master
=> 请务必阅读 Project Wiki 😃
=> Please read Project Wiki 😃
ZJU-UIUC Meta 战队 RoboMaster 嵌入式程序工程，基于 ChibiOS 操作系统，使用 C 和 C++。
ZJU-UIUC Meta RoboMaster Team's Embedded Control Program, based on ChibiOS/RT. The program mainly use C and C++.
工程包含步兵、工程、英雄、哨兵机器人源代码，适用于 RM 2018 A 型、RM 2017 开发板，通过条件编译控制编译目标。
The project contains the standard, engineer, hero and sentry vehicles source code and is compatible with RM board 2018 A and RM board 2017. With CMake, the code for each robot could be built by switching the target of CMake.
更新日期：April.17, 2023 Updated Time: April.17, 2023
Meta-Embedded
├── cmsis CMSIS DSP 计算库 | CMSIS DSP Library for Calculation
├── config CMake 配置、OpenOCD 配置、辅助脚本等 | Configuration for CMake, OpenOCD and shell scripts.
├── dev 我们编写的源码文件 | Main source code.
├── os ChibiOS 源码文件 | ChibiOS/RT code.
├── CMakeLists.txt CMake 主配置文件 | Main configuration file for CMake.
└── README.md 此文件 | This file.
工程使用类实现封装和模块化，使用线程控制模块间的调用和信息传递。
The project use C++ class for encapsulation and modularization. The modules will be called by threads.
.
├── board_pin - STM32配置 | Configuration for STM32 -
│ ├── rm_board_2017
│ │ ├── board.c
│ │ ├── board.h
│ │ ├── board.mk
│ │ └── mcuconf.h
│ └── rm_board_2018_a
│ ├── board.c
│ ├── board.h
│ ├── board.mk
│ └── mcuconf.h
├── application - 应用层程序 | Higher level Applications -
│ ├───param_adjusts - 参数整调程序 | Parameter Adjust Programs -
│ │ ├───pa_chassis
│ │ └───pa_infantry
│ ├───unit_tests - 单元测试 | Unit Tests-
│ │ ├───ut_ahrs
│ │ ├───ut_buzzer
│ │ ├───ut_chassis
│ │ ├───ut_led
│ │ ├───ut_oled
│ │ ├───ut_referee_if
│ │ ├───ut_remote_if
│ │ ├───ut_sd_card
│ │ ├───ut_sentry_chassis
│ │ └───ut_usb_com
│ └───vehicles - 各类车辆 | Vehicles
│ ├───aerial
│ ├───engineer
│ ├───haptic_device
│ ├───hero
│ ├───infantry
│ └───sentry
├── interface - 较低层次的接口模块 | Low Level Interfaces -
│ ├── ahrs - IMU 模块 | IMU Module -
│ │ ├── ahrs.cpp 综合运算模块 | Comprehensive Calculation Module -
│ │ ├── ahrs.h
│ │ ├── imu_math.hpp
│ │ ├── ist8310.cpp IST8310 接口 | Interface for IST8310 -
│ │ ├── ist8310.h
│ │ ├── ist8310_reg.h
│ │ ├── mpu6500.cpp MPU6500 陀螺仪接口 | Interface for MPU 6500 -
│ │ ├── mpu6500.h
│ │ └── mpu6500_reg.h
│ ├── can - CAN总下相关接口 | Interfaces for CAN-BUS -
│ │ ├── can_interface.cpp CAN总线收发程序 | CAN-BUS Tx/RX Module
│ │ ├── can_interface.h
│ │ ├── can_motor_feedback.cpp 大疆CAN电机接口 | DJI Motors' Feedback Class Using CAN-BUS -
│ │ ├── can_motor_feedback.h
│ │ ├── CANMotorIF.cpp 大疆CAN电机整体接口 | Overall Interface for DJI Motors -
│ │ └── CANMotorIF.h
│ ├── usb_com - 虚拟串口 | STM32 Virtual COM port (CDC) -
│ │ ├── usb_serial_port.cpp USB配置文件 | USB configuration file
│ │ ├── usb_serial_port.h
│ │ ├── VirtualCOMPort.cpp 虚拟串口收发接口 | Interface for Virtual COM Port
│ │ └── VirtualCOMPort.h
│ └── ... 其他接口（可能会频繁更新） | Other Interfaces (Varies Over Time)
├── scheduler - 调度程序（包含控制算法） | Schedulers, contains thread performing control algorithms -
│ ├── buzzer_scheduler.cpp 蜂鸣器 | Buzzer
│ ├── buzzer_scheduler.h
│ ├── CANMotorController.cpp CAN电机调度程序 | Schedulers for CAN motors. Performing control algorithms (like PID)
│ ├── CANMotorController.h
│ └── ... 其他调度程序（近期更新） | Other Schedulers (Might Refactor Soon)
├── logic - 高级逻辑控制 | Higher Level Logic Control -
│ ├── HapticLG.cpp 重力模拟器逻辑控制，包含开机校准以及多种模式控制 | Haptic device logic control, contains startup calibration and multiple control modes
│ ├── HapticLG.h
│ ├── chassis_logic.cpp 麦克纳姆轮底盘控制程序，包含速度分解 | Control Algorithm for chassises with Mecanum wheel, including velocity decompose
│ ├── chassis_logic.h
│ └── ... 其他逻辑控制程序（近期更新） | Other high level logical control algorithms (Might Refactor Soon)
├── common - 通用组件 | Universal Components -
│ ├── common_macro.h
│ ├── CRC8.cpp
│ ├── CRC8.h
│ ├── CRC16.cpp
│ └── CRC16.h
├── module - 模块（将来可能与common合并） | common modules (might merge with common soon) -
├── chconf.h ChibiOS 配置文件 | ChibiOS configuration
└── halconf.h ChibiOS HAL 配置文件 | ChibiOS HAL configuraion
- 工具链相关资料，参考 Meta-Infantry Wiki
- Toolchain, Meta-Infantry Wiki
- CMake 构建系统简介
- CMakeBrief Introduction to CMake
- Meta Team C++ Style Guide