refactor(modules): 按角色重排 modules/ 目录,消除命名不一致
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 <FilePath> 改为新路径;
2 个非空 <IncludePath> 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 <PathWithFileName> 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 <FilePath> 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)。
This commit is contained in:
@@ -341,7 +341,7 @@
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<MiscControls></MiscControls>
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<Define>USE_HAL_DRIVER,STM32F407xx,ARM_MATH_CM4,ROBOT_TYPE_GIMBAL</Define>
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<Undefine></Undefine>
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<IncludePath>../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</IncludePath>
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<IncludePath>../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</IncludePath>
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</VariousControls>
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</Cads>
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<Aads>
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@@ -359,7 +359,7 @@
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<MiscControls></MiscControls>
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<Define></Define>
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<Undefine></Undefine>
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<IncludePath>../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</IncludePath>
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<IncludePath>../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</IncludePath>
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</VariousControls>
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</Aads>
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<LDads>
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@@ -2402,12 +2402,12 @@
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<File>
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<FileName>pid.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\PID\pid.c</FilePath>
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<FilePath>..\modules\algorithm\pid.c</FilePath>
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</File>
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<File>
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<FileName>filter.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\filter\filter.c</FilePath>
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<FilePath>..\modules\algorithm\filter.c</FilePath>
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</File>
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<File>
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<FileName>dji_motor.c</FileName>
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@@ -2417,67 +2417,67 @@
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<File>
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<FileName>dr16.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\DR16\dr16.c</FilePath>
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<FilePath>..\modules\comms\dr16.c</FilePath>
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</File>
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<File>
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<FileName>referee.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\referee\referee.c</FilePath>
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<FilePath>..\modules\comms\referee.c</FilePath>
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</File>
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<File>
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<FileName>led.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\LED\led.c</FilePath>
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<FilePath>..\modules\dev\led.c</FilePath>
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</File>
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<File>
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<FileName>buzzer.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\BUZZER\buzzer.c</FilePath>
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<FilePath>..\modules\dev\buzzer.c</FilePath>
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</File>
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<File>
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<FileName>c_comm.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\c_comm\c_comm.c</FilePath>
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<FilePath>..\modules\comms\c_comm.c</FilePath>
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</File>
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<File>
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<FileName>bmi088.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\BMI088\bmi088.c</FilePath>
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<FilePath>..\modules\sensor\bmi088.c</FilePath>
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</File>
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<File>
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<FileName>ist8310.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\IST8310\ist8310.c</FilePath>
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<FilePath>..\modules\sensor\ist8310.c</FilePath>
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</File>
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<File>
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<FileName>attitude.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\attitude\attitude.c</FilePath>
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<FilePath>..\modules\imu\attitude.c</FilePath>
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</File>
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<File>
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<FileName>kalman_filter.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\ins\kalman_filter.c</FilePath>
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<FilePath>..\modules\imu\qekf\kalman_filter.c</FilePath>
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</File>
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<File>
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<FileName>QuaternionEKF.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\ins\QuaternionEKF.c</FilePath>
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<FilePath>..\modules\imu\qekf\QuaternionEKF.c</FilePath>
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</File>
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<File>
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<FileName>ins.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\ins\ins.c</FilePath>
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<FilePath>..\modules\imu\ins.c</FilePath>
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</File>
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<File>
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<FileName>gimbal.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\gimbal\gimbal.c</FilePath>
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<FilePath>..\modules\control\gimbal.c</FilePath>
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</File>
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<File>
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<FileName>shoot.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\modules\shoot\shoot.c</FilePath>
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<FilePath>..\modules\control\shoot.c</FilePath>
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</File>
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</Files>
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</Group>
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