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Commits on Jun 22, 2023

• 添加了大量调试log，新增了dwt计时宏，增加了USB软件复位防止主控复位后上位机无法连接usb

  

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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 4, 2023

• 将默认视觉通信换为usb虚拟串口，修复视觉发送roll错误；增加了attach调试支持

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Commits on Apr 29, 2023

• 将视觉通信转移到INStask之后，频率改为1kHz，cmd仅保留颜色和模式设置

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Commits on Apr 20, 2023

• 增大了实时系统的栈空间,修复视觉通信函数临时变量导致内存泄漏的问题

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Commits on Apr 14, 2023

• 增加了文档,修改通信协议,更新了平衡底盘的VMC映射和五连杆解算,修复了双板通信数据结构步对齐的错误

  

  NeoZng

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Commits on Mar 27, 2023

• Merge remote-tracking branch 'origin/master'

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• 曾家键鼠控制

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

  

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• 修复CAN中断优先级导致函数重入访问static变量的问题，提升了bsp和部分module的性能。

  

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Commits on Mar 22, 2023

• Merge remote-tracking branch 'origin/master'

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• 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 Mar 18, 2023

• 增加了等级日志和RTT viewer的支持

  

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• 波特率提升为921600,修复了和视觉通信的溢出错误以及DMA冲突.

  

  NeoZng

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Commits on Feb 5, 2023

• 增加了usb虚拟串口的支持,编写了部分bmi088it读取

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Commits on Jan 12, 2023

• 添加了前置知识

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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

  

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Commits on Dec 12, 2022

• add compatibility under LINUX

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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 29, 2022

• 更新了视觉上位机和CAN多机通信的文档

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• 增加了一键下载(不调试)的支持,并更新了makefile,添加了make clean支持

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• 修复因内存对齐访问导致的硬件错误

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Commits on Nov 28, 2022

• 将底层的封装统一为相同的格式

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Commits on Nov 12, 2022

• add tutorial

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• 更新dji_motor初始化的配置,优化参数传递

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Commits on Nov 11, 2022

• update seasky doc

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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 Oct 20, 2022

• init commit

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