robinson
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361caca427
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[release] version 1.0.0
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2026-05-23 00:16:40 +08:00 |
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robinson
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cf934cf6b7
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[feat] UART command interface, per-motor control, filtering modules
- Add callback_task with ISR-based UART command parser (@command\n protocol)
- Add log_printf with mutex protection to prevent printf interleaving
- Add per-motor enable/disable (motor enable yaw|pitch)
- Add PID tuning via UART (pid roll kp 15)
- Add cmd_parser module (registration + tokenize + dispatch)
- Add UART layer architecture (interface → HAL → BSP)
- Add filter modules (lowpass, moving_average, notch, rate_limiter)
- Rewrite I2C bus and UART bus modules
- Rewrite PID controller and MF4010V2 motor driver
- Fix soft I2C driver
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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2026-05-21 01:38:11 +08:00 |
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robinson
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a697505ec0
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fix(i2c): fix soft I2C driver - ACK polarity, SDA transitions, push-pull mode, timeout, float printf
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2026-05-12 00:22:59 +08:00 |
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robinson
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5bf1920867
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[add] soft i2c rewrite
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2026-05-11 08:25:49 +08:00 |
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CloudPlant Team
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1710e1294e
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[feat] 添加二轴云台增稳控制和 Soft I2C 模块
主要变更:
- 二轴云台增稳控制 (control_task.c): 保持 Roll=0, Pitch=0
- 双 PID 控制器补偿基座倾斜
- Yaw 电机补偿 Roll 轴，Pitch 电机补偿 Pitch 轴
- 100Hz 控制循环
- Soft I2C 模块 (modules/bus/soft_i2c/):
- 基于 GPIO 位时序的 I2C 实现
- 支持多实例，可适配到 i2c_if 接口
- 适配层用于 WIT 传感器 (sensor_i2c_port.c)
- MF4010V2 驱动增强:
- 添加 mf4010v2_set_angle() 位置控制函数
- 完善命令生成函数文档
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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2026-04-18 21:56:30 +08:00 |
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robinson
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dcb33f8a99
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[add] add app level code
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2026-04-18 11:02:40 +08:00 |
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robinson
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33d3feede4
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[add] added new hal level led/can
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2026-04-16 22:55:16 +08:00 |
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CloudPlant Team
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1c2d945a6d
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重构项目：移除JY901传感器，添加CAN总线支持，集成电机/传感器模块库
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2026-04-13 22:49:49 +08:00 |
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