chore: 引入仓库根 .clang-format 与 .gitignore

平衡板从 firmware 主仓拆出后，作为独立产品需要自己的代码风格和忽略规则。 .clang-format 沿用主仓 projects/.clang-format 的全套约定（C++/Zephyr 风格），保证拆出前后 reformat 结果一致；.gitignore 在主仓基础上裁剪掉 Android、 Unity 相关条目，仅保留嵌入式构建产物、IDE 本地配置和 OS 临时文件。
Merge branch 'gml670x4/dev' into dev
2026-05-27 10:04:59 +08:00 · 2026-05-27 09:43:09 +08:00 · 2026-05-27 09:42:17 +08:00 · 2026-05-24 08:06:45 +00:00 · 2026-05-22 18:08:37 +08:00 · 2026-05-21 10:12:15 +08:00
6 changed files with 736 additions and 13 deletions
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@@ -1,6 +1,38 @@
-# editors
+# =========================================================
+# Editor swap / backup
+# =========================================================
 *.swp
 *~

-# build
+# =========================================================
+# IDE 本地配置
+# =========================================================
+.idea/
+*.iml
+.vscode/
+.codex
+.claude
+
+# =========================================================
+# Embedded / CMake / Zephyr 构建产物
+# =========================================================
 /build*/
+build/
+**/build/
+**/zephyr/
+**/output/
+*.o
+*.obj
+*.elf
+*.bin
+*.hex
+*.map
+*.ninja
+.ninja_deps
+.ninja_log
+
+# =========================================================
+# OS 临时文件
+# =========================================================
+.DS_Store
+Thumbs.db
@@ -0,0 +1,191 @@
+# BLE 接入说明
+
+本文档只说明客户实现“连接蓝牙”和“设置力控参数”所需的最小协议。
+
+## 1. BLE 连接
+
+设备使用 Nordic UART Service 风格的 BLE 服务。
+
+| 用途 | UUID | 方向 |
+| --- | --- | --- |
+| Service | `6e400001-b5a3-f393-e0a9-e50e24dcca9e` | - |
+| TX characteristic | `6e400002-b5a3-f393-e0a9-e50e24dcca9e` | 客户 App 写入设备 |
+| RX characteristic | `6e400003-b5a3-f393-e0a9-e50e24dcca9e` | 设备 notify 给客户 App |
+
+连接流程：
+
+1. 扫描 BLE 设备，设备名通常包含 `YRobot`。
+2. 连接目标设备。
+3. 对 RX characteristic 开启 notify。
+4. 向 TX characteristic 写入力控参数帧。
+
+单包最大长度建议不超过 `250 bytes`。
+
+## 2. 左右侧设备
+
+力控参数帧的 `key` 需要区分左右侧。
+
+| 侧别 | 写入 key |
+| --- | --- |
+| 左侧 | `0x6F` |
+| 右侧 | `0xAF` |
+| 不区分左右侧 | `0x2F` |
+
+现有工具通过设备名判断左右侧：
+
+- 右侧：设备名包含 `ZDR`, `ZDB`, `ZCR`, `ZCB`, `ARR`, `ARB`, `ASR`, `ASB`
+- 左侧：设备名包含 `ZDL`, `ZCL`, `ARL`, `ASL`
+
+如果设备名无法判断，客户 App 需要让用户手动选择左/右侧。
+
+## 3. 力控参数帧格式
+
+设置力控参数使用 JSON 字符串，通过 TX characteristic 写入。
+
+帧格式：
+
+```text
+[0] key
+[1] length
+[2] crc
+[3] command
+[4...] utf8(json)
+```
+
+字段说明：
+
+| 字段 | 说明 |
+| --- | --- |
+| `key` | 左侧 `0x6F`，右侧 `0xAF` |
+| `length` | 整帧长度，即 `json_payload_len + 4` |
+| `crc` | 固定填 `0x00` |
+| `command` | 设置参数固定填 `0x01` |
+| `json` | UTF-8 编码的 JSON 参数 |
+
+也就是：
+
+```text
+payload = [0x01] + UTF8(json_string)
+frame = [key, len(payload) + 3, 0x00] + payload
+```
+
+## 4. 设置力控模式和参数
+
+###  力控参数表
+
+所有 key 都定义在 `TuningParams::RegisterForceModeCtrl()` 中。
+
+| JSON key | 默认值 | 单位 | 说明 |
+| --- | ---: | --- | --- |
+| `fm_mode` | `0.0` | - | 力控模式选择，四舍五入后映射到模式枚举 |
+| `fm_mset` | `0.1` | kg | 用户设定重量 |
+| `fm_kin` | `0.0` | - | 惯性比例系数，虚拟质量 = `fm_kin * fm_mset` |
+| `fm_bfr` | `0.0` | N/(m/s) | 线性摩擦/阻尼系数 |
+| `fm_kecc` | `0.1` | - | 离心倍率，离心力 = `fm_kecc * 向心力` |
+| `fm_vth` | `0.3` | m/s | 离心/向心平滑切换速度阈值 |
+| `fm_cdrv` | `0.1` | N/(m/s)^2 | 粘滞模式拉出方向平方阻尼系数 |
+| `fm_crec` | `0.1` | N/(m/s) | 粘滞模式回收方向线性阻尼系数 |
+| `fm_k` | `0.0` | N/m | 弹性刚度 |
+| `fm_x0` | `0.0` | m | 弹性零点位置 |
+| `fm_vmax` | `1.0` | m/s | 等速模式最大速度 |
+| `fm_gwall` | `0.0` | N/(m/s) | 等速速度墙增益 |
+| `fm_sp_v` | `0.1` | m/s | Spotter 触发速度阈值 |
+| `fm_sp_t` | `5.0` | s | Spotter 触发时间阈值 |
+| `fm_sp_d` | `5.0` | s | Spotter 减重衰减时长 |
+| `fm_sp_home` | `0.0` | m | Spotter 参考初始位置 |
+| `fm_sp_rng` | `-0.10` | m | Spotter 负重判定位置阈值 |
+| `fm_sp_rec` | `1.0` | s | Spotter 恢复时长；当前实现中会被同步为 `fm_sp_t` |
+| `fm_rad` | `0.2` | m | 滑轮半径，输出扭矩 = 输出力 * `fm_rad` |
+
+###  力控模式
+
+`fm_mode` 会先四舍五入，再限幅到 `0...6`。
+
+| `fm_mode` | 模式 | 主要参数 | 说明 |
+| ---: | --- | --- | --- |
+| `0` | None | - | 输出力为 0 |
+| `1` | FreeWeight | `fm_mset`, `fm_kin`, `fm_bfr`, `fm_rad` | 自由重量/惯性补偿 |
+| `2` | EccentricOverload | `fm_mset`, `fm_kin`, `fm_bfr`, `fm_kecc`, `fm_vth`, Spotter 参数 | 离心超负荷 |
+| `3` | Viscous | `fm_cdrv`, `fm_crec`, `fm_rad` | 粘滞/流体阻尼 |
+| `4` | Elastic | `fm_k`, `fm_x0`, `fm_rad` | 弹性/弹簧 |
+| `5` | IsokineticSpotting | `fm_mset`, `fm_vmax`, `fm_gwall`, Spotter 参数 | 等速速度墙 |
+| `6` | Spotter | `fm_mset`, `fm_kin`, `fm_bfr`, Spotter 参数 | 保护模式 |
+
+## 5. 示例
+
+设置右侧设备为离心超负荷模式：
+
+```json
+{
+  "fm_mode": 2,
+  "fm_mset": 10.0,
+  "fm_vth": 0.3,
+  "fm_kecc": 1.5,
+  "fm_kin": 1.0,
+  "fm_bfr": 0.05,
+  "fm_rad": 0.04
+}
+```
+
+对应写入帧：
+
+```text
+key = 0xAF
+command = 0x01
+json_string = '{"fm_mode":2,"fm_mset":10.0,"fm_vth":0.3,"fm_kecc":1.5,"fm_kin":1.0,"fm_bfr":0.05,"fm_rad":0.04}'
+
+payload = [0x01] + UTF8(json_string)
+frame = [0xAF, len(payload) + 3, 0x00] + payload
+```
+
+写入 TX characteristic UUID：
+
+```text
+6e400002-b5a3-f393-e0a9-e50e24dcca9e
+```
+
+## 6. 查询当前力控参数
+
+查询参数同样写 TX characteristic。
+
+查询当前模式参数：
+
+```text
+frame = [key, 0x04, 0x00, 0x02]
+```
+
+查询指定模式参数，例如查询 `fm_mode = 2`：
+
+```text
+payload = [0x02] + UTF8('{"fm_mode":2}')
+frame = [key, len(payload) + 3, 0x00] + payload
+```
+
+设备会通过 RX characteristic notify 返回 JSON 参数。返回可能分包，需要按包序号拼接：
+
+```text
+[0] key
+[1] length
+[2] crc
+[3] type = 0x02
+[4] packet_index
+[5] packet_count
+[6...] utf8(json_fragment)
+```
+
+当 `packet_index == packet_count` 时，说明最后一包已收到，可以拼接所有 `json_fragment` 后解析 JSON。
+
+## 7. 心跳包
+当连接上设备之后，需要每隔2s发送心跳包给设备，维持和设备的连接
+```text
+[0] key
+[1] length
+[2] crc
+[3] command = 0x00
+```
+## 8. 注意事项
+
+- 写入前必须先连接设备并开启 RX notify。
+- 写入 key 必须和设备侧别一致：左侧 `0x6F`，右侧 `0xAF`。
+- `crc` 当前固定填 `0x00`。
+- JSON 使用 UTF-8 编码。
@@ -0,0 +1,191 @@
+# BLE 接入说明
+
+本文档只说明客户实现“连接蓝牙”和“设置力控参数”所需的最小协议。
+
+## 1. BLE 连接
+
+设备使用 Nordic UART Service 风格的 BLE 服务。
+
+| 用途 | UUID | 方向 |
+| --- | --- | --- |
+| Service | `6e400001-b5a3-f393-e0a9-e50e24dcca9e` | - |
+| TX characteristic | `6e400002-b5a3-f393-e0a9-e50e24dcca9e` | 客户 App 写入设备 |
+| RX characteristic | `6e400003-b5a3-f393-e0a9-e50e24dcca9e` | 设备 notify 给客户 App |
+
+连接流程：
+
+1. 扫描 BLE 设备，设备名通常包含 `YRobot`。
+2. 连接目标设备。
+3. 对 RX characteristic 开启 notify。
+4. 向 TX characteristic 写入力控参数帧。
+
+单包最大长度建议不超过 `250 bytes`。
+
+## 2. 左右侧设备
+
+力控参数帧的 `key` 需要区分左右侧。
+
+| 侧别 | 写入 key |
+| --- | --- |
+| 左侧 | `0x6F` |
+| 右侧 | `0xAF` |
+| 不区分左右侧 | `0x2F` |
+
+现有工具通过设备名判断左右侧：
+
+- 右侧：设备名包含 `ZDR`, `ZDB`, `ZCR`, `ZCB`, `ARR`, `ARB`, `ASR`, `ASB`
+- 左侧：设备名包含 `ZDL`, `ZCL`, `ARL`, `ASL`
+
+如果设备名无法判断，客户 App 需要让用户手动选择左/右侧。
+
+## 3. 力控参数帧格式
+
+设置力控参数使用 JSON 字符串，通过 TX characteristic 写入。
+
+帧格式：
+
+```text
+[0] key
+[1] length
+[2] crc
+[3] command
+[4...] utf8(json)
+```
+
+字段说明：
+
+| 字段 | 说明 |
+| --- | --- |
+| `key` | 左侧 `0x6F`，右侧 `0xAF` |
+| `length` | 整帧长度，即 `json_payload_len + 4` |
+| `crc` | 固定填 `0x00` |
+| `command` | 设置参数固定填 `0x01` |
+| `json` | UTF-8 编码的 JSON 参数 |
+
+也就是：
+
+```text
+payload = [0x01] + UTF8(json_string)
+frame = [key, len(payload) + 3, 0x00] + payload
+```
+
+## 4. 设置力控模式和参数
+
+###  力控参数表
+
+所有 key 都定义在 `TuningParams::RegisterForceModeCtrl()` 中。
+
+| JSON key | 默认值 | 单位 | 说明 |
+| --- | ---: | --- | --- |
+| `fm_mode` | `0.0` | - | 力控模式选择，四舍五入后映射到模式枚举 |
+| `fm_mset` | `0.1` | kg | 用户设定重量 |
+| `fm_kin` | `0.0` | - | 惯性比例系数，虚拟质量 = `fm_kin * fm_mset` |
+| `fm_bfr` | `0.0` | N/(m/s) | 线性摩擦/阻尼系数 |
+| `fm_kecc` | `0.1` | - | 离心倍率，离心力 = `fm_kecc * 向心力` |
+| `fm_vth` | `0.3` | m/s | 离心/向心平滑切换速度阈值 |
+| `fm_cdrv` | `0.1` | N/(m/s)^2 | 粘滞模式拉出方向平方阻尼系数 |
+| `fm_crec` | `0.1` | N/(m/s) | 粘滞模式回收方向线性阻尼系数 |
+| `fm_k` | `0.0` | N/m | 弹性刚度 |
+| `fm_x0` | `0.0` | m | 弹性零点位置 |
+| `fm_vmax` | `1.0` | m/s | 等速模式最大速度 |
+| `fm_gwall` | `0.0` | N/(m/s) | 等速速度墙增益 |
+| `fm_sp_v` | `0.1` | m/s | Spotter 触发速度阈值 |
+| `fm_sp_t` | `5.0` | s | Spotter 触发时间阈值 |
+| `fm_sp_d` | `5.0` | s | Spotter 减重衰减时长 |
+| `fm_sp_home` | `0.0` | m | Spotter 参考初始位置 |
+| `fm_sp_rng` | `-0.10` | m | Spotter 负重判定位置阈值 |
+| `fm_sp_rec` | `1.0` | s | Spotter 恢复时长；当前实现中会被同步为 `fm_sp_t` |
+| `fm_rad` | `0.2` | m | 滑轮半径，输出扭矩 = 输出力 * `fm_rad` |
+
+###  力控模式
+
+`fm_mode` 会先四舍五入，再限幅到 `0...6`。
+
+| `fm_mode` | 模式 | 主要参数 | 说明 |
+| ---: | --- | --- | --- |
+| `0` | None | - | 输出力为 0 |
+| `1` | FreeWeight | `fm_mset`, `fm_kin`, `fm_bfr`, `fm_rad` | 自由重量/惯性补偿 |
+| `2` | EccentricOverload | `fm_mset`, `fm_kin`, `fm_bfr`, `fm_kecc`, `fm_vth`, Spotter 参数 | 离心超负荷 |
+| `3` | Viscous | `fm_cdrv`, `fm_crec`, `fm_rad` | 粘滞/流体阻尼 |
+| `4` | Elastic | `fm_k`, `fm_x0`, `fm_rad` | 弹性/弹簧 |
+| `5` | IsokineticSpotting | `fm_mset`, `fm_vmax`, `fm_gwall`, Spotter 参数 | 等速速度墙 |
+| `6` | Spotter | `fm_mset`, `fm_kin`, `fm_bfr`, Spotter 参数 | 保护模式 |
+
+## 5. 示例
+
+设置右侧设备为离心超负荷模式：
+
+```json
+{
+  "fm_mode": 2,
+  "fm_mset": 10.0,
+  "fm_vth": 0.3,
+  "fm_kecc": 1.5,
+  "fm_kin": 1.0,
+  "fm_bfr": 0.05,
+  "fm_rad": 0.04
+}
+```
+
+对应写入帧：
+
+```text
+key = 0xAF
+command = 0x01
+json_string = '{"fm_mode":2,"fm_mset":10.0,"fm_vth":0.3,"fm_kecc":1.5,"fm_kin":1.0,"fm_bfr":0.05,"fm_rad":0.04}'
+
+payload = [0x01] + UTF8(json_string)
+frame = [0xAF, len(payload) + 3, 0x00] + payload
+```
+
+写入 TX characteristic UUID：
+
+```text
+6e400002-b5a3-f393-e0a9-e50e24dcca9e
+```
+
+## 6. 查询当前力控参数
+
+查询参数同样写 TX characteristic。
+
+查询当前模式参数：
+
+```text
+frame = [key, 0x04, 0x00, 0x02]
+```
+
+查询指定模式参数，例如查询 `fm_mode = 2`：
+
+```text
+payload = [0x02] + UTF8('{"fm_mode":2}')
+frame = [key, len(payload) + 3, 0x00] + payload
+```
+
+设备会通过 RX characteristic notify 返回 JSON 参数。返回可能分包，需要按包序号拼接：
+
+```text
+[0] key
+[1] length
+[2] crc
+[3] type = 0x02
+[4] packet_index
+[5] packet_count
+[6...] utf8(json_fragment)
+```
+
+当 `packet_index == packet_count` 时，说明最后一包已收到，可以拼接所有 `json_fragment` 后解析 JSON。
+
+## 7. 心跳包
+当连接上设备之后，需要每隔2s发送心跳包给设备，维持和设备的连接
+```text
+[0] key
+[1] length
+[2] crc
+[3] command = 0x00
+```
+## 8. 注意事项
+
+- 写入前必须先连接设备并开启 RX notify。
+- 写入 key 必须和设备侧别一致：左侧 `0x6F`，右侧 `0xAF`。
+- `crc` 当前固定填 `0x00`。
+- JSON 使用 UTF-8 编码。
@@ -233,10 +233,3 @@ void comm_protocol_send_cop(uint8_t flags, int16_t cop_x, int16_t cop_y, int16_t
 * @param data 8 字节响应数据。
 */
 void comm_protocol_send_cal_resp(uint8_t status, uint8_t subcmd, const uint8_t data[8]);
-
-/**
- * @brief 获取下行消息队列指针，业务层通过 k_msgq_get() 消费。
- *
- * @return 指向内部 msgq 的指针。
- */
-struct k_msgq *comm_protocol_get_msgq(void);
@@ -152,7 +152,3 @@ void comm_protocol_send_cal_resp(uint8_t status, uint8_t subcmd, const uint8_t d
    pkt.frame.crc = frame_crc(pkt.bytes, sizeof(pkt.bytes));
    ble_transport_send(pkt.bytes, sizeof(pkt.bytes));
 }
-
-struct k_msgq *comm_protocol_get_msgq(void) {
-    return &rx_msgq;
-}
Author	SHA1	Message	Date
pNexus	4c9e3e3ea0	chore: 引入仓库根 .clang-format 与 .gitignore 平衡板从 firmware 主仓拆出后，作为独立产品需要自己的代码风格和忽略规则。 .clang-format 沿用主仓 projects/.clang-format 的全套约定（C++/Zephyr 风格），保证拆出前后 reformat 结果一致；.gitignore 在主仓基础上裁剪掉 Android、 Unity 相关条目，仅保留嵌入式构建产物、IDE 本地配置和 OS 临时文件。	2026-05-27 10:04:59 +08:00
pNexus	6e0fa5870e	Merge branch 'gml670x4/dev' into dev	2026-05-27 09:43:09 +08:00
pNexus	d05ffd27ad	Merge branch 'debug/ads1256-reg-issue' into gml670x4/dev	2026-05-27 09:42:17 +08:00
zhifeige	99c01e9d15	Merge pull request 'dev' (#7 ) from dev into main Reviewed-on: http://git.kiwii.ai/Kiwii-AI/firmware/pulls/7	2026-05-24 08:06:45 +00:00
pNexus	393eb16fb3	Merge branch 'dongle/dev' into dev	2026-05-22 18:08:37 +08:00
pNexus	11673a70f2	feat(doc): 添加力量电机接入说明文档，包含连接流程和力控参数设置	2026-05-21 10:12:15 +08:00
pNexus	8fb033c3be	feat(docs): 添加力量电机说明文档，包含连接流程和力控参数设置	2026-05-21 10:01:22 +08:00
pNexus	633459caee	refactor(protocol): 移除未使用的消息队列获取函数	2026-05-20 21:02:40 +08:00