/ins/QuaternionEKF.h b/底盘/modules/imu/qekf/QuaternionEKF.h similarity index 100% rename from 底盘/modules/ins/QuaternionEKF.h rename to 底盘/modules/imu/qekf/QuaternionEKF.h diff --git a/底盘/modules/ins/kalman_filter.c b/底盘/modules/imu/qekf/kalman_filter.c similarity index 100% rename from 底盘/modules/ins/kalman_filter.c rename to 底盘/modules/imu/qekf/kalman_filter.c diff --git a/底盘/modules/ins/kalman_filter.h b/底盘/modules/imu/qekf/kalman_filter.h similarity index 100% rename from 底盘/modules/ins/kalman_filter.h rename to 底盘/modules/imu/qekf/kalman_filter.h diff --git a/底盘/modules/BMI088/bmi088.c b/底盘/modules/sensor/bmi088.c similarity index 100% rename from 底盘/modules/BMI088/bmi088.c rename to 底盘/modules/sensor/bmi088.c diff --git a/底盘/modules/BMI088/bmi088.h b/底盘/modules/sensor/bmi088.h similarity index 100% rename from 底盘/modules/BMI088/bmi088.h rename to 底盘/modules/sensor/bmi088.h diff --git a/底盘/modules/IST8310/ist8310.c b/底盘/modules/sensor/ist8310.c similarity index 100% rename from 底盘/modules/IST8310/ist8310.c rename to 底盘/modules/sensor/ist8310.c diff --git a/底盘/modules/IST8310/ist8310.h b/底盘/modules/sensor/ist8310.h similarity index 100% rename from 底盘/modules/IST8310/ist8310.h rename to 底盘/modules/sensor/ist8310.h