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Meta-Embedded-NG

面向达妙 DM-MC02（STM32H723VGT6） 控制板的 RoboMaster 机器人电控固件。 RoboMaster robot control firmware for the DaMiao DM-MC02 (STM32H723VGT6) board.

MCU Board RTOS License

简体中文 | English

简体中文

项目简介

Meta-Embedded-NG 是一套用于 RoboMaster 比赛机器人的嵌入式电控固件。它在湖南大学跃鹿战队开源框架 basic_framework 的基础上做了大量修改，将原本面向 STM32F407（大疆 C 板）的代码移植并适配到了基于 STM32H723 的 达妙 DM-MC02 控制板。

项目沿用了原框架优秀的设计思想：

  • 三层分层架构 —— bsp（板级支持）→ module（可复用算法与设备驱动）→ application（机器人行为）。
  • 消息中心（Message Center）发布-订阅 —— 各应用之间不直接相互包含，而是通过话题（topic）解耦通信。
  • 离线守护（Daemon） —— 统一监控各模块心跳，掉线时触发回调以进入安全状态。

硬件平台

项目 说明
主控 MCU STM32H723VGT6（Cortex-M7，最高 550 MHz，1 MB Flash）
控制板 达妙 DM-MC02
板载 IMU BMI088（SPI 接口，含温度补偿与在线标定）
链接脚本 STM32H723XG_FLASH.ld
RTOS FreeRTOS

与 basic_framework 的差异

本项目是对 basic_framework 的深度移植与裁剪，主要区别如下：

方面 basic_framework Meta-Embedded-NG
主控 / 控制板 STM32F407（大疆 C 板） STM32H723（DM-MC02）
模块目录名 modules/ module/
电机驱动 DJI / DM / HT / LK / 舵机 / 步进 DJI / DM / 舵机 / 步进 / XM（新增），移除 HT、LK
传感器/外设模块 含 IST8310 磁力计、OLED、蓝牙、TFminiPlus 激光雷达 已移除上述模块
裁判系统 原版 修复了裁判系统协议与任务

核心三层架构、消息中心设计与代码规范保持不变。

目录结构

Meta-Embedded-NG/
├── application/      # 机器人行为：底盘、云台、发射、指令分发、各机器人（哨兵/步兵）
├── module/           # 可复用算法与设备驱动（电机、IMU、消息中心等）
├── bsp/              # 板级支持包，封装 STM32H7 片上外设
├── Core/             # CubeMX 生成的外设/FreeRTOS/中断代码（Inc + Src）
├── Drivers/          # STM32H7xx HAL 与 CMSIS（厂商代码）
├── Middlewares/      # FreeRTOS、USB 设备库、CMSIS-DSP、SEGGER RTT
├── USB_DEVICE/       # USB 设备中间件（App + Target）
├── Makefile          # arm-none-eabi-gcc 构建脚本
├── Meta-Embedded-NG.ioc   # CubeMX 工程文件
└── STM32H723XG_FLASH.ld   # 链接脚本

软件架构

  • application/：chassis（底盘运动学/功率限制）、gimbal（云台姿态控制）、shoot（摩擦轮 + 拨弹）、cmd（指令分发，消费遥控/键鼠输入并发布控制量），以及各机器人目录 sentry（哨兵）、infantry（步兵），每个机器人目录含统一入口 robot.c/robot_task.c 与专属参数 <robot>_def.h。机器人类型在构建时经 make ROBOT=<robot> 选择，通用消息契约与选择器见 application/robot_def.h。
  • module/：电机驱动（motor/：DJI、DM、XM、舵机、步进）、algorithm（PID、卡尔曼滤波、LQR、EKF 姿态解算、CRC）、message_center、daemon、BMI088、imu、encoder、can_comm（多板 CAN 通信）、super_cap（超级电容）、referee（裁判系统/UI）、remote（DT7 遥控）、master_machine、standard_cmd、unicomm、alarm。
  • bsp/：can、usart、spi、iic、pwm、adc、gpio、log、usb、flash、dwt。
  • FreeRTOS 任务：INS 姿态解算（约 1 kHz）、电机控制、系统监控、机器人主逻辑等并行运行。

各子模块旁通常附带 *.md 说明文档（如 module/message_center/message_center.md、module/motor/DJImotor/dji_motor.md、module/BMI088/bmi088.md），开发前建议先阅读。

环境与构建

依赖 GNU Arm Embedded 工具链（arm-none-eabi-gcc）。

⚠️ 首次构建前请手动创建 build/ 目录。Makefile 的 mkdir 规则不会自动创建父目录，全新检出的仓库若没有 build/，构建会报错 mkdir: cannot create directory 'build/<robot>'。

# 首次构建前手动创建 build 目录（若已存在可跳过）
mkdir build

# 按机器人种类构建（ROBOT 默认为 sentry）
# -j 启用并行编译；可用 -j<N> 限制并发数，如 -j8
make -j ROBOT=sentry      # 生成 build/sentry/Meta-Embedded-NG-sentry.elf / .hex / .bin / .map
make -j ROBOT=infantry    # 生成 build/infantry/Meta-Embedded-NG-infantry.elf / .hex / .bin / .map
make -j                   # 等价于 make -j ROBOT=sentry

# 清理当前机器人的 build/<robot>/ 目录
make clean

# 指定工具链路径而不修改 PATH
make -j ROBOT=infantry GCC_PATH=/path/to/gcc-arm-none-eabi/bin

每种机器人各自编译到独立的 build/<robot>/ 子目录，切换机器人无需先 make clean。

仓库未提供烧录目标（flash target）。请使用团队的调试器/烧录器（如 OpenOCD + CMSIS-DAP、Ozone 等）将生成的 .hex/.bin 烧录到板子。

配置说明

  • 机器人类型在构建时选择：make ROBOT=sentry|infantry 会传入 -DROBOT_SENTRY / -DROBOT_INFANTRY，并编译对应的 application/<robot>/ 目录。
  • 各模块间通用的消息契约（底盘/云台/发射的枚举与结构体）与机器人选择器统一放在 application/robot_def.h；各机器人专属的物理参数（轮距、云台限位、拨盘参数等）放在 application/<robot>/<robot>_def.h。
  • 新增一种机器人：把 application/sentry/ 复制为 application/<new>/，在 robot_def.h 增加一条 #elif defined(ROBOT_<NEW>)，并在 Makefile 的机器人变体块中增加一条 else ifeq ($(ROBOT),<new>)。
  • BMI088 支持上电在线标定，标定相关参数见 module/BMI088/bmi088.md。

代码规范与贡献

详见 AGENTS.md。要点：

  • 遵循 Conventional Commits：feat:、fix:、chore:、doc:、feat!:（破坏性变更）。
  • C 代码 4 空格缩进；宏 UPPER_SNAKE_CASE，配置结构体以 _s 结尾，typedef 以 _t 结尾，初始化/控制 API 形如 ChassisInit()、DJIMotorControl()。
  • CAN/串口等协议结构体使用 #pragma pack(1)。
  • 每次改动至少保证 make 通过；行为变更请记录硬件验证情况。
  • 不要手动修改 CubeMX 生成块，除非是有意且记录在案的改动。

License & 致谢

本项目以 MIT License 发布，Copyright (c) 2025 Meta-Team，详见 LICENSE。

衷心感谢 湖南大学 RoboMaster 跃鹿战队 开源的 basic_framework（MIT，Copyright (c) 2022 NeoZng / Even），本项目在其基础上开发。

English

Overview

Meta-Embedded-NG is embedded control firmware for RoboMaster competition robots. It is heavily modified from the Hunan University YueLu Team's open-source basic_framework, porting and adapting code originally targeting the STM32F407 (DJI C-board) to the STM32H723-based DaMiao DM-MC02 control board.

The project keeps the original framework's core design ideas:

  • Three-layer architecture — bsp (board support) → module (reusable algorithms & device drivers) → application (robot behavior).
  • Message Center pub-sub — applications never include each other directly; they communicate through decoupled topics.
  • Daemon offline watchdog — monitors module heartbeats and triggers a callback to enter a safe state on timeout.

Hardware

Item Detail
MCU STM32H723VGT6 (Cortex-M7, up to 550 MHz, 1 MB Flash)
Board DaMiao DM-MC02
Onboard IMU BMI088 (SPI, with temperature compensation & online calibration)
Linker script STM32H723XG_FLASH.ld
RTOS FreeRTOS

Differences from basic_framework

This project is a deep port and trim of basic_framework. Key differences:

Aspect basic_framework Meta-Embedded-NG
MCU / board STM32F407 (DJI C-board) STM32H723 (DM-MC02)
Modules folder modules/ module/
Motor drivers DJI / DM / HT / LK / servo / stepper DJI / DM / servo / stepper / XM (new); HT & LK removed
Sensor/peripheral modules Includes IST8310 magnetometer, OLED, Bluetooth, TFminiPlus LiDAR These modules removed
Referee system Original Referee protocol & task fixed

The core three-layer architecture, Message Center design, and coding conventions are unchanged.

Project Structure

Meta-Embedded-NG/
├── application/      # Robot behavior: chassis, gimbal, shoot, cmd dispatch, per-robot dirs (sentry/infantry)
├── module/           # Reusable algorithms & device drivers (motors, IMU, message center...)
├── bsp/              # Board support package wrapping STM32H7 on-chip peripherals
├── Core/             # CubeMX-generated peripheral/FreeRTOS/interrupt code (Inc + Src)
├── Drivers/          # STM32H7xx HAL & CMSIS (vendor code)
├── Middlewares/      # FreeRTOS, USB device library, CMSIS-DSP, SEGGER RTT
├── USB_DEVICE/       # USB device middleware (App + Target)
├── Makefile          # arm-none-eabi-gcc build script
├── Meta-Embedded-NG.ioc   # CubeMX project file
└── STM32H723XG_FLASH.ld   # Linker script

Architecture

  • application/: chassis (kinematics / power limiting), gimbal (attitude control), shoot (friction wheels + loader), cmd (command dispatch — consumes remote/keyboard input and publishes control setpoints), plus per-robot dirs sentry and infantry — each holds a common entry point robot.c/robot_task.c and its own params header <robot>_def.h. The robot type is selected at build time via make ROBOT=<robot>; the common message contract and variant selector live in application/robot_def.h.
  • module/: motor drivers (motor/: DJI, DM, XM, servo, stepper), algorithm (PID, Kalman filter, LQR, EKF attitude solver, CRC), message_center, daemon, BMI088, imu, encoder, can_comm (multi-board CAN), super_cap, referee (referee system / UI), remote (DT7 receiver), master_machine, standard_cmd, unicomm, alarm.
  • bsp/: can, usart, spi, iic, pwm, adc, gpio, log, usb, flash, dwt.
  • FreeRTOS tasks: INS attitude estimation (~1 kHz), motor control, system monitoring, and the main robot logic run concurrently.

Most submodules ship with a companion *.md doc (e.g. module/message_center/message_center.md, module/motor/DJImotor/dji_motor.md, module/BMI088/bmi088.md) — read them before diving in.

Build

Requires the GNU Arm Embedded toolchain (arm-none-eabi-gcc).

⚠️ Create the build/ directory before your first build. The Makefile's mkdir rule does not create parent directories, so a fresh checkout without build/ fails with mkdir: cannot create directory 'build/<robot>'.

# One-time: create the build directory before the first build (skip if it exists)
mkdir build

# Build per robot variant (ROBOT defaults to sentry)
# -j enables parallel compilation; pass -j<N> to cap the job count, e.g. -j8
make -j ROBOT=sentry      # produces build/sentry/Meta-Embedded-NG-sentry.elf / .hex / .bin / .map
make -j ROBOT=infantry    # produces build/infantry/Meta-Embedded-NG-infantry.elf / .hex / .bin / .map
make -j                   # same as make -j ROBOT=sentry

# Clean the current variant's build/<robot>/ directory
make clean

# Use a specific toolchain without changing PATH
make -j ROBOT=infantry GCC_PATH=/path/to/gcc-arm-none-eabi/bin

Each robot compiles into its own build/<robot>/ subdirectory, so switching robots needs no make clean.

There is no flash target in the Makefile. Use your team's debugger/programmer (e.g. OpenOCD + CMSIS-DAP, Ozone) to flash the generated .hex/.bin to the board.

Configuration

  • Robot type is selected at build time: make ROBOT=sentry|infantry passes -DROBOT_SENTRY / -DROBOT_INFANTRY and compiles the matching application/<robot>/ directory.
  • The message contract shared across modules (chassis/gimbal/shoot enums and structs) and the robot selector live in application/robot_def.h; each robot's own physical params (wheel geometry, gimbal limits, loader params, etc.) live in application/<robot>/<robot>_def.h.
  • Adding a robot: copy application/sentry/ to application/<new>/, add an #elif defined(ROBOT_<NEW>) arm in robot_def.h, and add an else ifeq ($(ROBOT),<new>) arm in the Makefile's robot-variant block.
  • BMI088 supports power-on online calibration; see module/BMI088/bmi088.md for parameters.

Conventions & Contributing

See AGENTS.md. Highlights:

  • Follow Conventional Commits: feat:, fix:, chore:, doc:, feat!: (breaking change).
  • 4-space indentation; macros UPPER_SNAKE_CASE, config structs end in _s, typedefs end in _t, init/control APIs like ChassisInit() / DJIMotorControl().
  • Use #pragma pack(1) for CAN/serial protocol structs.
  • A clean make is the minimum verification for every change; document hardware validation for behavior changes.
  • Do not hand-edit generated CubeMX blocks unless the change is intentional and documented.

License & Acknowledgements

Released under the MIT License, Copyright (c) 2025 Meta-Team. See LICENSE.

Sincere thanks to the Hunan University RoboMaster YueLu Team for the open-source basic_framework (MIT, Copyright (c) 2022 NeoZng / Even), on which this project is built.

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Next-gen embedded controller firmware for RoboMaster

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