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Commits on May 6, 2025

• Upper V14.0

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Commits on Apr 23, 2025

• Upper V13.0

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Commits on Jun 24, 2023

• 增加了一些编译优化，增加了log使用文档，新增部分user_lib功能

  

  NeoZng

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Commits on Jun 23, 2023

• 修改了freertos的支持include，增加了daemon的上线等待时间，增加pid参数整定指南

  

  NeoZng

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Commits on Jun 5, 2023

• 将os任务的创建统一转移到app层方便修改,使得架构更加清晰.修复了INS未初始化导致的读取错误

  

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Commits on May 29, 2023

• 添加均值滤波,修改HT电机控制方式,添加了一些文档

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Commits on May 19, 2023

• 增加了电机前馈控制,更新readme，加快ins速度，删除了工程和平衡底盘相关的app

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Commits on May 14, 2023

• 修复PID堵转检测错误，修复LK电机位置环计算错误，更新文档，修改了消息中心的命名（不影响app层）

  NeoZng

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Commits on Apr 14, 2023

• 简化了电机测量的命名,完成初版平衡底盘的功能编写,待测试方向和符号的正确性

  

  NeoZng

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Commits on Apr 13, 2023

• 完成基于bsp的bmi088编写,更新can comm的CAN配置

  

  NeoZng

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• 修复bmi088读取零飘错误,为instask增加初始化四元数以防止零飘发散，修复cancomm顺序

  

  NeoZng

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Commits on Mar 23, 2023

• Merge branch 'master' of gitee.com:hnuyuelurm/basic_framework

  

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• Merge from captain chen

  

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Commits on Mar 22, 2023

• 修复电机反馈的bug,通信bug,ps2手柄支持,舵机的修复,cmdbug的修复

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Commits on Feb 20, 2023

• 修复BMI088初始化异常,测试通过请尽快迁移到新版本。增加了电机的协议说明。

  

  NeoZng

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Commits on Feb 16, 2023

• 修复LK电机id计算错误，构建平衡底盘框架，增加通用通信模块，增加平衡底盘条件编译兼容，删除lqr

  

  NeoZng

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Commits on Feb 14, 2023

• 新增了教程和注释以及文档,增加了一键编译并打开ozone调试的脚本

  

  NeoZng

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Commits on Feb 4, 2023

• 添加了编译参数提示,完成了bmi088阻塞周期访问版本的实现,添加了zeromalloc

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Commits on Jan 2, 2023

• 重新组织了文件的防止

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Commits on Jan 1, 2023

• 增加了大量注释

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Commits on Dec 14, 2022

• 修复HT电机解算bug，待添加零位校准。修复bsp_can module id未初始化问题

  

  NeoZng

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Commits on Dec 13, 2022

• 增加了LK电机和HT电机的基本支持,待编写控制

  

  NeoZng

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Commits on Dec 11, 2022

• 发布beta版本,目前基本功能都可用

  

  NeoZng

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Commits on Dec 9, 2022

• 优化了点击pid计算流程，修复了bsp未初始化的异常，修复了数个未定义和隐式声明的警告

  

  NeoZng

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Commits on Dec 5, 2022

• 增加了遥控器按键功能并修改所有函数和类型定义为标准格式

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Commits on Nov 27, 2022

• 增加CAN Comm通信功能,接收中断处理尚未编写完毕

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Commits on Nov 23, 2022

• fix can rx fifo bug

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Commits on Nov 13, 2022

• update doc

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Commits on Nov 12, 2022

• add tutorial

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Commits on Nov 11, 2022

• add doc for bsp_usart, bsp_can and dji_motor

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Commits on Nov 9, 2022

• fix bugs

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Commits on Nov 5, 2022

• change all usart modules to have same api

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Commits on Nov 3, 2022

• add vision protocol

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Commits on Nov 1, 2022

• finish all bsp utilities

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Commits on Oct 31, 2022

• finish the beta version of dji_motor

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