完善阿克曼控制与高速串口遥测

- 校正舵机中位、转向符号和阿克曼后轮差速模型\n- 增加航向角速度辅助及遥控通道调试开关\n- 将速度环提升至 200Hz，并按实际 dt 计算 PI 积分\n- 将 IMU 启动校准缩短为 2 秒\n- 为 USART3 增加 DMA 发送和 MCU 采样时间戳
2026-08-12 18:51:48 +08:00
parent 576784bb4d
commit 93ca37e36c
17 changed files with 2151 additions and 932 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 build/
+.firecrawl/
 .DS_Store
--- a/BALANCE/balance.c
+++ b/BALANCE/balance.c
--- a/BALANCE/balance.h
+++ b/BALANCE/balance.h
@@ -22,10 +22,10 @@ float target_limit_float(float insert,float low,float high);
 int target_limit_int(int insert,int low,int high);
 u8 Turn_Off( int voltage);
 u32 myabs(long int a);
-int Incremental_PI_A (float Encoder,float Target);
-int Incremental_PI_B (float Encoder,float Target);
-int Incremental_PI_C (float Encoder,float Target);
-int Incremental_PI_D (float Encoder,float Target);
+int Incremental_PI_A (float Encoder,float Target,float dt);
+int Incremental_PI_B (float Encoder,float Target,float dt);
+int Incremental_PI_C (float Encoder,float Target,float dt);
+int Incremental_PI_D (float Encoder,float Target,float dt);
 void Get_RC(void);
 void Remote_Control(void);
 void Drive_Motor(float Vx,float Vy,float Vz);
@@ -36,4 +36,3 @@ void PS2_control(void);
 float float_abs(float insert);
 void robot_mode_check(void);
 #endif  
-
--- a/BALANCE/robot_select_init.h
+++ b/BALANCE/robot_select_init.h
@@ -4,19 +4,19 @@
 #include "system.h"

 //Parameter structure of robot
-//机器人参数结构体
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><EFBFBD>
 typedef struct  
 {
-  float WheelSpacing;      //Wheelspacing, Mec_Car is half wheelspacing //轮距 麦轮车为半轮距
-  float AxleSpacing;       //Axlespacing, Mec_Car is half axlespacing //轴距 麦轮车为半轴距	
-  int GearRatio;           //Motor_gear_ratio //电机减速比
-  int EncoderAccuracy;     //Number_of_encoder_lines //编码器精度(编码器线数)
-  float WheelDiameter;     //Diameter of driving wheel //主动轮直径	
-  float OmniTurnRadiaus;   //Rotation radius of omnidirectional trolley //全向轮小车旋转半径	
+  float WheelSpacing;      //Wheelspacing, Mec_Car is half wheelspacing //<EFBFBD>־<EFBFBD> <20><><EFBFBD>ֳ<EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>־<EFBFBD>
+  float AxleSpacing;       //Axlespacing, Mec_Car is half axlespacing //<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ֳ<EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD>	
+  int GearRatio;           //Motor_gear_ratio //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
+  int EncoderAccuracy;     //Number_of_encoder_lines //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
+  float WheelDiameter;     //Diameter of driving wheel //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>	
+  float OmniTurnRadiaus;   //Rotation radius of omnidirectional trolley //ȫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD>뾶	
 }Robot_Parament_InitTypeDef;

 // Encoder structure
-//编码器结构体
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><EFBFBD>
 typedef struct  
 {
  int A;      
@@ -27,28 +27,74 @@ typedef struct

 //The minimum turning radius of Ackermann models is determined by the mechanical structure: 
 //the maximum Angle of the wheelbase, wheelbase and front wheels
-//阿克曼车型的最小转弯半径，由机械结构决定：轮距、轴距、前轮最大转角
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD><EFBFBD>Сת<EFBFBD><EFBFBD>뾶<EFBFBD><EFBFBD><EFBFBD>ɻ<EFBFBD>е<EFBFBD>ṹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־ࡢ<EFBFBD><EFBFBD>ࡢǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
 #define MINI_AKM_MIN_TURN_RADIUS 0.350f 

 //Wheelspacing, Mec_Car is half wheelspacing
-//轮距 麦轮是一半
+//<EFBFBD>־<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
 //#define MEC_wheelspacing         0.109
-#define MEC_wheelspacing         0.0930 //修正2021.03.30
-#define Akm_wheelspacing         0.162f
+#define MEC_wheelspacing         0.0930 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>2021.03.30
+#define Akm_wheelspacing         0.160f
 #define Diff_wheelSpacing        0.177f
 #define Four_Mortor_wheelSpacing 0.26f
 #define Tank_wheelSpacing        0.235f

 //Axlespacing, Mec_Car is half axlespacing
-//轴距 麦轮是一半
+//<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
 #define MEC_axlespacing           0.085
-#define Akm_axlespacing           0.158f
+#define Akm_axlespacing           0.160f
+// Set to 1 to drive the Ackermann servo directly from TIM8 channel 1 (bench debug).
+// Set to 0 to use the calibrated curvature->servo model in balance.c.
+#define AKM_SERVO_DEBUG_REMOTE_CH1 0
+
+// Ackermann control law selector (mutually exclusive with the debug switch above):
+//   0 = calibrated kinematic model: kappa = wz/Vx -> quadratic servo fit,
+//       rear wheels get Ackermann differential. Physically correct.
+//   1 = direct passthrough (tuning/debug): Vz is linearly mapped across the
+//       full servo travel, Vx is sent to both drive wheels unchanged (no
+//       differential, no curvature math). Handy for isolating servo/motor.
+#define AKM_DIRECT_MAP 0
+// Direct-map input span: |Vz| >= AKM_DIRECT_VZ_FULL maps to the servo end stop.
+// Vz > 0 = left (ROS), which maps toward AKM_SERVO_MIN (left end).
+// TUNING KNOB (Mode 1 & Mode 2 share it): set this to the MAX angular.z [rad/s]
+// your commander actually sends, so a full stick/command uses the full servo
+// travel. Too high -> steering stays small; too low -> servo saturates (always
+// full lock) and loses proportional control. Vz arrives in rad/s (usartx.c
+// XYZ_Target_Speed_transition: raw/1000).
+#define AKM_DIRECT_VZ_FULL 1.0f
+
+// Ackermann yaw-rate closed-loop assist (Mode 2), mutually exclusive with
+// AKM_DIRECT_MAP (direct-map wins if both are 1). "Front wheel does the main
+// steering, rear wheels add a yaw-rate differential" -- a simplified torque-
+// vectoring / yaw-rate closed loop:
+//   path -> (Vx, kappa_cmd) -> servo main steering (calibrated fit)
+//                            + IMU yaw-rate PI differential on the rear wheels.
+// Degenerates EXACTLY to the Mode-0 Ackermann differential when
+// AKM_YAW_FF_ALPHA = 1 and AKM_YAW_KP = AKM_YAW_KI = 0.
+#define AKM_YAW_ASSIST 1
+// PI gains on the yaw-rate error e_r = r_ref - r_imu [rad/s], output in m/s.
+#define AKM_YAW_KP             0.10f
+#define AKM_YAW_KI             0.00f
+// Feedforward blend: 0 = pure IMU feedback, 1 = full geometric differential.
+#define AKM_YAW_FF_ALPHA       0.00f
+// Below this |Vx| the yaw loop is frozen (integrator reset, no differential).
+#define AKM_YAW_MIN_SPEED      0.10f
+// |dv| clamp as a fraction of |Vx|, so the differential cannot stall a wheel.
+#define AKM_YAW_MAX_DIFF_RATIO 0.35f
+// gyro[2] LSB -> rad/s at FS +-500 dps (see MPU6050.c: FS_500 -> /3754.9).
+#define AKM_GYRO_Z_TO_RADPS    3754.9f
+// Light first-order low-pass on the measured yaw rate (0 = none, 1 = no filter
+// lag). r_f += beta*(r_meas - r_f). ~0.3 gives gentle smoothing at 200 Hz.
+#define AKM_YAW_IMU_LPF        0.30f
+// Flip to -1.0f if the IMU +z spins opposite to the ROS convention (+ = left).
+// MUST be verified on hardware: command a left turn and confirm gyro[2] > 0.
+#define AKM_GYRO_Z_SIGN        (+1.0f)
 #define Diff_axlespacing          0.155f
 #define Four_Mortor__axlespacing  0.28f
 #define Tank_axlespacing          0.222f

 //Motor_gear_ratio
-//电机减速比
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٱ<EFBFBD>
 #define   HALL_30F    30
 #define   HALL_60F    60
 #define   MD36N_5_18  5.18
@@ -59,12 +105,12 @@ typedef struct
 #define   MD60N_47    47

 //Number_of_encoder_lines
-//编码器精度
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 #define		Photoelectric_500 500
 #define	  Hall_13           13

 //Mecanum wheel tire diameter series
-//麦轮轮胎直径
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ̥<EFBFBD><EFBFBD>
 #define		Mecanum_60  0.060f
 #define		Mecanum_75  0.075f
 #define		Mecanum_100 0.100f
@@ -72,7 +118,7 @@ typedef struct
 #define		Mecanum_152 0.152f
 
 //Omni wheel tire diameter series
-//轮径全向轮直径系列
+//<EFBFBD>־<EFBFBD>ȫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>ϵ<EFBFBD><EFBFBD>
 #define	  FullDirecion_60  0.060
 #define	  FullDirecion_75  0.075
 #define	  FullDirecion_127 0.127
@@ -81,26 +127,26 @@ typedef struct
 #define	  FullDirecion_217 0.217

 //Black tire, tank_car wheel diameter
-//黑色轮胎、履带车轮直径
+//<EFBFBD><EFBFBD>ɫ<EFBFBD><EFBFBD>̥<EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>
 #define	  Black_WheelDiameter   0.065
 //#define	  Tank_WheelDiameter 0.047
 #define	  Tank_WheelDiameter 0.043

 //Rotation radius of omnidirectional trolley
-//全向轮小车旋转半径
+//ȫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD>뾶
 #define   Omni_Turn_Radiaus_109 0.109
 #define   Omni_Turn_Radiaus_164 0.164
 #define   Omni_Turn_Radiaus_180 0.180
 #define   Omni_Turn_Radiaus_290 0.290

 //The encoder octave depends on the encoder initialization Settings
-//编码器倍频数，取决于编码器初始化设置
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD>ڱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 #define   EncoderMultiples  4
-//Encoder data reading frequency
-//编码器数据读取频率
-#define   CONTROL_FREQUENCY 100
+//Wheel-speed control and encoder reading frequency
+//<EFBFBD><EFBFBD><EFBFBD>ٿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡƵ<EFBFBD><EFBFBD>
+#define   CONTROL_FREQUENCY 200

-//#define PI 3.1415f  //PI //圆周率
+//#define PI 3.1415f  //PI //Բ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>

 void Robot_Select(void);
 void Robot_Init(double wheelspacing, float axlespacing, float omni_turn_radiaus, float gearratio,float Accuracy,float tyre_diameter);
--- a/BALANCE/show.c
+++ b/BALANCE/show.c
@@ -26,8 +26,8 @@ void show_task(void *pvParameters)
 		
 		//开机时蜂鸣器短暂蜂鸣，开机提醒
 		//The buzzer will beep briefly when the machine is switched on
-		if(Time_count<50)Buzzer=1; 
-		else if(Time_count>=51 && Time_count<100)Buzzer=0;
+		if(Time_count<(CONTROL_FREQUENCY/2))Buzzer=1;
+		else if(Time_count>=(CONTROL_FREQUENCY/2) && Time_count<CONTROL_FREQUENCY)Buzzer=0;
 		 
 		if(LowVoltage_1==1 || LowVoltage_2==1)Buzzer_count=0;
 		if(Buzzer_count<5)Buzzer_count++;
@@ -340,5 +340,3 @@ void APP_Show(void)
 		 printf("{B%d:%d:%d}$",(int)gyro[0],(int)gyro[1],(int)gyro[2]);
 	 }
 }
-
-
--- a/BALANCE/system.c
+++ b/BALANCE/system.c
@@ -1,197 +1,203 @@
 #include "system.h"

 //Robot software fails to flag bits
-//机器人软件失能标志位
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>ܱ<EFBFBD>־λ
 u8 Flag_Stop=1;   

 //The ADC value is variable in segments, depending on the number of car models. Currently there are 6 car models
-//ADC值分段变量，取决于小车型号数量，目前有6种小车型号
+//ADCֵ<EFBFBD>ֶα<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>ͺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀǰ<EFBFBD><EFBFBD>6<EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD>ͺ<EFBFBD>
 int Divisor_Mode;

 // Robot type variable
-//机器人型号变量
-//0=Mec_Car，1=Omni_Car，2=Akm_Car，3=Diff_Car，4=FourWheel_Car，5=Tank_Car
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͺű<EFBFBD><EFBFBD><EFBFBD>
+//0=Mec_Car<EFBFBD><EFBFBD>1=Omni_Car<EFBFBD><EFBFBD>2=Akm_Car<EFBFBD><EFBFBD>3=Diff_Car<EFBFBD><EFBFBD>4=FourWheel_Car<EFBFBD><EFBFBD>5=Tank_Car
 u8 Car_Mode=4; 

 //Servo control PWM value, Ackerman car special
-//舵机控制PWM值，阿克曼小车专用
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWMֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD>ר<EFBFBD><EFBFBD>
 int Servo = SERVO_INIT;

 //Default speed of remote control car, unit: mm/s
-//遥控小车的默认速度，单位：mm/s
+//ң<EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĭ<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>mm/s
 float RC_Velocity=500; 

 //Vehicle three-axis target moving speed, unit: m/s
-//小车三轴目标运动速度，单位：m/s
+//С<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>ٶȣ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>m/s
 float Move_X, Move_Y, Move_Z;   

-//PID parameters of Speed control
-//速度控制PID参数
-float Velocity_KP=300,Velocity_KI=800; 
+//Speed PI parameters: Ki is in PWM/(m/s*s) and multiplies measured dt.
+//<EFBFBD>ٶ<EFBFBD>PI<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ki<EFBFBD><EFBFBD>λΪPWM/(m/s*s)<29><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5>dt<64><74><EFBFBD>
+float Velocity_KP=300,Velocity_KI=80000;

 //Smooth control of intermediate variables, dedicated to omni-directional moving cars
-//平滑控制中间变量，全向移动小车专用
+//ƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȫ<EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD>С<EFBFBD><EFBFBD>ר<EFBFBD><EFBFBD>
 Smooth_Control smooth_control;  

 //The parameter structure of the motor
-//电机的参数结构体
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><EFBFBD>
 Motor_parameter MOTOR_A,MOTOR_B,MOTOR_C,MOTOR_D;  

-/************ 小车型号相关变量 **************************/
+/************ С<EFBFBD><EFBFBD><EFBFBD>ͺ<EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD> **************************/
 /************ Variables related to car model ************/
 //Encoder accuracy
-//编码器精度
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 float Encoder_precision; 
 //Wheel circumference, unit: m
-//轮子周长，单位：m
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>m
 float Wheel_perimeter; 
 //Drive wheel base, unit: m
-//主动轮轮距，单位：m
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־࣬<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>m
 float Wheel_spacing; 
 //The wheelbase of the front and rear axles of the trolley, unit: m
-//小车前后轴的轴距，单位：m
+//С<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>࣬<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>m
 float Axle_spacing; 
 //All-directional wheel turning radius, unit: m
-//全向轮转弯半径，单位：m
+//ȫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>뾶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>m
 float Omni_turn_radiaus; 
-/************ 小车型号相关变量 **************************/
+/************ С<EFBFBD><EFBFBD><EFBFBD>ͺ<EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD> **************************/
 /************ Variables related to car model ************/

 //PS2 controller, Bluetooth APP, aircraft model controller, CAN communication, serial port 1, serial port 5 communication control flag bit.
 //These 6 flag bits are all 0 by default, representing the serial port 3 control mode
-//PS2手柄、蓝牙APP、航模手柄、CAN通信、串口1、串口5通信控制标志位。这6个标志位默认都为0，代表串口3控制模式
+//PS2<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>APP<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD>CANͨ<EFBFBD>š<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>5ͨ<EFBFBD>ſ<EFBFBD><EFBFBD>Ʊ<EFBFBD>־λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>6<EFBFBD><EFBFBD><EFBFBD><EFBFBD>־λĬ<EFBFBD>϶<EFBFBD>Ϊ0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
 u8 PS2_ON_Flag=0, APP_ON_Flag=0, Remote_ON_Flag=0, CAN_ON_Flag=0, Usart1_ON_Flag, Usart5_ON_Flag; 

 //Bluetooth remote control associated flag bits
-//蓝牙遥控相关的标志位
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ң<EFBFBD><EFBFBD><EFBFBD><EFBFBD>صı<EFBFBD>־λ
 u8 Flag_Left, Flag_Right, Flag_Direction=0, Turn_Flag; 

 //Sends the parameter's flag bit to the Bluetooth APP
-//向蓝牙APP发送参数的标志位
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>APP<EFBFBD><EFBFBD><EFBFBD>Ͳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD>־λ
 u8 PID_Send; 

 //The PS2 gamepad controls related variables
-//PS2手柄控制相关变量
+//PS2<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD>
 float PS2_LX,PS2_LY,PS2_RX,PS2_RY,PS2_KEY; 

 //Self-check the relevant flag variables
-//自检相关标志变量
+//<EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD>־<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 int Check=0, Checking=0, Checked=0, CheckCount=0, CheckPhrase1=0, CheckPhrase2=0; 

 //Check the result code
-//自检结果代码
+//<EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 long int ErrorCode=0; 

 void systemInit(void)
 {       
 	
 //	//Interrupt priority group setti  ng
-//	//中断优先级分组设置
+//	//<EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
 //	
 //	//Delay function initialization
-//	//延时函数初始化
+//	//<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
 	delay_init(168);	
 	
 	//Initialize the hardware interface connected to the LED lamp
-	//初始化与LED灯连接的硬件接口
+	//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>LED<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD>Ӳ<EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
 	LED_Init();                     
 	    
  //Initialize the hardware interface connected to the buzzer	
-  //初始化与蜂鸣器连接的硬件接口
+  //<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD>Ӳ<EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
 	Buzzer_Init();  
 	
 	//Initialize the hardware interface connected to the enable switch
-	//初始化与使能开关连接的硬件接口
+	//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>ܿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD>Ӳ<EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
 	Enable_Pin();

  //Initialize the hardware interface connected to the OLED display
-  //初始化与OLED显示屏连接的硬件接口	
+  //<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>OLED<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD>Ӳ<EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>	
 	OLED_Init();     
 	
 	//Initialize the hardware interface connected to the user's key
-	//初始化与用户按键连接的硬件接口
+	//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD>Ӳ<EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
 	KEY_Init();	
 	
 	//Serial port 1 initialization, communication baud rate 115200, 
 	//can be used to communicate with ROS terminal
-	//串口1初始化，通信波特率115200，可用于与ROS端通信
+	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD>Ų<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>115200<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ROS<EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>
 	uart1_init(115200);	  
 	
 	//Serial port 2 initialization, communication baud rate 9600, 
 	//used to communicate with Bluetooth APP terminal
-	//串口2初始化，通信波特率9600，用于与蓝牙APP端通信
+	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD>Ų<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>9600<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>APP<EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>
 	uart2_init(9600);  
 	
-	//Serial port 3 is initialized and the baud rate is 115200. 
-	//Serial port 3 is the default port used to communicate with ROS terminal
-	//串口3初始化，通信波特率115200，串口3为默认用于与ROS端通信的串口
-	uart3_init(115200);
+	//Serial port 3 is initialized and the baud rate is 921600.
+	//Serial port 3 is the default port used to communicate with ROS terminal.
+	//NOTE: the ROS side must open this port at 921600 to match.
+	//<2F><><EFBFBD><EFBFBD>3<EFBFBD><33>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>ͨ<EFBFBD>Ų<EFBFBD><C5B2><EFBFBD><EFBFBD><EFBFBD>921600<30><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3ΪĬ<CEAA><C4AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ROS<4F><53>ͨ<EFBFBD>ŵĴ<C5B5><C4B4>ڡ<EFBFBD>
+	//ע<>⣺ROS <20>˴򿪴<CBB4><F2BFAAB4><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬ<EFBFBD><CDAC><EFBFBD><EFBFBD> 921600<30><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0>벻ƥ<EBB2BB>䡣
+	uart3_init(921600);
 	
 	//Serial port 5 initialization, communication baud rate 115200, 
 	//can be used to communicate with ROS terminal
-	//串口5初始化，通信波特率115200，可用于与ROS端通信
+	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD>Ų<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>115200<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ROS<EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>
 	uart5_init(115200);

 	//ADC pin initialization, used to read the battery voltage and potentiometer gear, 
 	//potentiometer gear determines the car after the boot of the car model
-	//ADC引脚初始化，用于读取电池电压与电位器档位，电位器档位决定小车开机后的小车适配型号
+	//ADC<EFBFBD><EFBFBD><EFBFBD>ų<EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD>ȡ<EFBFBD><EFBFBD>ص<EFBFBD>ѹ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͺ<EFBFBD>
 	Adc_Init();  
 	Adc_POWER_Init();
 	
 	//Initialize the CAN communication interface
-  //CAN通信接口初始化
+  //CANͨ<EFBFBD>Žӿڳ<EFBFBD>ʼ<EFBFBD><EFBFBD>
 	CAN1_Mode_Init(1,7,6,3,0); 
 	
  //According to the tap position of the potentiometer, determine which type of car needs to be matched, 
  //and then initialize the corresponding parameters	
-  //根据电位器的档位判断需要适配的是哪一种型号的小车，然后进行对应的参数初始化	
+  //<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>λ<EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>ͺŵ<EFBFBD>С<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>Ӧ<EFBFBD>Ĳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>	
 	Robot_Select();                 
 	
 	 //Encoder A is initialized to read the real time speed of motor C  
-  //编码器A初始化，用于读取电机C的实时速度	
+  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>A<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD>C<EFBFBD><EFBFBD>ʵʱ<EFBFBD>ٶ<EFBFBD>	
 	 Encoder_Init_TIM2();
 	//Encoder B is initialized to read the real time speed of motor D
-  //编码器B初始化，用于读取电机D的实时速度	
+  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD>D<EFBFBD><EFBFBD>ʵʱ<EFBFBD>ٶ<EFBFBD>	
 	  Encoder_Init_TIM3();   
 	//Encoder C is initialized to read the real time speed of motor B
-  //编码器C初始化，用于读取电机B的实时速度	
+  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>C<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD>B<EFBFBD><EFBFBD>ʵʱ<EFBFBD>ٶ<EFBFBD>	
 	  Encoder_Init_TIM4(); 
 	//Encoder D is initialized to read the real time speed of motor A
-	//编码器D初始化，用于读取电机A的实时速度
+	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>D<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD>A<EFBFBD><EFBFBD>ʵʱ<EFBFBD>ٶ<EFBFBD>
 		Encoder_Init_TIM5(); 
 	
-	//定时器12用作舵机的PWM接口
-		TIM12_SERVO_Init(9999,84-1);  //APB1的时钟频率为84M , 频率=84M/((9999+1)*(83+1))=100Hz
+	//<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>12<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWM<EFBFBD>ӿ<EFBFBD>
+		TIM12_SERVO_Init(9999,84-1);  //APB1<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>Ϊ84M , Ƶ<EFBFBD><EFBFBD>=84M/((9999+1)*(83+1))=100Hz
 		
-		//普通小车默认定时器8用作航模接口
-   // TIM8_SERVO_Init(9999,168-1);//APB2的时钟频率为168M , 频率=168M/((9999+1)*(167+1))=100Hz
-	 //Initialize the model remote control interface		
-	 //初始化航模遥控接口
-	 TIM8_Cap_Init(9999,168-1);  //高级定时器TIM8的时钟频率为168M    
+		//<EFBFBD><EFBFBD>ͨС<EFBFBD><EFBFBD>Ĭ<EFBFBD>϶<EFBFBD>ʱ<EFBFBD><EFBFBD>8<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD>ӿ<EFBFBD>
+   // TIM8_SERVO_Init(9999,168-1);//APB2<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>Ϊ168M , Ƶ<EFBFBD><EFBFBD>=168M/((9999+1)*(167+1))=100Hz
+	 //Initialize the model remote control interface
+	 //<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģң<EFBFBD>ؽӿ<EFBFBD>
+	 TIM8_Cap_Init(9999,168-1);  //<EFBFBD>߼<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>TIM8<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>Ϊ168M
+
+	 //Free-running 1 MHz microsecond time base for sensor sample timestamps.
+	 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> 1MHz ΢<>뼶<EFBFBD><EBBCB6><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>׼<EFBFBD><D7BC>
+	 TIM7_Init();

  //Initialize motor speed control and, for controlling motor speed, PWM frequency 10kHz
-  //初始化电机速度控制以及，用于控制电机速度，PWM频率10KHZ
-  //APB2时钟频率为168M，满PWM为16799，频率=168M/((16799+1)*(0+1))=10k
+  //<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڿ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD>PWMƵ<EFBFBD><EFBFBD>10KHZ
+  //APB2ʱ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>Ϊ168M<EFBFBD><EFBFBD><EFBFBD><EFBFBD>PWMΪ16799<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>=168M/((16799+1)*(0+1))=10k
 		TIM1_PWM_Init(16799,0);
 		TIM9_PWM_Init(16799,0);
 		TIM10_PWM_Init(16799,0);
 		TIM11_PWM_Init(16799,0);
 		
  //IIC initialization for MPU6050 
-  //IIC初始化，用于MPU6050  
+  //IIC<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPU6050  
 	I2C_GPIOInit();

  //MPU6050  is initialized to read the vehicle's three-axis attitude, 
 	//three-axis angular velocity and three-axis acceleration information
-  //MPU6050 初始化，用于读取小车三轴姿态、三轴角速度、三轴加速度信息
+  //MPU6050 <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڶ<EFBFBD>ȡС<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD>Ϣ
   MPU6050_initialize();        		
 	
 	//Initialize the hardware interface to the PS2 controller
-	//初始化与PS2手柄连接的硬件接口
+	//<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>PS2<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӵ<EFBFBD>Ӳ<EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
 	PS2_Init();
 	
 	//PS2 gamepad configuration is initialized and configured in analog mode
-  //PS2手柄配置初始化,配置为模拟量模式	
+  //PS2<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ó<EFBFBD>ʼ<EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>Ϊģ<CEAA><C4A3><EFBFBD><EFBFBD>ģʽ	
 	PS2_SetInit();		 							
 }
--- a/BALANCE/system.h
+++ b/BALANCE/system.h
@@ -94,9 +94,11 @@ extern long int ErrorCode;
 void systemInit(void);

 /***Macros define***/ /***宏定义***/
-//After starting the car (1000/100Hz =10) for seconds, it is allowed to control the car to move
-//开机(1000/100hz=10)秒后才允许控制小车进行运动
-#define CONTROL_DELAY		1000
+//Collect IMU zero-bias samples for 2 seconds at 100 Hz before enabling control.
+//开机后以100Hz采集2秒IMU零偏，再允许控制小车运动
+#define CONTROL_DELAY		200
+//Balance_task counter needed to represent the same 2 second startup delay.
+#define CONTROL_STARTUP_DELAY_COUNT (2 * CONTROL_FREQUENCY)
 //The number of robot types to determine the value of Divisor_Mode. There are currently 6 car types
 //机器人型号数量，决定Divisor_Mode的值，目前有6种小车类型
 #define CAR_NUMBER    6      
--- a/HARDWARE/MPU6050/MPU6050.c
+++ b/HARDWARE/MPU6050/MPU6050.c
@@ -13,14 +13,14 @@
 #define FLASH_MEM_START ((void*)0x1800)
 #define q30  1073741824.0f
 short gyro[3], accel[3], sensors;
-//零点漂移计数
+//<EFBFBD><EFBFBD><EFBFBD>Ư<EFBFBD>Ƽ<EFBFBD><EFBFBD><EFBFBD>
 int Deviation_Count;

 short sum_gyro[3];
 short sum_accel[3];

 // Gyro static error, raw data
-//陀螺仪静差，原始数据
+//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǿ<EFBFBD><EFBFBD>ԭʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 short Deviation_gyro[3],Original_gyro[3];  
 short Deviation_accel[3],Original_accel[3]; 
 float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
@@ -55,11 +55,11 @@ void MPU6050_task(void *pvParameters)
    while(1)
    {	
 			//This task runs at 100Hz
-			//此任务以100Hz的频率运行
+			//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>100Hz<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 			vTaskDelayUntil(&lastWakeTime, F2T(RATE_100_HZ));	
 		
 			//Read the gyroscope zero before starting
-      //开机前，读取陀螺仪零点			
+      //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>			
 		  if(Deviation_Count<CONTROL_DELAY)
 		  {	 
 		  	Deviation_Count++;
@@ -78,10 +78,14 @@ void MPU6050_task(void *pvParameters)
 				memcpy(Deviation_accel,accel,sizeof(accel));	
 		  }		

-     MPU_Get_Gyroscope(); //得到陀螺仪数据
-     MPU_Get_Accelscope(); //获得加速度计值(原始值)
+     //Stamp just before the I2C burst read, as close to the physical IMU
+     //sample as we can get without a data-ready interrupt.
+     //<2F><> I2C <20><>ȡǰ<C8A1><C7B0>㣬<EFBFBD>ھ<EFBFBD><DABE><EFBFBD> DRDY <20>жϵ<D0B6><CFB5><EFBFBD><EFBFBD><EFBFBD>¾<EFBFBD><C2BE><EFBFBD><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>̡<EFBFBD>
+     g_imu_sample_time_us = mcu_time_us();
+     MPU_Get_Gyroscope(); //<2F>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+     MPU_Get_Accelscope(); //<2F><>ü<EFBFBD><C3BC>ٶȼ<D9B6>ֵ(ԭʼֵ)
    }
-}  
+}

 //static  unsigned short inv_orientation_matrix_to_scalar(
 //    const signed char *mtx)
@@ -132,17 +136,17 @@ int16_t Gx_offset=0,Gy_offset=0,Gz_offset=0;

 /**************************************************************************
 Function: The new ADC data is updated to FIFO array for filtering
-Input   : ax，ay，az：x，y, z-axis acceleration data；gx，gy，gz：x. Y, z-axis angular acceleration data
+Input   : ax<EFBFBD><EFBFBD>ay<EFBFBD><EFBFBD>az<EFBFBD><EFBFBD>x<EFBFBD><EFBFBD>y, z-axis acceleration data<EFBFBD><EFBFBD>gx<EFBFBD><EFBFBD>gy<EFBFBD><EFBFBD>gz<EFBFBD><EFBFBD>x. Y, z-axis angular acceleration data
 Output  : none
-函数功能：将新的ADC数据更新到 FIFO数组，进行滤波处理
-入口参数：ax，ay，az：x，y，z轴加速度数据；gx，gy，gz：x，y，z轴角加速度数据
-返回  值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD>ADC<EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><EFBFBD>µ<EFBFBD> FIFO<46><4F><EFBFBD>飬<EFBFBD><E9A3AC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ax<EFBFBD><EFBFBD>ay<EFBFBD><EFBFBD>az<EFBFBD><EFBFBD>x<EFBFBD><EFBFBD>y<EFBFBD><EFBFBD>z<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>gx<EFBFBD><EFBFBD>gy<EFBFBD><EFBFBD>gz<EFBFBD><EFBFBD>x<EFBFBD><EFBFBD>y<EFBFBD><EFBFBD>z<EFBFBD><EFBFBD>Ǽ<EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/
 void  MPU6050_newValues(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t gy,int16_t gz)
 {
 unsigned char i ;
 int32_t sum=0;
-for(i=1;i<10;i++){	//FIFO 操作
+for(i=1;i<10;i++){	//FIFO <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 MPU6050_FIFO[0][i-1]=MPU6050_FIFO[0][i];
 MPU6050_FIFO[1][i-1]=MPU6050_FIFO[1][i];
 MPU6050_FIFO[2][i-1]=MPU6050_FIFO[2][i];
@@ -150,7 +154,7 @@ MPU6050_FIFO[3][i-1]=MPU6050_FIFO[3][i];
 MPU6050_FIFO[4][i-1]=MPU6050_FIFO[4][i];
 MPU6050_FIFO[5][i-1]=MPU6050_FIFO[5][i];
 }
-MPU6050_FIFO[0][9]=ax;//将新的数据放置到 数据的最后面
+MPU6050_FIFO[0][9]=ax;//<EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݷ<EFBFBD><EFBFBD>õ<EFBFBD> <20><><EFBFBD>ݵ<EFBFBD><DDB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 MPU6050_FIFO[1][9]=ay;
 MPU6050_FIFO[2][9]=az;
 MPU6050_FIFO[3][9]=gx;
@@ -158,7 +162,7 @@ MPU6050_FIFO[4][9]=gy;
 MPU6050_FIFO[5][9]=gz;

 sum=0;
-for(i=0;i<10;i++){	//求当前数组的合，再取平均值
+for(i=0;i<10;i++){	//<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĺϣ<EFBFBD><EFBFBD><EFBFBD>ȡƽ<EFBFBD><EFBFBD>ֵ
   sum+=MPU6050_FIFO[0][i];
 }
 MPU6050_FIFO[0][10]=sum/10;
@@ -196,11 +200,11 @@ MPU6050_FIFO[5][10]=sum/10;

 /**************************************************************************
 Function: Setting the clock source of mpu6050
-Input   : source：Clock source number
+Input   : source<EFBFBD><EFBFBD>Clock source number
 Output  : none
-函数功能：设置  MPU6050 的时钟源
-入口参数：source：时钟源编号
-返回  值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  MPU6050 <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>Դ
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>source<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD>
 * CLK_SEL | Clock Source
 * --------+--------------------------------------
 * 0       | Internal oscillator
@@ -231,27 +235,27 @@ void MPU6050_setFullScaleGyroRange(uint8_t range) {

 /**************************************************************************
 Function: Setting the maximum range of mpu6050 accelerometer
-Input   : range：Acceleration maximum range number
+Input   : range<EFBFBD><EFBFBD>Acceleration maximum range number
 Output  : none
-函数功能：设置 MPU6050 加速度计的最大量程
-入口参数：range：加速度最大量程编号
-返回  值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <20><><EFBFBD>ٶȼƵ<C8BC><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>range<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̱<EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/
-//#define MPU6050_ACCEL_FS_2          0x00  		//===最大量程+-2G
-//#define MPU6050_ACCEL_FS_4          0x01			//===最大量程+-4G
-//#define MPU6050_ACCEL_FS_8          0x02			//===最大量程+-8G
-//#define MPU6050_ACCEL_FS_16         0x03			//===最大量程+-16G
+//#define MPU6050_ACCEL_FS_2          0x00  		//===<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-2G
+//#define MPU6050_ACCEL_FS_4          0x01			//===<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-4G
+//#define MPU6050_ACCEL_FS_8          0x02			//===<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-8G
+//#define MPU6050_ACCEL_FS_16         0x03			//===<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-16G
 void MPU6050_setFullScaleAccelRange(uint8_t range) {
    I2C_WriteBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
 }

 /**************************************************************************
 Function: Set mpu6050 to sleep mode or not
-Input   : enable：1，sleep；0，work；
+Input   : enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>sleep<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>work<EFBFBD><EFBFBD>
 Output  : none
-函数功能：设置 MPU6050 是否进入睡眠模式
-入口参数：enable：1，睡觉；0，工作；
-返回  值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <20>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>˯<EFBFBD><CBAF>ģʽ
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>˯<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/
 void MPU6050_setSleepEnabled(uint8_t enabled) {
    I2C_WriteOneBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
@@ -261,9 +265,9 @@ void MPU6050_setSleepEnabled(uint8_t enabled) {
 Function: Read identity
 Input   : none
 Output  : 0x68
-函数功能：读取  MPU6050 WHO_AM_I 标识
-入口参数：无
-返回  值：0x68
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ȡ  MPU6050 WHO_AM_I <EFBFBD><EFBFBD>ʶ
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5>0x68
 **************************************************************************/
 uint8_t MPU6050_getDeviceID(void) {

@@ -277,10 +281,10 @@ uint8_t MPU6050_getDeviceID(void) {
 /**************************************************************************
 Function: Check whether mpu6050 is connected
 Input   : none
-Output  : 1：Connected；0：Not connected
-函数功能：检测MPU6050 是否已经连接
-入口参数：无
-返回  值：1：已连接；0：未连接
+Output  : 1<EFBFBD><EFBFBD>Connected<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>Not connected
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPU6050 <20>Ƿ<EFBFBD><C7B7>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӣ<EFBFBD>0<EFBFBD><30>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
 **************************************************************************/
 uint8_t MPU6050_testConnection(void) {
   if(MPU6050_getDeviceID() == 0x68)  //0b01101000;
@@ -290,11 +294,11 @@ uint8_t MPU6050_testConnection(void) {

 /**************************************************************************
 Function: Setting whether mpu6050 is the host of aux I2C cable
-Input   : enable：1，yes；0;not
+Input   : enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>yes<EFBFBD><EFBFBD>0;not
 Output  : none
-函数功能：设置 MPU6050 是否为AUX I2C线的主机
-入口参数：enable：1，是；0：否
-返回  值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <EFBFBD>Ƿ<EFBFBD>ΪAUX I2C<EFBFBD>ߵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ǣ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/
 void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) {
    I2C_WriteOneBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
@@ -302,11 +306,11 @@ void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) {

 /**************************************************************************
 Function: Setting whether mpu6050 is the host of aux I2C cable
-Input   : enable：1，yes；0;not
+Input   : enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>yes<EFBFBD><EFBFBD>0;not
 Output  : none
-函数功能：设置 MPU6050 是否为AUX I2C线的主机
-入口参数：enable：1，是；0：否
-返回  值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <EFBFBD>Ƿ<EFBFBD>ΪAUX I2C<EFBFBD>ߵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ǣ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/
 void MPU6050_setI2CBypassEnabled(uint8_t enabled) {
    I2C_WriteOneBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
@@ -316,38 +320,38 @@ void MPU6050_setI2CBypassEnabled(uint8_t enabled) {
 Function: initialization Mpu6050 to enter the available state
 Input   : none
 Output  : none
-函数功能：初始化	MPU6050 以进入可用状态
-入口参数：无
-返回  值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>	MPU6050 <20>Խ<EFBFBD><D4BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/
 u8 MPU6050_initialize(void) 
 	{
 		u8 res;
-	//IIC_Init();  //Initialize the IIC bus //初始化IIC总线
-	I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X80);	//Reset MPUrobot_select_init.h //复位MPUrobot_select_init.h
-  delay_ms(200); //Delay 200 ms //延时200ms
-	I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X00);	//Wake mpurobot_select_init.h //唤醒MPUrobot_select_init.h
+	//IIC_Init();  //Initialize the IIC bus //<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>IIC<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X80);	//Reset MPUrobot_select_init.h //<EFBFBD><EFBFBD>λMPUrobot_select_init.h
+  delay_ms(200); //Delay 200 ms //<EFBFBD><EFBFBD>ʱ200ms
+	I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X00);	//Wake mpurobot_select_init.h //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPUrobot_select_init.h
 	
-  //MPU6050_Set_Gyro_Fsr(1);  //Gyroscope sensor              //陀螺仪传感器,±500dps=±500°/s ±32768 (gyro/32768*500)*PI/180(rad/s)=gyro/3754.9(rad/s)
+  //MPU6050_Set_Gyro_Fsr(1);  //Gyroscope sensor              //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><>500dps=<EFBFBD><EFBFBD>500<EFBFBD><EFBFBD>/s <EFBFBD><EFBFBD>32768 (gyro/32768*500)*PI/180(rad/s)=gyro/3754.9(rad/s)
 	MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_500);
-	//MPU6050_Set_Accel_Fsr(0);	//Acceleration sensor           //加速度传感器,±2g=±2*9.8m/s^2 ±32768 accel/32768*19.6=accel/1671.84
+	//MPU6050_Set_Accel_Fsr(0);	//Acceleration sensor           //<EFBFBD><EFBFBD><EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><>2g=<EFBFBD><EFBFBD>2*9.8m/s^2 <EFBFBD><EFBFBD>32768 accel/32768*19.6=accel/1671.84
  MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
-	MPU6050_Set_Rate(50);			//Set the sampling rate to 50Hz //设置采样率50Hz
+	MPU6050_Set_Rate(50);			//Set the sampling rate to 50Hz //<EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>50Hz
 	
-	I2C_WriteOneByte(devAddr,MPU6050_RA_INT_ENABLE,0X00);	  //Turn off all interrupts //关闭所有中断
-	I2C_WriteOneByte(devAddr,MPU6050_RA_USER_CTRL,0X00);	//The I2C main mode is off //I2C主模式关闭
-	I2C_WriteOneByte(devAddr,MPU6050_RA_FIFO_EN,0X00);	  //Close the FIFO //关闭FIFO
+	I2C_WriteOneByte(devAddr,MPU6050_RA_INT_ENABLE,0X00);	  //Turn off all interrupts //<EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
+	I2C_WriteOneByte(devAddr,MPU6050_RA_USER_CTRL,0X00);	//The I2C main mode is off //I2C<EFBFBD><EFBFBD>ģʽ<EFBFBD>ر<EFBFBD>
+	I2C_WriteOneByte(devAddr,MPU6050_RA_FIFO_EN,0X00);	  //Close the FIFO //<EFBFBD>ر<EFBFBD>FIFO
 	//The INT pin is low, enabling bypass mode to read the magnetometer directly
-	//INT引脚低电平有效，开启bypass模式，可以直接读取磁力计
+	//INT<EFBFBD><EFBFBD><EFBFBD>ŵ͵<EFBFBD>ƽ<EFBFBD><EFBFBD>Ч<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>bypassģʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>Ӷ<EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	I2C_WriteOneByte(devAddr,MPU6050_RA_INT_PIN_CFG,0X80);
 	//Read the ID of MPU6050 
-	//读取MPU6050的ID	
+	//<EFBFBD><EFBFBD>ȡMPU6050<EFBFBD><EFBFBD>ID	
 	res=I2C_ReadOneByte(devAddr,MPU6050_RA_WHO_AM_I);
-	if(res==MPU6050_DEFAULT_ADDRESS) //The device ID is correct, The correct device ID depends on the AD pin //器件ID正确, 器件ID的正确取决于AD引脚
+	if(res==MPU6050_DEFAULT_ADDRESS) //The device ID is correct, The correct device ID depends on the AD pin //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID<EFBFBD><EFBFBD>ȷ, <20><><EFBFBD><EFBFBD>ID<49><44><EFBFBD><EFBFBD>ȷȡ<C8B7><C8A1><EFBFBD><EFBFBD>AD<41><44><EFBFBD><EFBFBD>
 	{
-		I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X01);	//Set CLKSEL,PLL X axis as reference //设置CLKSEL,PLL X轴为参考
-		I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_2,0X00);	//Acceleration and gyroscope both work //加速度与陀螺仪都工作
-		MPU6050_Set_Rate(50);	                      //Set the sampling rate to 50Hz //设置采样率为50Hz   
+		I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X01);	//Set CLKSEL,PLL X axis as reference //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>CLKSEL,PLL X<EFBFBD><EFBFBD>Ϊ<EFBFBD>ο<EFBFBD>
+		I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_2,0X00);	//Acceleration and gyroscope both work //<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		MPU6050_Set_Rate(50);	                      //Set the sampling rate to 50Hz //<EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ50Hz   
 	}else return 1;
 	return 0;

@@ -357,9 +361,9 @@ u8 MPU6050_initialize(void)
 Function: Initialization of DMP in mpu6050
 Input   : none
 Output  : none
-函数功能：MPU6050内置DMP的初始化
-入口参数：无
-返回  值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD>MPU6050<EFBFBD><EFBFBD><EFBFBD><EFBFBD>DMP<EFBFBD>ĳ<EFBFBD>ʼ<EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/
 //void DMP_Init(void)
 //{ 
@@ -395,9 +399,9 @@ Output  : none
 Function: Read the attitude information of DMP in mpu6050
 Input   : none
 Output  : none
-函数功能：读取MPU6050内置DMP的姿态信息
-入口参数：无
-返回  值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ȡMPU6050<EFBFBD><EFBFBD><EFBFBD><EFBFBD>DMP<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><EFBFBD>Ϣ
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/
 //void Read_DMP(void)
 //{	
@@ -405,16 +409,16 @@ Output  : none
 //		unsigned char more;
 //		long quat[4];

-//				dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);		//读取DMP数据
+//				dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);		//<EFBFBD><EFBFBD>ȡDMP<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 //				if (sensors & INV_WXYZ_QUAT )
 //				{    
 //					 q0=quat[0] / q30;
 //					 q1=quat[1] / q30;
 //					 q2=quat[2] / q30;
-//					 q3=quat[3] / q30; 		//四元数
-//					 Roll = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; 	//计算出横滚角
-//					 Pitch = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // 计算出俯仰角
-//					 Yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;	 //计算出偏航角
+//					 q3=quat[3] / q30; 		//<EFBFBD><EFBFBD>Ԫ<EFBFBD><EFBFBD>
+//					 Roll = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; 	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//					 Pitch = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//					 Yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;	 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 //				}

 //}
@@ -422,16 +426,16 @@ Output  : none
 Function: Read mpu6050 built-in temperature sensor data
 Input   : none
 Output  : Centigrade temperature
-函数功能：读取MPU6050内置温度传感器数据
-入口参数：无
-返回  值：摄氏温度
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ȡMPU6050<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¶ȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¶<EFBFBD>
 **************************************************************************/
 int Read_Temperature(void)
 {	   
 	  float Temp;
 	  Temp=(I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_L);
-		if(Temp>32768) Temp-=65536;	//数据类型转换
-		Temp=(36.53f+Temp/340)*10;	  //温度放大十倍存放
+		if(Temp>32768) Temp-=65536;	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
+		Temp=(36.53f+Temp/340)*10;	  //<EFBFBD>¶ȷŴ<EFBFBD>ʮ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	  return (int)Temp;
 }

@@ -439,9 +443,9 @@ int Read_Temperature(void)
 Function: Initialize TIM2 as the encoder interface mode
 Input   : LPF: Digital low-pass filtering frequency (Hz)
 Output  : 0: Settings successful, others: Settings failed
-函数功能：设置MPUrobot_select_init.h的数字低通滤波器
-入口参数：lpf:数字低通滤波频率(Hz)
-返回  值：0:设置成功, 其他:设置失败
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPUrobot_select_init.h<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>lpf:<3A><><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD>Ƶ<EFBFBD><C6B5>(Hz)
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5>0:<3A><><EFBFBD>óɹ<C3B3>, <20><><EFBFBD><EFBFBD>:<3A><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
 **************************************************************************/
 unsigned char MPU6050_Set_LPF(u16 lpf)
 {
@@ -452,15 +456,15 @@ unsigned char MPU6050_Set_LPF(u16 lpf)
 	else if(lpf>=20)data=4;
 	else if(lpf>=10)data=5;
 	else data=6; 
-	return I2C_WriteOneByte(devAddr,MPU6050_RA_CONFIG,data); //Set the digital lowpass filter//设置数字低通滤波器  
+	return I2C_WriteOneByte(devAddr,MPU6050_RA_CONFIG,data); //Set the digital lowpass filter//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>  
 }
 /**************************************************************************
 Function: Initialize TIM2 as the encoder interface mode
 Input   : rate:4~1000(Hz)
 Output  : 0: Settings successful, others: Settings failed
-函数功能：设置MPUrobot_select_init.h的采样率(假定Fs=1KHz)
-入口参数：rate:4~1000(Hz)
-返回  值：0:设置成功, 其他:设置失败
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPUrobot_select_init.h<EFBFBD>Ĳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28>ٶ<EFBFBD>Fs=1KHz)
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rate:4~1000(Hz)
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5>0:<3A><><EFBFBD>óɹ<C3B3>, <20><><EFBFBD><EFBFBD>:<3A><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
 **************************************************************************/
 unsigned char MPU6050_Set_Rate(u16 rate)
 {
@@ -468,42 +472,42 @@ unsigned char MPU6050_Set_Rate(u16 rate)
 	if(rate>1000)rate=1000;
 	if(rate<4)rate=4;
 	data=1000/rate-1;
-	data=I2C_WriteOneByte(devAddr,MPU6050_RA_SMPLRT_DIV,data);	//Set the digital lowpass filter//设置数字低通滤波器  
- 	return MPU6050_Set_LPF(rate/2);	//Automatically sets LPF to half of the sampling rate //自动设置LPF为采样率的一半
+	data=I2C_WriteOneByte(devAddr,MPU6050_RA_SMPLRT_DIV,data);	//Set the digital lowpass filter//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>  
+ 	return MPU6050_Set_LPF(rate/2);	//Automatically sets LPF to half of the sampling rate //<EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>LPFΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>һ<EFBFBD><EFBFBD>
 }

 /**************************************************************************
 Function: Initialize TIM2 as the encoder interface mode
 Input   : Gx, Gy, Gz: raw readings (plus or minus) of the x,y, and z axes of the gyroscope
 Output  : 0: success, others: error code
-函数功能：获得陀螺仪值(原始值)
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ(ԭʼֵ)
 **************************************************************************/
 void MPU_Get_Gyroscope(void)
 {
-		gyro[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_L);    //读取X轴陀螺仪
-		gyro[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_L);    //读取Y轴陀螺仪
-		gyro[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_L);    //读取Z轴陀螺仪
+		gyro[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_L);    //<EFBFBD><EFBFBD>ȡX<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		gyro[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_L);    //<EFBFBD><EFBFBD>ȡY<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		gyro[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_L);    //<EFBFBD><EFBFBD>ȡZ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	
-	if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //开机前10秒
+	if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ10<EFBFBD><EFBFBD>
 		{

-			Led_Count=1; //LED high frequency flashing //LED高频闪烁
-			Flag_Stop=1; //The software fails to flag location 1 //软件失能标志位置1		
+			Led_Count=1; //LED high frequency flashing //LED<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>˸
+			Flag_Stop=1; //The software fails to flag location 1 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>ܱ<EFBFBD>־λ<EFBFBD><EFBFBD>1		
 		}
-	else //10 seconds after starting //开机10秒后
+	else //10 seconds after starting //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>10<EFBFBD><EFBFBD><EFBFBD>
 		{  
 			if(Deviation_Count==CONTROL_DELAY)
-				Flag_Stop=0; //The software fails to flag location 0 //软件失能标志位置0
-			Led_Count=300; //The LED returns to normal flicker frequency //LED恢复正常闪烁频率	
+				Flag_Stop=0; //The software fails to flag location 0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>ܱ<EFBFBD>־λ<EFBFBD><EFBFBD>0
+			Led_Count=300; //The LED returns to normal flicker frequency //LED<EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˸Ƶ<EFBFBD><EFBFBD>	
 			
 			//Save the raw data to update zero by clicking the user button
-			//保存原始数据用于单击用户按键更新零点
+			//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 			Original_gyro[0] =gyro[0];  
 			Original_gyro[1] =gyro[1];  
 			Original_gyro[2]= gyro[2];			
 			
 			//Removes zero drift data
-			//去除零点漂移的数据
+			//ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ư<EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 			gyro[0] =Original_gyro[0]-Deviation_gyro[0];  
 			gyro[1] =Original_gyro[1]-Deviation_gyro[1];  
 			gyro[2]= Original_gyro[2]-Deviation_gyro[2];
@@ -514,28 +518,28 @@ void MPU_Get_Gyroscope(void)
 Function: Initialize TIM2 as the encoder interface mode
 Input   : Gx, Gy, Gz: raw readings (plus or minus) of the x,y, and z axes of the gyroscope
 Output  : 0: success, others: error code
-函数功能：获得加速度计值(原始值)
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ü<EFBFBD><EFBFBD>ٶȼ<EFBFBD>ֵ(ԭʼֵ)
 **************************************************************************/
 void MPU_Get_Accelscope(void)
 {
-		accel[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_L); //读取X轴加速度计
-		accel[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_L); //读取X轴加速度计
-		accel[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_L); //读取Z轴加速度计
+		accel[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_L); //<EFBFBD><EFBFBD>ȡX<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼ<EFBFBD>
+		accel[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_L); //<EFBFBD><EFBFBD>ȡX<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼ<EFBFBD>
+		accel[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_L); //<EFBFBD><EFBFBD>ȡZ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼ<EFBFBD>
 	
-		if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //开机前10秒
+		if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ10<EFBFBD><EFBFBD>
 		{
 	
 		}
-		else //10 seconds after starting //开机10秒后
+		else //10 seconds after starting //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>10<EFBFBD><EFBFBD><EFBFBD>
 		{  		
 			//Save the raw data to update zero by clicking the user button
-			//保存原始数据用于单击用户按键更新零点
+			//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 			Original_accel[0] =accel[0];  
 			Original_accel[1] =accel[1];  
 			Original_accel[2]= accel[2];			
 			
 			//Removes zero drift data
-			//去除零点漂移的数据
+			//ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ư<EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 			accel[0] =Original_accel[0]-Deviation_accel[0];  
 			accel[1] =Original_accel[1]-Deviation_accel[1];  
 			accel[2]= Original_accel[2]-Deviation_accel[2]+16384;
--- a/HARDWARE/motor.h
+++ b/HARDWARE/motor.h
@@ -49,7 +49,7 @@
 #define EN     PDin(3)  

 #define Servo_PWM  TIM12->CCR2
-#define SERVO_INIT 1590  //Servo zero point //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#define SERVO_INIT 1670  //Servo straight-ahead point (calibrated 1/R~=0) //<2F><>ֱ<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD>

 void Enable_Pin(void);
 void Servo_PWM_Init(u16 arr,u16 psc);
--- a/HARDWARE/timer.c
+++ b/HARDWARE/timer.c
@@ -2,28 +2,28 @@

 //Input the capture flag for channel 1, 
 //the capture flag for the higher bits, and the overflow flag for the lower 6 bits
-//通道1输入捕获标志，高两位做捕获标志，低6位做溢出标志		
+//ͨ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD><EFBFBD><EFBFBD>6λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־		
 u8 TIM8CH1_CAPTURE_STA = 0;	
 u16 TIM8CH1_CAPTURE_UPVAL;
 u16 TIM8CH1_CAPTURE_DOWNVAL;

 //Input the capture flag for channel 2, 
 //the capture flag for the higher bits, and the overflow flag for the lower 6 bits
-//通道2输入捕获标志，高两位做捕获标志，低6位做溢出标志	
+//ͨ<EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD><EFBFBD><EFBFBD>6λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־	
 u8 TIM8CH2_CAPTURE_STA = 0;		
 u16 TIM8CH2_CAPTURE_UPVAL;
 u16 TIM8CH2_CAPTURE_DOWNVAL;

 //Input the capture flag for channel 3, 
 //the capture flag for the higher bits, and the overflow flag for the lower 6 bits
-//通道3输入捕获标志，高两位做捕获标志，低6位做溢出标志	
+//ͨ<EFBFBD><EFBFBD>3<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD><EFBFBD><EFBFBD>6λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־	
 u8 TIM8CH3_CAPTURE_STA = 0;		
 u16 TIM8CH3_CAPTURE_UPVAL;
 u16 TIM8CH3_CAPTURE_DOWNVAL;

 //Input the capture flag for channel 4, 
 //the capture flag for the higher bits, and the overflow flag for the lower 6 bits
-//通道4输入捕获标志，高两位做捕获标志，低6位做溢出标志
+//ͨ<EFBFBD><EFBFBD>4<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־<EFBFBD><EFBFBD><EFBFBD><EFBFBD>6λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־
 u8 TIM8CH4_CAPTURE_STA = 0;			
 u16 TIM8CH4_CAPTURE_UPVAL;
 u16 TIM8CH4_CAPTURE_DOWNVAL;
@@ -34,19 +34,19 @@ u32 TIM8_T3;
 u32 TIM8_T4;

 //Variables related to remote control acquisition of model aircraft
-//航模遥控采集相关变量
+//<EFBFBD><EFBFBD>ģң<EFBFBD>زɼ<EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD>
 int Remoter_Ch1=1500,Remoter_Ch2=1500,Remoter_Ch3=1500,Remoter_Ch4=1500;
 //Model aircraft remote control receiver variable
-//航模遥控接收变量
+//<EFBFBD><EFBFBD>ģң<EFBFBD>ؽ<EFBFBD><EFBFBD>ձ<EFBFBD><EFBFBD><EFBFBD>
 int L_Remoter_Ch1=1500,L_Remoter_Ch2=1500,L_Remoter_Ch3=1500,L_Remoter_Ch4=1500;  

 /**************************************************************************
 Function: Model aircraft remote control initialization function, timer 1 input capture initialization
 Input   : arr: Automatic reload value, psc: clock preset frequency
 Output  : none
-函数功能：航模遥控初始化函数，定时器1输入捕获初始化
-入口参数：arr：自动重装值，psc：时钟预分频数 
-返 回 值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ģң<EFBFBD>س<EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>arr<EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD>װֵ<EFBFBD><EFBFBD>psc<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>Ԥ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD> 
+<EFBFBD><EFBFBD> <20><> ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/ 
 void TIM8_Cap_Init(u16 arr, u16 psc)
 {
@@ -55,14 +55,14 @@ void TIM8_Cap_Init(u16 arr, u16 psc)
 	NVIC_InitTypeDef NVIC_InitStructure;
 	TIM_ICInitTypeDef TIM_ICInitStructure;
 	
-	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE);  	//TIM1时钟使能    
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); 	//使能PORTE时钟	
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE);  	//TIM1ʱ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>    
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); 	//ʹ<EFBFBD><EFBFBD>PORTEʱ<EFBFBD><EFBFBD>	
 		
 	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9; //GPIOC
-	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
-	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//速度100MHz
-	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
-	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN; //下拉
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//<EFBFBD><EFBFBD><EFBFBD>ù<EFBFBD><EFBFBD><EFBFBD>
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	//<EFBFBD>ٶ<EFBFBD>100MHz
+	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //<EFBFBD><EFBFBD><EFBFBD>츴<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	GPIO_Init(GPIOC,&GPIO_InitStructure); 

 	GPIO_PinAFConfig(GPIOC,GPIO_PinSource6,GPIO_AF_TIM8); 
@@ -70,104 +70,104 @@ void TIM8_Cap_Init(u16 arr, u16 psc)
 	GPIO_PinAFConfig(GPIOC,GPIO_PinSource8,GPIO_AF_TIM8);
 	GPIO_PinAFConfig(GPIOC,GPIO_PinSource9,GPIO_AF_TIM8);

-	/*** Initialize timer 1 || 初始化定时器1 ***/
-	//Set the counter to automatically reload //设定计数器自动重装值 
+	/*** Initialize timer 1 || <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>1 ***/
+	//Set the counter to automatically reload //<EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD>װֵ 
 	TIM_TimeBaseStructure.TIM_Period = arr; 
-	//Pre-divider //预分频器 
+	//Pre-divider //Ԥ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD> 
 	TIM_TimeBaseStructure.TIM_Prescaler = psc; 	
-	//Set the clock split: TDTS = Tck_tim //设置时钟分割:TDTS = Tck_tim
+	//Set the clock split: TDTS = Tck_tim //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ӷָ<EFBFBD>:TDTS = Tck_tim
 	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; 
-	//TIM up count mode //TIM向上计数模式	
+	//TIM up count mode //TIM<EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD><EFBFBD><EFBFBD>ģʽ	
 	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; 
 	//Initializes the timebase unit for TIMX based on the parameter specified in TIM_TimeBaseInitStruct
-	//根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
+	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIM_TimeBaseInitStruct<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>Ĳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>TIMx<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
 	TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure); 

-	/*** 初始化TIM1输入捕获参数，通道1 || Initialize TIM1 for the capture parameter, channel 1 ***/
-	//Select input //选择输入端 
+	/*** <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>TIM1<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>1 || Initialize TIM1 for the capture parameter, channel 1 ***/
+	//Select input //ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
 	TIM_ICInitStructure.TIM_Channel = TIM_Channel_1; 
-  //Rising edge capture //上升沿捕获
+  //Rising edge capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>
 	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;	
 	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; 
-	//Configure input frequency division, regardless of frequency //配置输入分频,不分频 
+	//Configure input frequency division, regardless of frequency //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ,<2C><><EFBFBD><EFBFBD>Ƶ 
 	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;	
-  //IC1F=0000 Configure input filter //配置输入滤波器
+  //IC1F=0000 Configure input filter //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>
 	TIM_ICInitStructure.TIM_ICFilter = 0x0F;	  
 	TIM_ICInit(TIM8, &TIM_ICInitStructure);

-	/*** 初始化TIM1输入捕获参数，通道2 || Initialize TIM1 for the capture parameter, channel 2 ***/
-	//CC1S=01 Select input //选择输入端 
+	/*** <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>TIM1<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>2 || Initialize TIM1 for the capture parameter, channel 2 ***/
+	//CC1S=01 Select input //ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
 	TIM_ICInitStructure.TIM_Channel = TIM_Channel_2;
-	//Rising edge capture //上升沿捕获
+	//Rising edge capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>
 	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;	
 	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; 
-	//Configure input frequency division, regardless of frequency //配置输入分频,不分频 
+	//Configure input frequency division, regardless of frequency //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ,<2C><><EFBFBD><EFBFBD>Ƶ 
 	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;	  
-	TIM_ICInitStructure.TIM_ICFilter = 0x00;	  //IC1F=0000 配置输入滤波器
+	TIM_ICInitStructure.TIM_ICFilter = 0x00;	  //IC1F=0000 <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>
 	TIM_ICInit(TIM8, &TIM_ICInitStructure);

-	/*** 初始化TIM1输入捕获参数，通道3 || Initialize TIM1 for the capture parameter, channel 3 ***/
-	//Select input //选择输入端 
+	/*** <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>TIM1<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>3 || Initialize TIM1 for the capture parameter, channel 3 ***/
+	//Select input //ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
 	TIM_ICInitStructure.TIM_Channel = TIM_Channel_3;   
-	//Rising edge capture //上升沿捕获
+	//Rising edge capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>
 	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
 	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; 
-	//Configure input frequency division, regardless of frequency //配置输入分频,不分频 
+	//Configure input frequency division, regardless of frequency //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ,<2C><><EFBFBD><EFBFBD>Ƶ 
 	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;	  
-	//IC1F=0000 Configure input filter //配置输入滤波器，不滤波  
+	//IC1F=0000 Configure input filter //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>  
 	TIM_ICInitStructure.TIM_ICFilter = 0x00;	  
 	TIM_ICInit(TIM8, &TIM_ICInitStructure);

-	/*** 初始化TIM1输入捕获参数，通道4 || Initialize TIM1 for the capture parameter, channel 4 ***/
-	//Select input //选择输入端 
+	/*** <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>TIM1<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>4 || Initialize TIM1 for the capture parameter, channel 4 ***/
+	//Select input //ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
 	TIM_ICInitStructure.TIM_Channel = TIM_Channel_4; 
-	//Rising edge capture //上升沿捕获
+	//Rising edge capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>
 	TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;	
 	TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; 
-	//Configure input frequency division, regardless of frequency //配置输入分频,不分频 
+	//Configure input frequency division, regardless of frequency //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ,<2C><><EFBFBD><EFBFBD>Ƶ 
 	TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;	   
-	//IC1F=0000 Configure input filter //配置输入滤波器，不滤波  
+	//IC1F=0000 Configure input filter //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>  
 	TIM_ICInitStructure.TIM_ICFilter = 0x00;	  
 	TIM_ICInit(TIM8, &TIM_ICInitStructure);

-  /*** interrupt packet initialization || 中断分组初始化 ***/
-  //TIM1 interrupts //TIM1中断
+  /*** interrupt packet initialization || <EFBFBD>жϷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD> ***/
+  //TIM1 interrupts //TIM1<EFBFBD>ж<EFBFBD>
 	NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn; 
-  //Preempt priority 0 //先占优先级0级	
+  //Preempt priority 0 //<EFBFBD><EFBFBD>ռ<EFBFBD><EFBFBD><EFBFBD>ȼ<EFBFBD>0<EFBFBD><EFBFBD>	
 	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;  
-	//Level 0 from priority //从优先级0级
+	//Level 0 from priority //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȼ<EFBFBD>0<EFBFBD><EFBFBD>
 	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; 
-	//IRQ channels are enabled //IRQ通道被使能
+	//IRQ channels are enabled //IRQͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>
 	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
 	//Initializes the peripheral NVIC register according to the parameters specified in NVIC_InitStruct
-	//根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器 
+	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>NVIC_InitStruct<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>Ĳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>NVIC<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD> 
 	NVIC_Init(&NVIC_InitStructure);   
 	
  //Allow CC1IE,CC2IE,CC3IE,CC4IE to catch interrupts, not allowed update_interrupts
-  //不允许更新中断，允许CC1IE,CC2IE,CC3IE,CC4IE捕获中断	
+  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>CC1IE,CC2IE,CC3IE,CC4IE<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>	
 	TIM_ITConfig(TIM8, TIM_IT_CC1|TIM_IT_CC2|TIM_IT_CC3|TIM_IT_CC4,	ENABLE);   
-	//Advanced timer output must be enabled //高级定时器输出必须使能这句	
+	//Advanced timer output must be enabled //<EFBFBD>߼<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>	
 	TIM_CtrlPWMOutputs(TIM8,ENABLE); 	
-	//Enable timer //使能定时器
+	//Enable timer //ʹ<EFBFBD>ܶ<EFBFBD>ʱ<EFBFBD><EFBFBD>
 	TIM_Cmd(TIM8, ENABLE); 		
 }
 /**************************************************************************
 Function: Model aircraft remote control receiving interrupt, namely timer 8 input capture interrupt
 Input   : none
 Output  : none
-函数功能：航模遥控接收中断，即定时器8输入捕获中断
-入口参数：无
-返 回 值：无
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ģң<EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>8<EFBFBD><EFBFBD><EFBFBD>벶<EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD> <20><> ֵ<><D6B5><EFBFBD><EFBFBD>
 **************************************************************************/ 
 void TIM8_CC_IRQHandler(void)
 {
-	//连接航模遥遥控器后，需要推下前进杆，才可以正式航模控制小车
+	//<EFBFBD><EFBFBD><EFBFBD>Ӻ<EFBFBD>ģңң<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD>ˣ<EFBFBD><EFBFBD>ſ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD>
 	//After connecting the remote controller of the model aircraft, 
 	//you need to push down the forward lever to officially control the car of the model aircraft
  if(Remoter_Ch2>1600&&Remote_ON_Flag==0&&Deviation_Count>=CONTROL_DELAY)
  {
 		//Model aircraft remote control mark position 1, other marks position 0
-		//航模遥控标志位置1，其它标志位置0
+		//<EFBFBD><EFBFBD>ģң<EFBFBD>ر<EFBFBD>־λ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־λ<EFBFBD><EFBFBD>0
 		Remote_ON_Flag=1;
 	  APP_ON_Flag=0;
 		PS2_ON_Flag=0;
@@ -179,131 +179,131 @@ void TIM8_CC_IRQHandler(void)
 	


-//	//Channel 1 //通道一
+//	//Channel 1 //ͨ<EFBFBD><EFBFBD>һ
 	if ((TIM8CH1_CAPTURE_STA & 0X80) == 0) 			
 	{
-		if (TIM_GetITStatus(TIM8, TIM_IT_CC1) != RESET) //A capture event occurred on channel 1 //通道1发生捕获事件
+		if (TIM_GetITStatus(TIM8, TIM_IT_CC1) != RESET) //A capture event occurred on channel 1 //ͨ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD>
 		{
-			TIM_ClearITPendingBit(TIM8, TIM_IT_CC1); //Clear the interrupt flag bit //清除中断标志位
-			if (TIM8CH1_CAPTURE_STA & 0X40)	//A falling edge is caught //捕获到一个下降沿
+			TIM_ClearITPendingBit(TIM8, TIM_IT_CC1); //Clear the interrupt flag bit //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־λ
+			if (TIM8CH1_CAPTURE_STA & 0X40)	//A falling edge is caught //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD><EFBFBD>
 			{
-				TIM8CH1_CAPTURE_DOWNVAL = TIM_GetCapture1(TIM8); //Record the timer value at this point //记录下此时的定时器计数值
+				TIM8CH1_CAPTURE_DOWNVAL = TIM_GetCapture1(TIM8); //Record the timer value at this point //<EFBFBD><EFBFBD>¼<EFBFBD>´<EFBFBD>ʱ<EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
 				if (TIM8CH1_CAPTURE_DOWNVAL < TIM8CH1_CAPTURE_UPVAL)
 				{
 					TIM8_T1 = 9999;
 				}
 				else
 					TIM8_T1 = 0;
-				Remoter_Ch1 = TIM8CH1_CAPTURE_DOWNVAL - TIM8CH1_CAPTURE_UPVAL + TIM8_T1;	//Time to get the total high level //得到总的高电平的时间
-				if(abs(Remoter_Ch1-L_Remoter_Ch1)>500) Remoter_Ch1=L_Remoter_Ch1; //Filter //滤波
+				Remoter_Ch1 = TIM8CH1_CAPTURE_DOWNVAL - TIM8CH1_CAPTURE_UPVAL + TIM8_T1;	//Time to get the total high level //<EFBFBD>õ<EFBFBD><EFBFBD>ܵĸߵ<EFBFBD>ƽ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
+				if(abs(Remoter_Ch1-L_Remoter_Ch1)>500) Remoter_Ch1=L_Remoter_Ch1; //Filter //<EFBFBD>˲<EFBFBD>
 					 L_Remoter_Ch1=Remoter_Ch1;
 				
-				TIM8CH1_CAPTURE_STA = 0; //Capture flag bit to zero	//捕获标志位清零
-				TIM_OC1PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //设置为上升沿捕获		  
+				TIM8CH1_CAPTURE_STA = 0; //Capture flag bit to zero	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				TIM_OC1PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>		  
 			}
 			else 
 			{
 				//When the capture time occurs but not the falling edge, the first time the rising edge is captured, record the timer value at this time
-				//发生捕获时间但不是下降沿，第一次捕获到上升沿，记录此时的定时器计数值
-				TIM8CH1_CAPTURE_UPVAL = TIM_GetCapture1(TIM8); //Obtain rising edge data //获取上升沿数据
-				TIM8CH1_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //标记已捕获到上升沿
-				TIM_OC1PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //设置为下降沿捕获
+				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>䵫<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>β<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD>ʱ<EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+				TIM8CH1_CAPTURE_UPVAL = TIM_GetCapture1(TIM8); //Obtain rising edge data //<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				TIM8CH1_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ѳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				TIM_OC1PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>½<EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>
 			}
 		}
 	}
-  //Channel 2 //通道二
+  //Channel 2 //ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	if ((TIM8CH2_CAPTURE_STA & 0X80) == 0)		
 	{
-		if (TIM_GetITStatus(TIM8, TIM_IT_CC2) != RESET)	//A capture event occurred on channel 2 //通道2发生捕获事件
+		if (TIM_GetITStatus(TIM8, TIM_IT_CC2) != RESET)	//A capture event occurred on channel 2 //ͨ<EFBFBD><EFBFBD>2<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD>
 		{
-			TIM_ClearITPendingBit(TIM8, TIM_IT_CC2); //Clear the interrupt flag bit //清除中断标志位
-			if (TIM8CH2_CAPTURE_STA & 0X40)	//A falling edge is caught //捕获到一个下降沿
+			TIM_ClearITPendingBit(TIM8, TIM_IT_CC2); //Clear the interrupt flag bit //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־λ
+			if (TIM8CH2_CAPTURE_STA & 0X40)	//A falling edge is caught //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD><EFBFBD>
 			{
-				TIM8CH2_CAPTURE_DOWNVAL = TIM_GetCapture2(TIM8); //Record the timer value at this point //记录下此时的定时器计数值
+				TIM8CH2_CAPTURE_DOWNVAL = TIM_GetCapture2(TIM8); //Record the timer value at this point //<EFBFBD><EFBFBD>¼<EFBFBD>´<EFBFBD>ʱ<EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
 				if (TIM8CH2_CAPTURE_DOWNVAL < TIM8CH2_CAPTURE_UPVAL)
 				{
 					TIM8_T2 = 9999;
 				}
 				else
 					TIM8_T2 = 0;
-				Remoter_Ch2 = TIM8CH2_CAPTURE_DOWNVAL - TIM8CH2_CAPTURE_UPVAL + TIM8_T2; //Time to get the total high level //得到总的高电平的时间
-				if(abs(Remoter_Ch2-L_Remoter_Ch2)>500)Remoter_Ch2=L_Remoter_Ch2; //Filter //滤波
+				Remoter_Ch2 = TIM8CH2_CAPTURE_DOWNVAL - TIM8CH2_CAPTURE_UPVAL + TIM8_T2; //Time to get the total high level //<EFBFBD>õ<EFBFBD><EFBFBD>ܵĸߵ<EFBFBD>ƽ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
+				if(abs(Remoter_Ch2-L_Remoter_Ch2)>500)Remoter_Ch2=L_Remoter_Ch2; //Filter //<EFBFBD>˲<EFBFBD>
 				L_Remoter_Ch2=Remoter_Ch2;
 				
-				TIM8CH2_CAPTURE_STA = 0; //Capture flag bit to zero	//捕获标志位清零
-				TIM_OC2PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //设置为上升沿捕获		  
+				TIM8CH2_CAPTURE_STA = 0; //Capture flag bit to zero	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				TIM_OC2PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>		  
 			}
 			else 
 			{
 				//When the capture time occurs but not the falling edge, the first time the rising edge is captured, record the timer value at this time
-				//发生捕获时间但不是下降沿，第一次捕获到上升沿，记录此时的定时器计数值
-				TIM8CH2_CAPTURE_UPVAL = TIM_GetCapture2(TIM8); //Obtain rising edge data //获取上升沿数据
-				TIM8CH2_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //标记已捕获到上升沿
-				TIM_OC2PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //设置为下降沿捕获
+				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>䵫<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>β<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD>ʱ<EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+				TIM8CH2_CAPTURE_UPVAL = TIM_GetCapture2(TIM8); //Obtain rising edge data //<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				TIM8CH2_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ѳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				TIM_OC2PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>½<EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>
 			}
 		}
 	}
-  //Channel 3 //通道三
+  //Channel 3 //ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	if ((TIM8CH3_CAPTURE_STA & 0X80) == 0)			
 	{
-		if (TIM_GetITStatus(TIM8, TIM_IT_CC3) != RESET)	//A capture event occurred on channel 3 //通道3发生捕获事件
+		if (TIM_GetITStatus(TIM8, TIM_IT_CC3) != RESET)	//A capture event occurred on channel 3 //ͨ<EFBFBD><EFBFBD>3<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD>
 		{
-			TIM_ClearITPendingBit(TIM8, TIM_IT_CC3); //Clear the interrupt flag bit //清除中断标志位
-			if (TIM8CH3_CAPTURE_STA & 0X40)	//A falling edge is caught //捕获到一个下降沿
+			TIM_ClearITPendingBit(TIM8, TIM_IT_CC3); //Clear the interrupt flag bit //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־λ
+			if (TIM8CH3_CAPTURE_STA & 0X40)	//A falling edge is caught //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD><EFBFBD>
 			{
-				TIM8CH3_CAPTURE_DOWNVAL = TIM_GetCapture3(TIM8); //Record the timer value at this point //记录下此时的定时器计数值
+				TIM8CH3_CAPTURE_DOWNVAL = TIM_GetCapture3(TIM8); //Record the timer value at this point //<EFBFBD><EFBFBD>¼<EFBFBD>´<EFBFBD>ʱ<EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
 				if (TIM8CH3_CAPTURE_DOWNVAL < TIM8CH3_CAPTURE_UPVAL)
 				{
 					TIM8_T3 = 9999;
 				}
 				else
 					TIM8_T3 = 0;
-				Remoter_Ch3 = TIM8CH3_CAPTURE_DOWNVAL - TIM8CH3_CAPTURE_UPVAL + TIM8_T3; //Time to get the total high level //得到总的高电平的时间
-				if(abs(Remoter_Ch3-L_Remoter_Ch3)>500)Remoter_Ch3=L_Remoter_Ch3; //Filter //滤波
+				Remoter_Ch3 = TIM8CH3_CAPTURE_DOWNVAL - TIM8CH3_CAPTURE_UPVAL + TIM8_T3; //Time to get the total high level //<EFBFBD>õ<EFBFBD><EFBFBD>ܵĸߵ<EFBFBD>ƽ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
+				if(abs(Remoter_Ch3-L_Remoter_Ch3)>500)Remoter_Ch3=L_Remoter_Ch3; //Filter //<EFBFBD>˲<EFBFBD>
 									L_Remoter_Ch3=Remoter_Ch3;
-				TIM8CH3_CAPTURE_STA = 0; //Capture flag bit to zero	//捕获标志位清零
-				TIM_OC3PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //设置为上升沿捕获		  
+				TIM8CH3_CAPTURE_STA = 0; //Capture flag bit to zero	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				TIM_OC3PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>		  
 			}
 			else 
 			{
 				//When the capture time occurs but not the falling edge, the first time the rising edge is captured, record the timer value at this time
-				//发生捕获时间但不是下降沿，第一次捕获到上升沿，记录此时的定时器计数值
-				TIM8CH3_CAPTURE_UPVAL = TIM_GetCapture3(TIM8); //Obtain rising edge data //获取上升沿数据
-				TIM8CH3_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //标记已捕获到上升沿
-				TIM_OC3PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //设置为下降沿捕获
+				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>䵫<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>β<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD>ʱ<EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+				TIM8CH3_CAPTURE_UPVAL = TIM_GetCapture3(TIM8); //Obtain rising edge data //<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				TIM8CH3_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ѳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				TIM_OC3PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>½<EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>
 			}
 		}
 	}
 //	

-		//Channel 4 //通道四
+		//Channel 4 //ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 		if ((TIM8CH4_CAPTURE_STA & 0X80) == 0)		
 		{
-			if (TIM_GetITStatus(TIM8, TIM_IT_CC4) != RESET)	//A capture event occurred on channel 4 //通道4发生捕获事件
+			if (TIM_GetITStatus(TIM8, TIM_IT_CC4) != RESET)	//A capture event occurred on channel 4 //ͨ<EFBFBD><EFBFBD>4<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD>
 			{
-				TIM_ClearITPendingBit(TIM8, TIM_IT_CC4); //Clear the interrupt flag bit //清除中断标志位
-				if (TIM8CH4_CAPTURE_STA & 0X40)	//A falling edge is caught //捕获到一个下降沿
+				TIM_ClearITPendingBit(TIM8, TIM_IT_CC4); //Clear the interrupt flag bit //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־λ
+				if (TIM8CH4_CAPTURE_STA & 0X40)	//A falling edge is caught //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD><EFBFBD>
 				{
-					TIM8CH4_CAPTURE_DOWNVAL = TIM_GetCapture4(TIM8); //Record the timer value at this point //记录下此时的定时器计数值
+					TIM8CH4_CAPTURE_DOWNVAL = TIM_GetCapture4(TIM8); //Record the timer value at this point //<EFBFBD><EFBFBD>¼<EFBFBD>´<EFBFBD>ʱ<EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
 					if (TIM8CH4_CAPTURE_DOWNVAL < TIM8CH4_CAPTURE_UPVAL)
 					{
 						TIM8_T4 = 9999;
 					}
 					else
 						TIM8_T4 = 0;
-					Remoter_Ch4 = TIM8CH4_CAPTURE_DOWNVAL - TIM8CH4_CAPTURE_UPVAL + TIM8_T4; //Time to get the total high level //得到总的高电平的时间
-					if(abs(Remoter_Ch4-L_Remoter_Ch4)>500)Remoter_Ch4=L_Remoter_Ch4; //Filter //滤波
+					Remoter_Ch4 = TIM8CH4_CAPTURE_DOWNVAL - TIM8CH4_CAPTURE_UPVAL + TIM8_T4; //Time to get the total high level //<EFBFBD>õ<EFBFBD><EFBFBD>ܵĸߵ<EFBFBD>ƽ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
+					if(abs(Remoter_Ch4-L_Remoter_Ch4)>500)Remoter_Ch4=L_Remoter_Ch4; //Filter //<EFBFBD>˲<EFBFBD>
 					L_Remoter_Ch4=Remoter_Ch4;				
-					TIM8CH4_CAPTURE_STA = 0; //Capture flag bit to zero	//捕获标志位清零
-					TIM_OC4PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //设置为上升沿捕获		  
+					TIM8CH4_CAPTURE_STA = 0; //Capture flag bit to zero	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+					TIM_OC4PolarityConfig(TIM8, TIM_ICPolarity_Rising); //Set to rising edge capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>		  
 				}
 				else 
 				{
 					//When the capture time occurs but not the falling edge, the first time the rising edge is captured, record the timer value at this time
-				  //发生捕获时间但不是下降沿，第一次捕获到上升沿，记录此时的定时器计数值
-					TIM8CH4_CAPTURE_UPVAL = TIM_GetCapture4(TIM8); //Obtain rising edge data //获取上升沿数据
-					TIM8CH4_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //标记已捕获到上升沿
-					TIM_OC4PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //设置为下降沿捕获
+				  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>䵫<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>β<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD>ʱ<EFBFBD>Ķ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+					TIM8CH4_CAPTURE_UPVAL = TIM_GetCapture4(TIM8); //Obtain rising edge data //<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+					TIM8CH4_CAPTURE_STA |= 0X40; //The flag has been caught on the rising edge //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ѳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+					TIM_OC4PolarityConfig(TIM8, TIM_ICPolarity_Falling); //Set to Falling Edge Capture //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>½<EFBFBD><EFBFBD>ز<EFBFBD><EFBFBD><EFBFBD>
 				}
 			}
 		}
@@ -312,25 +312,25 @@ void TIM8_CC_IRQHandler(void)
 Function: TIM1 Update Interrupt
 Input   : none
 Output  : none
-函数功能：定时器8更新中断
-入口参数：无
-返回  值：无 
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>8<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
+<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD>  ֵ<><D6B5><EFBFBD><EFBFBD> 
 **************************************************************************/
 void TIM8_UP_TIM13_IRQHandler(void) 
 { 
 	//Clear the interrupt flag bit
-	//清除中断标志位 
+	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<EFBFBD>־λ 
  TIM8->SR&=~(1<<0);	    
 }

 void TIM8_SERVO_Init(u16 arr,u16 psc)
 {
 	GPIO_InitTypeDef GPIO_InitStructure;           //IO
-	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //定时器
-	TIM_OCInitTypeDef  TIM_OCInitStructure;        //PWM输出
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
+	TIM_OCInitTypeDef  TIM_OCInitStructure;        //PWM<EFBFBD><EFBFBD><EFBFBD>
 	
-	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE);  	//TIM1时钟使能    
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); 	//使能PORTE时钟	
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8,ENABLE);  	//TIM1ʱ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>    
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); 	//ʹ<EFBFBD><EFBFBD>PORTEʱ<EFBFBD><EFBFBD>	
 		
 	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF; 
 	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9;
@@ -345,55 +345,55 @@ void TIM8_SERVO_Init(u16 arr,u16 psc)
 	GPIO_PinAFConfig(GPIOC,GPIO_PinSource9,GPIO_AF_TIM8); 


-	/*** Initialize timer 1 || 初始化定时器1 ***/
-	//Set the counter to automatically reload //设定计数器自动重装值 
+	/*** Initialize timer 1 || <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>1 ***/
+	//Set the counter to automatically reload //<EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD>װֵ 
 	TIM_TimeBaseStructure.TIM_Period = arr; 
-	//Pre-divider //预分频器 
+	//Pre-divider //Ԥ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD> 
 	TIM_TimeBaseStructure.TIM_Prescaler = psc; 	
-	//Set the clock split: TDTS = Tck_tim //设置时钟分割:TDTS = Tck_tim
+	//Set the clock split: TDTS = Tck_tim //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ӷָ<EFBFBD>:TDTS = Tck_tim
 	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; 
-	//TIM up count mode //TIM向上计数模式	
+	//TIM up count mode //TIM<EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD><EFBFBD><EFBFBD>ģʽ	
 	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; 
 	//Initializes the timebase unit for TIMX based on the parameter specified in TIM_TimeBaseInitStruct
-	//根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
+	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIM_TimeBaseInitStruct<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>Ĳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>TIMx<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
 	TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure); 


-	//-----------舵机初始化-----------//
+	//-----------<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>-----------//
 	//Select Timer mode :TIM Pulse Width Modulation mode 1
-  //选择定时器模式:TIM脉冲宽度调制模式1
+  //ѡ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ģʽ:TIM<49><4D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȵ<EFBFBD><C8B5><EFBFBD>ģʽ1
 	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; 
 	//Compare output enablement
-	//比较输出使能
+	//<EFBFBD>Ƚ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; 
 	//Set the pulse value of the capture comparison register to be loaded
-	//设置待装入捕获比较寄存器的脉冲值
+	//<EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD>װ<EFBFBD>벶<EFBFBD><EFBFBD>ȽϼĴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
 	TIM_OCInitStructure.TIM_Pulse = 0; 
  //Output polarity :TIM output polarity is higher	
-  //输出极性:TIM输出比较极性高	
+  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:TIM<49><4D><EFBFBD><EFBFBD>Ƚϼ<C8BD><CFBC>Ը<EFBFBD>	
 	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;   
 	TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;   
 	
 	//Initialize the peripheral TIMX based on the parameter specified in TIM_OCINITSTRUCT
-  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx	
+  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIM_OCInitStruct<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>Ĳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIMx	
 	TIM_OC1Init(TIM8, &TIM_OCInitStructure); 
 	TIM_OC2Init(TIM8, &TIM_OCInitStructure); 
 	TIM_OC3Init(TIM8, &TIM_OCInitStructure); 
 	TIM_OC4Init(TIM8, &TIM_OCInitStructure); 
 	//Channel preload enable
-	//通道预装载使能	 
+	//ͨ<EFBFBD><EFBFBD>Ԥװ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>	 
 	TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
 	TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
 	TIM_OC3PreloadConfig(TIM8, TIM_OCPreload_Enable);
 	TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);
-	//-----------舵机初始化-----------//
+	//-----------<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>-----------//

 	TIM_CtrlPWMOutputs(TIM8,ENABLE); 	
-	//Enable timer //使能定时器
+	//Enable timer //ʹ<EFBFBD>ܶ<EFBFBD>ʱ<EFBFBD><EFBFBD>
 	TIM_Cmd(TIM8, ENABLE); 		 

  //The channel value is initialized to 1500, corresponding to the steering gear zero
-	//通道值初始化为1500，舵机零点对应值
+	//ͨ<EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>Ϊ1500<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӧֵ
 //	TIM8->CCR1=1500;
 //	TIM8->CCR2=1500;
 //	TIM8->CCR3=1500;
@@ -404,11 +404,11 @@ void TIM8_SERVO_Init(u16 arr,u16 psc)
 void TIM12_SERVO_Init(u16 arr,u16 psc)
 {
 	GPIO_InitTypeDef GPIO_InitStructure;           //IO
-	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //定时器
-	TIM_OCInitTypeDef  TIM_OCInitStructure;        //PWM输出
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; //<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
+	TIM_OCInitTypeDef  TIM_OCInitStructure;        //PWM<EFBFBD><EFBFBD><EFBFBD>
 	
-	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12,ENABLE);  	//TIM1时钟使能    
-	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); 	//使能PORTE时钟	
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12,ENABLE);  	//TIM1ʱ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>    
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); 	//ʹ<EFBFBD><EFBFBD>PORTEʱ<EFBFBD><EFBFBD>	
 		
 	GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF; 
 	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_14|GPIO_Pin_15;
@@ -421,48 +421,48 @@ void TIM12_SERVO_Init(u16 arr,u16 psc)
 	GPIO_PinAFConfig(GPIOB,GPIO_PinSource15,GPIO_AF_TIM12); 


-	/*** Initialize timer 1 || 初始化定时器1 ***/
-	//Set the counter to automatically reload //设定计数器自动重装值 
+	/*** Initialize timer 1 || <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>1 ***/
+	//Set the counter to automatically reload //<EFBFBD>趨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD>װֵ 
 	TIM_TimeBaseStructure.TIM_Period = arr; 
-	//Pre-divider //预分频器 
+	//Pre-divider //Ԥ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD> 
 	TIM_TimeBaseStructure.TIM_Prescaler = psc; 	
-	//Set the clock split: TDTS = Tck_tim //设置时钟分割:TDTS = Tck_tim
+	//Set the clock split: TDTS = Tck_tim //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ӷָ<EFBFBD>:TDTS = Tck_tim
 	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; 
-	//TIM up count mode //TIM向上计数模式	
+	//TIM up count mode //TIM<EFBFBD><EFBFBD><EFBFBD>ϼ<EFBFBD><EFBFBD><EFBFBD>ģʽ	
 	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; 
 	//Initializes the timebase unit for TIMX based on the parameter specified in TIM_TimeBaseInitStruct
-	//根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
+	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIM_TimeBaseInitStruct<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>Ĳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>TIMx<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
 	TIM_TimeBaseInit(TIM12, &TIM_TimeBaseStructure); 


-	//-----------舵机初始化-----------//
+	//-----------<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>-----------//
 	//Select Timer mode :TIM Pulse Width Modulation mode 1
-  //选择定时器模式:TIM脉冲宽度调制模式1
+  //ѡ<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ģʽ:TIM<49><4D><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȵ<EFBFBD><C8B5><EFBFBD>ģʽ1
 	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; 
 	//Compare output enablement
-	//比较输出使能
+	//<EFBFBD>Ƚ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>
 	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; 
 	//Set the pulse value of the capture comparison register to be loaded
-	//设置待装入捕获比较寄存器的脉冲值
+	//<EFBFBD><EFBFBD><EFBFBD>ô<EFBFBD>װ<EFBFBD>벶<EFBFBD><EFBFBD>ȽϼĴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
 	TIM_OCInitStructure.TIM_Pulse = 0; 
  //Output polarity :TIM output polarity is higher	
-  //输出极性:TIM输出比较极性高	
+  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:TIM<49><4D><EFBFBD><EFBFBD>Ƚϼ<C8BD><CFBC>Ը<EFBFBD>	
 	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;   
 	TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;   
 	
 	//Initialize the peripheral TIMX based on the parameter specified in TIM_OCINITSTRUCT
-  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx	
+  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIM_OCInitStruct<EFBFBD><EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD>Ĳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>TIMx	
 	TIM_OC1Init(TIM12, &TIM_OCInitStructure); 
 		TIM_OC2Init(TIM12, &TIM_OCInitStructure); 
 	//Channel preload enable
-	//通道预装载使能	 
+	//ͨ<EFBFBD><EFBFBD>Ԥװ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>	 
 	TIM_OC1PreloadConfig(TIM12, TIM_OCPreload_Enable);
 		TIM_OC2PreloadConfig(TIM12, TIM_OCPreload_Enable);
-	//-----------舵机初始化-----------//
+	//-----------<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>-----------//


 	TIM_CtrlPWMOutputs(TIM12,ENABLE); 	
-	//Enable timer //使能定时器
+	//Enable timer //ʹ<EFBFBD>ܶ<EFBFBD>ʱ<EFBFBD><EFBFBD>
 	TIM_Cmd(TIM12, ENABLE); 		 

  //Initialize both servo channels to the configured steering center.
@@ -471,3 +471,83 @@ void TIM12_SERVO_Init(u16 arr,u16 psc)

 }

+/**************************************************************************
+Function: Free-running microsecond time base for sensor timestamps
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD>΢<EFBFBD>뼶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>׼
+TIM7 counts at 1 MHz (1 tick = 1 us) and wraps every 65.536 ms. An update
+interrupt increments a 32-bit high word, extending the clock to 48 usable
+bits (~8.9 years) that only ever counts up. Timers TIM2-TIM5 are taken by
+the encoders and TIM8 by input capture, so TIM7 is the free APB1 timer.
+TIM7 <20><> 1MHz <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 65.536ms <20><><EFBFBD>ƣ<EFBFBD><C6A3><EFBFBD><EFBFBD>¸<EFBFBD><C2B8>ж<EFBFBD><D0B6><EFBFBD>λ<EFBFBD><CEBB> 32λ<32><CEBB><EFBFBD>ָߣ<D6B8>
+<EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD>ֻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>䡣TIM2~TIM5 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>TIM8 <20><><EFBFBD>벶<EFBFBD><EBB2B6><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>
+<EFBFBD><EFBFBD> TIM7 <20><><EFBFBD>С<EFBFBD>
+**************************************************************************/
+static volatile uint32_t g_time_high = 0;
+
+void TIM7_Init(void)
+{
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+	NVIC_InitTypeDef NVIC_InitStructure;
+
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
+
+	//APB1 timer clock = 84 MHz, prescaler 84 -> 1 MHz (1 us per tick).
+	//APB1 <20><>ʱ<EFBFBD><CAB1>ʱ<EFBFBD><CAB1> 84MHz<48><7A>Ԥ<EFBFBD><D4A4>Ƶ 84 -> 1MHz<48><7A>ÿ<EFBFBD><C3BF><EFBFBD><EFBFBD> 1us<75><73>
+	TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
+	TIM_TimeBaseStructure.TIM_Prescaler = 84 - 1;
+	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
+	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+	TIM_TimeBaseInit(TIM7, &TIM_TimeBaseStructure);
+
+	TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
+	TIM_ITConfig(TIM7, TIM_IT_Update, ENABLE);
+
+	//Keep the overflow ISR below configMAX_SYSCALL_INTERRUPT_PRIORITY so it
+	//never calls FreeRTOS APIs; it only bumps a counter.
+	//<2F>жϲ<D0B6><CFB2><EFBFBD><EFBFBD><EFBFBD> FreeRTOS API<50><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȼ<EFBFBD><C8BC>ϵͣ<CFB5><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȿ<EFBFBD><C8BF>ơ<EFBFBD>
+	NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 5;
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+	NVIC_Init(&NVIC_InitStructure);
+
+	TIM_Cmd(TIM7, ENABLE);
+}
+
+void TIM7_IRQHandler(void)
+{
+	if(TIM_GetITStatus(TIM7, TIM_IT_Update) != RESET)
+	{
+		TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
+		g_time_high++;
+	}
+}
+
+/**************************************************************************
+Function: Read the 64-bit monotonic microsecond timestamp
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ȡ 64λ<34><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>΢<EFBFBD><CEA2>ʱ<EFBFBD><CAB1><EFBFBD>
+Glitch-free composition: re-read the high word around CNT and, if the
+update flag is pending while CNT is still low, account for the overflow
+that the ISR has not serviced yet.
+<EFBFBD><EFBFBD>ֹ<EFBFBD><EFBFBD>϶<EFBFBD><EFBFBD><EFBFBD>ѣ<EFBFBD><EFBFBD><EFBFBD> CNT <20><>Χ<EFBFBD><CEA7><EFBFBD>ζ<EFBFBD><CEB6>߰<EFBFBD><DFB0>֣<EFBFBD><D6A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ط<EFBFBD><D8B7><EFBFBD><EFBFBD><EFBFBD> CNT <20><>ϵ<EFBFBD>ͣ<EFBFBD>
+˵<EFBFBD><EFBFBD> ISR <20><>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD>ûأ<C3BB><D8A3>ֶ<EFBFBD><D6B6><EFBFBD>λ<EFBFBD><CEBB>
+**************************************************************************/
+uint64_t mcu_time_us(void)
+{
+	uint32_t high1, high2, cnt, sr;
+
+	do {
+		high1 = g_time_high;
+		cnt = TIM7->CNT;
+		sr = TIM7->SR;
+		high2 = g_time_high;
+	} while(high1 != high2);
+
+	//Overflow happened but the update ISR has not run yet.
+	//<2F>ѻ<EFBFBD><D1BB>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD>¸<EFBFBD><C2B8>ж<EFBFBD><D0B6><EFBFBD>δִ<CEB4>С<EFBFBD>
+	if((sr & TIM_SR_UIF) && cnt < 0x8000U)
+		high1++;
+
+	return ((uint64_t)high1 << 16) | cnt;
+}
+
--- a/HARDWARE/timer.h
+++ b/HARDWARE/timer.h
@@ -4,6 +4,8 @@
 void TIM8_Cap_Init(u16 arr, u16 psc);
 void TIM12_SERVO_Init(u16 arr,u16 psc);
 void TIM8_SERVO_Init(u16 arr,u16 psc);
+void TIM7_Init(void);
+uint64_t mcu_time_us(void);

 extern int L_Remoter_Ch1,L_Remoter_Ch2,L_Remoter_Ch3,L_Remoter_Ch4;
 extern int Remoter_Ch1,Remoter_Ch2,Remoter_Ch3,Remoter_Ch4;
--- a/HARDWARE/usartx.c
+++ b/HARDWARE/usartx.c
--- a/HARDWARE/usartx.h
+++ b/HARDWARE/usartx.h
@@ -10,33 +10,41 @@

 #define FRAME_HEADER      0X7B //Frame_header //֡ͷ
 #define FRAME_TAIL        0X7D //Frame_tail   //֡β
-#define SEND_DATA_SIZE    24
+//Frame grew 24 -> 44: appended session_id(4) + two 64-bit sample
+//timestamps(8+8) before the checksum/tail. Bytes 0..21 keep the legacy
+//layout so old parsers stay compatible; new fields live in the tail.
+//֡<><D6A1> 24 -> 44<34><34><EFBFBD><EFBFBD>У<EFBFBD><D0A3>/֡βǰ׷<C7B0><D7B7><EFBFBD><EFBFBD> session_id(4) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 64λ<34><CEBB><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>(8+8)<29><>
+//<2F>ֽ<EFBFBD> 0..21 <20><><EFBFBD>ֽ<EFBFBD>ϲ<EFBFBD><CFB2>֣<EFBFBD><D6A3>¾ֽ<C2BE><D6BD><EFBFBD>β<EFBFBD><CEB2><EFBFBD><EFBFBD>
+#define SEND_DATA_SIZE    44
 #define RECEIVE_DATA_SIZE 11

 /*****A structure for storing triaxial data of a gyroscope accelerometer*****/
-/*****用于存放陀螺仪加速度计三轴数据的结构体*********************************/
+/*****<EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><EFBFBD>ٶȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĽṹ<EFBFBD><EFBFBD>*********************************/
 typedef struct __Mpu6050_Data_ 
 {
-	short X_data; //2 bytes //2个字节
-	short Y_data; //2 bytes //2个字节
-	short Z_data; //2 bytes //2个字节
+	short X_data; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+	short Y_data; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+	short Z_data; //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
 }Mpu6050_Data;

 /*******The structure of the serial port sending data************/
-/*******串口发送数据的结构体*************************************/
+/*******<EFBFBD><EFBFBD><EFBFBD>ڷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĽṹ<EFBFBD><EFBFBD>*************************************/
 typedef struct _SEND_DATA_  
 {
 	unsigned char buffer[SEND_DATA_SIZE];
 	struct _Sensor_Str_
 	{
-		unsigned char Frame_Header; //1个字节
-		short X_speed;	            //2 bytes //2个字节
-		short Y_speed;              //2 bytes //2个字节
-		short Z_speed;              //2 bytes //2个字节
-		short Power_Voltage;        //2 bytes //2个字节
-		Mpu6050_Data Accelerometer; //6 bytes //6个字节
-		Mpu6050_Data Gyroscope;     //6 bytes //6个字节	
-		unsigned char Frame_Tail;   //1 bytes //1个字节
+		unsigned char Frame_Header; //1<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		short X_speed;	            //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		short Y_speed;              //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		short Z_speed;              //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		short Power_Voltage;        //2 bytes //2<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		Mpu6050_Data Accelerometer; //6 bytes //6<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		Mpu6050_Data Gyroscope;     //6 bytes //6<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		unsigned int  Session_Id;         //4 bytes: MCU boot session ID //<2F><>MCU<43><55><EFBFBD><EFBFBD><EFBFBD>ỰID
+		unsigned long long Speed_Time_us; //8 bytes: encoder sample time //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+		unsigned long long Imu_Time_us;   //8 bytes: IMU sample time //IMU<4D><55><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+		unsigned char Frame_Tail;   //1 bytes //1<><31><EFBFBD>ֽ<EFBFBD>
 	}Sensor_Str;
 }SEND_DATA;

@@ -45,14 +53,21 @@ typedef struct _RECEIVE_DATA_
 	unsigned char buffer[RECEIVE_DATA_SIZE];
 	struct _Control_Str_
 	{
-		unsigned char Frame_Header; //1 bytes //1个字节
-		float X_speed;	            //4 bytes //4个字节
-		float Y_speed;              //4 bytes //4个字节
-		float Z_speed;              //4 bytes //4个字节
-		unsigned char Frame_Tail;   //1 bytes //1个字节
+		unsigned char Frame_Header; //1 bytes //1<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		float X_speed;	            //4 bytes //4<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		float Y_speed;              //4 bytes //4<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		float Z_speed;              //4 bytes //4<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
+		unsigned char Frame_Tail;   //1 bytes //1<EFBFBD><EFBFBD><EFBFBD>ֽ<EFBFBD>
 	}Control_Str;
 }RECEIVE_DATA;

+//Sample timestamps captured at acquisition time by their owning tasks, and
+//the per-boot session ID. Read by data_transition() when packing the frame.
+//<2F>ɸ<EFBFBD><C9B8>Բɼ<D4B2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵͳ<CFB5><CDB3><EFBFBD>лỰID<49><44>
+//<2F><> data_transition() <20><><EFBFBD>֡ʱ<D6A1><CAB1>ȡ<EFBFBD><C8A1>
+extern volatile unsigned long long g_speed_sample_time_us;
+extern volatile unsigned long long g_imu_sample_time_us;
+extern volatile unsigned int g_session_id;

 void data_task(void *pvParameters);
 void data_transition(void);
@@ -64,6 +79,7 @@ void CAN_SEND(void);
 void uart1_init(u32 bound);
 void uart2_init(u32 bound);
 void uart3_init(u32 bound);
+void uart3_dma_tx_init(void);
 void uart5_init(u32 bound);

 int USART1_IRQHandler(void);
--- a/3
+++ b/3
@@ -31,7 +31,8 @@ FWLIB_SRC := \
  FWLIB/src/misc.c FWLIB/src/stm32f4xx_gpio.c FWLIB/src/stm32f4xx_rcc.c \
  FWLIB/src/stm32f4xx_syscfg.c FWLIB/src/stm32f4xx_usart.c \
  FWLIB/src/stm32f4xx_adc.c FWLIB/src/stm32f4xx_can.c \
-  FWLIB/src/stm32f4xx_tim.c FWLIB/src/stm32f4xx_pwr.c
+  FWLIB/src/stm32f4xx_tim.c FWLIB/src/stm32f4xx_pwr.c \
+  FWLIB/src/stm32f4xx_dma.c

 FREERTOS_SRC := \
  FreeRTOS/croutine.c FreeRTOS/event_groups.c FreeRTOS/list.c \
--- a/doc/ackermann_steering_calibration.md
+++ b/doc/ackermann_steering_calibration.md
@@ -0,0 +1,374 @@
+# 阿克曼转向标定与拟合说明
+
+本文记录阿克曼小车「(Vx, Vz) → 舵机 PWM + 左右后轮速度」控制律的标定数据、
+拟合方法、单位约定，三种控制模式（标定运动学 / 直接映射 / 横摆闭环），以及
+串口通信（200 Hz DMA 发送、921600 波特率）。对应代码：
+- 控制律：`BALANCE/balance.c` 的 `Akm_Car` 分支，
+  `Akm_Curvature_To_Servo()`（拟合）与 `Akm_Norm_To_Servo()`（直接满行程映射）。
+- 开关宏：`BALANCE/robot_select_init.h`；舵机直行点 `SERVO_INIT` 在 `HARDWARE/motor.h`。
+- 串口：`HARDWARE/usartx.c`（`data_task` / `USART3_SEND` / `uart3_dma_tx_init`），
+  波特率在 `BALANCE/system.c` 的 `systemInit`。
+
+## 1. 硬件与坐标约定
+
+- 后驱阿克曼：`MOTOR_A` = 左后轮，`MOTOR_B` = 右后轮，前轮由舵机（TIM12 CCR2）转向。
+- 输入语义（上位机下发）：
+  - `Vx` = 后轴中心线速度，单位 m/s。
+  - `Vz` = 绕转弯中心的旋转角速度 wz，单位 rad/s。
+- 符号约定：
+  - 上位机 `Vz` 遵循 ROS 约定：**Vz > 0 = 逆时针 = 左转**。
+  - 标定表 / 舵机拟合使用相反符号：**曲率 κ > 0 = 右转**。
+  - 代码中 `kappa_fit = -Vz/Vx`，使 `Vz > 0` 得到 `kappa_fit < 0`（左转），
+    与拟合域一致。
+
+## 2. 标定方法（手推法）
+
+电机失能、舵机使能，手动推动小车走出稳定圆弧，对每个舵机 PWM 记录：
+
+- `y 向半截距`（弧对应的纵向半截距，cm）
+- `x 向半弓高`（弦的矢高 / 半弓高，cm）
+- 由几何反推后轴中心转弯半径 `R`（cm）与 `1/R`
+
+x 向半弓高的符号用于判定左右：PWM > ~1670 为右转（κ 取正），
+低于该点为左转（κ 取负）。
+
+### 三个"中位"值（易混，务必区分）
+
+| 名称 | 值 | 含义 | 代码位置 |
+|------|---:|------|----------|
+| 遥控 CH1 中位 | 1500 | 遥控摇杆物理中点 | `AKM_REMOTER_CH1_MID`（balance.c） |
+| 舵机机械中位 | 1600 | 舵机行程几何中点 (MIN+MAX)/2 | —（不再直接使用） |
+| **直行点 SERVO_INIT** | **1670** | **实测 1/R≈0、车真正走直线的点** | `SERVO_INIT`（motor.h:52） |
+
+关键：**所有控制律的舵机中位都对齐到 `SERVO_INIT = 1670`**（真正的直行点），
+而非机械中位 1600。开机上电、Mode 1 / Mode 2 的零位、CH1 覆盖都以它为基准：
+- CH1 覆盖时舵机 = `Remoter_Ch1 + (SERVO_INIT - AKM_REMOTER_CH1_MID)`，即整体
+  平移 `1670 - 1500 = +170`，使摇杆居中 = 车轮回正。
+- 改 `SERVO_INIT` 一处，下游所有路径自动对齐。
+
+### 原始标定数据
+
+| servo(pwm) | y半截距/cm | x半弓高/cm | R/cm | 1/R (1/cm) |
+|-----------:|----------:|----------:|-----:|-----------:|
+| 2000 | 34    | 34   | 34.00   | 0.029412 |
+| 1900 | 52.5  | 49.5 | 52.59   | 0.019015 |
+| 1800 | 90    | 60   | 97.50   | 0.010256 |
+| 1700 | 167.2 | 60   | 262.97  | 0.003803 |
+| 1670 | 120   | -1   | 7200.5  | 0.000139 |
+| 1600 | 120   | -23  | 324.54  | 0.003081 |
+| 1500 | 89    | -60  | 96.01   | 0.010416 |
+| 1400 | 61    | -60  | 61.01   | 0.016391 |
+| 1300 | 43    | -44  | 43.01   | 0.023250 |
+| 1200 | 35.5  | -34.3| 35.52   | 0.028152 |
+| 1100 | 30    | -28.9| 30.02   | 0.033310 |
+
+> 直行点约在 PWM 1670（1/R ≈ 0，x 半弓高 ≈ 0），并非舵机机械中位 1600。
+
+## 3. 单位换算（关键，曾导致 100 倍错误）
+
+标定表 `1/R` 列以 **1/cm** 为单位（R 用厘米）。而代码里的曲率来自
+`kappa = wz / Vx`（均为 SI），单位是 **1/m**。两者相差 100 倍。
+
+拟合前必须把 R 从 cm 换算为 m，再取 `kappa = 1/R_m`（并带符号）：
+
+| servo | kappa (1/m, +=右) |
+|------:|------------------:|
+| 2000  | +2.9412 |
+| 1900  | +1.9015 |
+| 1800  | +1.0256 |
+| 1700  | +0.3803 |
+| 1670  | +0.0139 |
+| 1600  | -0.3081 |
+| 1500  | -1.0416 |
+| 1400  | -1.6391 |
+| 1300  | -2.3250 |
+| 1200  | -2.8152 |
+| 1100  | -3.3310 |
+
+- 曲率量程：κ ∈ [−3.331, +2.941] 1/m。
+- 最小转弯半径 R_min ≈ 0.30 m（左）/ 0.34 m（右）。
+- 代码中 `AKM_KAPPA_MAX = 3.331f`。
+
+## 4. 拟合方法与结果
+
+以 `servo = f(kappa)`（kappa 为自变量，1/m）做多项式最小二乘。
+比较一/二/三次，并用留一交叉验证（LOO）评估对未见点的泛化：
+
+| 拟合 | 全量 max残差 | 全量 rms | LOO max误差 | LOO rms |
+|------|-----------:|--------:|----------:|-------:|
+| 一次 | 56.8 | 28.3 | — | — |
+| 二次 | 12.3 | 7.6 | 15.1 | 10.2 |
+| 三次 | 12.6 | 7.5 | — | — |
+
+结论：**二次拟合最优**。三次不再改善（过拟合），一次残差过大。
+
+### 最终系数（1/m 单位）
+
+```
+servo = 1656.373 + 140.548 * kappa - 7.654 * kappa^2
+```
+
+代码宏（`BALANCE/balance.c`）：
+
+```c
+#define AKM_SERVO_C0   1656.373f
+#define AKM_SERVO_C1    140.548f
+#define AKM_SERVO_C2     (-7.654f)
+#define AKM_SERVO_MIN   1100
+#define AKM_SERVO_MAX   2000
+#define AKM_KAPPA_MAX   3.331f
+```
+
+### 为什么用拟合而非查表 + 线性插值
+
+- 数据是手推测得，含测量噪声。查表被迫穿过每个噪声点，两点间直线段会
+  放大噪声；LOO 显示查表 max 误差 23 / rms 14，明显差于二次拟合（15 / 10）。
+- 拟合在端点外推时形状正确（曲线两端明显弯），线性插值只能按最后一段
+  斜率外推，越推越偏。
+- 拟合在节点处平滑，无斜率突变；运行成本仅两次乘加，比查找区间还省。
+
+### 轴距 L 去哪了
+
+标定表端到端直接测了 `servo → R`，已把「舵机 PWM → 前轮转角 →
+`R = L/tan(δ)`」整条链路及传动比、轮胎侧偏等真实效应吸收进拟合系数。
+因此无需再显式写 `R = Axle_spacing/tan(δ)`（那反而依赖不准的假设传动比）。
+后轮差速只用轮距 track 与 κ，本就不含 L。阿克曼几何没有丢，而是以更贴合
+实车的实测形式嵌入拟合。
+
+## 5. 控制律（Mode 0：标定运动学，默认）
+
+`AKM_DIRECT_MAP = 0` 时：
+
+```
+kappa_geom = Vz / Vx            (Vx≈0 时置 0，阿克曼无前进不能转向)
+kappa_fit  = clamp(-kappa_geom, ±AKM_KAPPA_MAX)
+Servo      = f(kappa_fit)                          # 二次拟合
+MOTOR_A(左) = Vx * (1 + 0.5*track*kappa_fit)       # 后轮差速
+MOTOR_B(右) = Vx * (1 - 0.5*track*kappa_fit)
+```
+
+物理特性：舵机角只决定转弯半径 R = 1/κ。
+- 固定舵机角、改 Vx → wz 随之变（走同一圆，快慢不同）。
+- 固定 wz、改 Vx → κ = wz/Vx 变 → 舵机角变（正确行为）。
+
+### Vx–wz 可行域（κ_max ≈ 3.33 /m）
+
+`|wz| <= Vx * κ_max`：
+
+| Vx (m/s) | 可用 wz 范围 (rad/s) |
+|---------:|:--------------------|
+| 0.2 | [−0.67, 0.67] |
+| 0.3 | [−1.00, 1.00] |
+| 0.5 | [−1.67, 1.67] |
+| 1.0 | [−3.33, 3.33] |
+
+> 例：固定 wz=0.12，需 Vx ≥ 0.036 m/s 才不被夹紧。之前 `AKM_KAPPA_MAX`
+> 误设为 0.0334（对应 R≈30 m）导致任何速度下都被夹死、改速度舵机不动，
+> 已随单位修正解决。
+
+## 6. 控制律（Mode 1：直接映射，调试用）
+
+`AKM_DIRECT_MAP = 1` 时（脱离阿克曼物理，用于隔离调试舵机/电机）：
+
+```
+vz_norm = clamp(Vz / AKM_DIRECT_VZ_FULL, ±1)
+Servo   = Akm_Norm_To_Servo(vz_norm)     # 以 SERVO_INIT 为零位的分段满行程映射
+MOTOR_A(左) = Vx                          # 无差速
+MOTOR_B(右) = Vx
+```
+
+- `Vz` 线性铺满整个舵机行程 [AKM_SERVO_MIN, AKM_SERVO_MAX]，与速度无关。
+- **零位对齐直行点**：`Akm_Norm_To_Servo` 以 `SERVO_INIT=1670`（而非机械中位
+  1600）为中心，左右两侧各自缩放到自己的端点，即使中位偏置也能用满全行程：
+  ```
+  span = (norm>=0) ? (SERVO_INIT - AKM_SERVO_MIN)   # 左侧行程 1670-1100=570
+                   : (AKM_SERVO_MAX - SERVO_INIT)   # 右侧行程 2000-1670=330
+  Servo = SERVO_INIT - norm * span
+  ```
+- `Vz > 0`（左）→ `norm>0` → 靠近 AKM_SERVO_MIN（左端），符号与 ROS 一致。
+- `Vx` 原样给左右电机，不做曲率/差速运算。
+- 满量程输入由 `AKM_DIRECT_VZ_FULL`（默认 **1.0 rad/s**）设定。
+
+> **`AKM_DIRECT_VZ_FULL` 的物理含义** = 上位机会发的最大 angular.z，Vz 到该值时
+> 舵机打满。它只决定"Vz→行程"的比例，不改变峰值转角（峰值由舵机端点 1100/2000
+> 决定，恒为 ~28°左 / 25°右）。太小→小 Vz 就饱和、失去比例控制；太大→常用区间
+> 只用到一小段行程、转角偏小。当前定为 1.0（Vz=±1.0 打满），把行程摊到 ±1 rad/s
+> 全区间，规划分辨率比 0.5 时翻倍。Vz 在 RX 中断里以 rad/s 到达
+> （usartx.c `XYZ_Target_Speed_transition`: raw/1000）。
+
+## 7. 控制律（Mode 2：横摆角速度闭环 / 简化扭矩矢量）
+
+`AKM_DIRECT_MAP = 0` 且 `AKM_YAW_ASSIST = 1` 时启用。
+
+**动机（为什么要有 Mode 2）**：Mode 0 里 `κ = Vz/Vx`，同一个转向指令 `Vz` 在
+高速时曲率被 `Vx` 除小，舵机自动回正 —— 这就是"高速转弯打不动"的根源。Mode 2
+**主动解耦 w 与 v**：舵机由 `Vz` 直接决定（与 Mode 1 一样，不再除以 Vx），
+所以大 `Vz` 在任何速度都给出大前轮角；阿克曼只作为后轮差速的**前馈参考**，
+再叠加 IMU 横摆角速度 PI 闭环（简化扭矩矢量）。控制链路：
+
+```
+Vz ─(直接满行程映射, 与Vx无关)→ 舵机主转向 Akm_Norm_To_Servo   ← 方向主控，解耦
+Vx ───────────────────────────→ 左右轮基速                      ← 驱动主控，解耦
+(Vx, κ_cmd) ─(阿克曼几何)→ r_ref ─→ 后轮差速前馈 + IMU PI          ← akm 仅做前馈
+```
+
+计算（fit 域 κ>0=右；ROS Vz>0=左=CCW；r>0=左转）：
+
+```
+vz_norm = clamp(Vz / AKM_DIRECT_VZ_FULL, ±1)   # 转向指令，不含 Vx —— 关键解耦点
+Servo   = Akm_Norm_To_Servo(vz_norm)          # 与 Mode 1 完全相同的满行程直接映射
+                                              # 以 SERVO_INIT 为零位，不走拟合曲线
+κ_cmd   = -vz_norm * AKM_KAPPA_MAX             # 仅用于构造下方前馈参考，不驱动舵机
+
+r_ref   = -κ_cmd * Vx                         # 阿克曼几何前馈的期望横摆角速度
+r_meas  = AKM_GYRO_Z_SIGN * gyro[2] / AKM_GYRO_Z_TO_RADPS
+r_filt += AKM_YAW_IMU_LPF * (r_meas - r_filt)  # 轻度一阶低通
+
+e_r     = r_ref - r_filt
+dv_ff   = AKM_YAW_FF_ALPHA * 0.5 * track * r_ref  # 几何前馈
+dv_fb   = AKM_YAW_KP * e_r + AKM_YAW_KI * ∫e_r    # PI 反馈（矩形积分, dt=1/200s）
+dv      = clamp(dv_ff + dv_fb, ±AKM_YAW_MAX_DIFF_RATIO*|Vx|)  # 带抗积分饱和
+
+MOTOR_A(左) = Vx - dv
+MOTOR_B(右) = Vx + dv
+```
+
+要点：
+- **解耦是核心**：`vz_norm` 只由 `Vz` 决定，不再 `Vz/Vx`，所以高速大转向不再被
+  几何"稀释"。`Vx` 独立设定驱动基速。
+- **舵机走直接满行程映射，不走拟合**：Mode 2 的舵机与 Mode 1 / CH1 调试一致，
+  用 `Akm_Norm_To_Servo(vz_norm)` 把转向指令线性铺满行程（以 `SERVO_INIT` 为
+  零位），**不再调用标定拟合 `f(κ)`**。这样"高速转弯打不动"从根上消失——舵机角
+  只看指令、与速度无关。（早期版本这里错用了 `f(κ_cmd)`，仍隐含耦合，已改正。）
+- **阿克曼降级为纯前馈**：`κ_cmd = -vz_norm*AKM_KAPPA_MAX` 只用来构造 `r_ref`
+  ——"若车按该曲率走出的理想横摆角速度"，仅喂给后轮差速前馈；实际横摆由 IMU PI
+  收敛，可克服前轮几何/打滑带来的偏差。`κ_cmd` 不参与舵机计算。
+- **退化关系**：`AKM_YAW_FF_ALPHA = 1` 且 `AKM_YAW_KP = AKM_YAW_KI = 0` 时，
+  `dv = 0.5*track*r_ref = -0.5*track*κ_cmd*Vx`，即纯几何差速。α 是平滑旋钮：
+  0 = 纯 IMU 反馈，1 = 纯几何前馈。
+- **低速冻结**：`|Vx| < AKM_YAW_MIN_SPEED` 时清零积分并停用差速（低速横摆角
+  速度信噪比太差）。
+- 用原始角速度（`gyro[2]` 去零偏后的 LSB），不做航向角积分。
+
+### 上位机规划用：发布 Vz → 大致前轮转角 δ
+
+Mode 2 里舵机只由 `Vz` 决定（与 `Vx` 无关），所以上位机可直接按下表估转角。
+换算链路（非线性，因为 PWM→R 那段是标定曲线）：
+
+```
+vz_norm = clamp(Vz / AKM_DIRECT_VZ_FULL, ±1)      # 默认 VZ_FULL=1.0 → Vz=±1.0 打满
+Servo   = SERVO_INIT - vz_norm * span             # 左 span=570, 右 span=330
+R       = 1 / |1/R(Servo)|                         # 1/R 由 §2 标定表(1/cm)插值再×100
+δ       = atan(L / R)                              # L = Akm_axlespacing = 0.160 m
+```
+
+用当前宏值（`SERVO_INIT=1670`, `MIN=1100`, `MAX=2000`, `VZ_FULL=1.0`）、按 §2 标定表
+`1/R` 列插值算出的对照表（δ 为后轴等效前轮转角，正数只表大小，方向见末列）：
+
+| Vz (rad/s) | vz_norm | Servo(PWM) | R(m) | δ(°) | 方向 |
+|-----------:|--------:|-----------:|-----:|-----:|:----:|
+| +1.0 | +1.0 | 1100 | 0.30 | 28.1 | 左 |
+| +0.8 | +0.8 | 1214 | 0.36 | 23.7 | 左 |
+| +0.6 | +0.6 | 1328 | 0.47 | 18.8 | 左 |
+| +0.5 | +0.5 | 1385 | 0.57 | 15.6 | 左 |
+| +0.4 | +0.4 | 1442 | 0.72 | 12.5 | 左 |
+| +0.3 | +0.3 | 1499 | 0.95 |  9.5 | 左 |
+| +0.2 | +0.2 | 1556 | 1.59 |  5.8 | 左 |
+| +0.1 | +0.1 | 1613 | 3.95 |  2.3 | 左 |
+|  0.0 |  0.0 | 1670 | ∞    |  0.0 | 直 |
+| −0.1 | −0.1 | 1703 | 2.50 |  3.7 | 右 |
+| −0.2 | −0.2 | 1736 | 1.63 |  5.6 | 右 |
+| −0.3 | −0.3 | 1769 | 1.21 |  7.5 | 右 |
+| −0.4 | −0.4 | 1802 | 0.96 |  9.5 | 右 |
+| −0.5 | −0.5 | 1835 | 0.75 | 12.0 | 右 |
+| −0.6 | −0.6 | 1868 | 0.62 | 14.5 | 右 |
+| −0.8 | −0.8 | 1934 | 0.44 | 19.8 | 右 |
+| −1.0 | −1.0 | 2000 | 0.34 | 25.2 | 右 |
+
+要点（上位机规划务必注意）：
+- **左右不对称**：直行点 1670 偏向右端，左侧行程 570、右侧仅 330，所以同样
+  `|Vz|` 左转角比右转角略大（满量程 28° 左 vs 25° 右）。这是机械中位偏置导致的，
+  已被 `Akm_Norm_To_Servo` 的分段缩放吸收。
+- **`|Vz| ≥ 1.0` 全部饱和**到端点（28°左 / 25°右）；再大的 Vz 不会有更大转角。
+  `VZ_FULL` 从 0.5 提到 1.0 后，满量程指令 = ±1.0 rad/s，同样的舵机行程摊到更宽的
+  Vz 区间，规划分辨率翻倍（峰值转角不变）。
+- **非线性**：Vz→δ 不是直线（低 Vz 段每 0.1 约 +3°，高 Vz 段趋缓），规划时按表
+  插值而非线性外推。
+- R 是**后轴中心转弯半径**，δ = atan(L/R) 是等效前轮转角；实车受轮胎侧偏/打滑
+  影响，表值为标定静推的近似，动态下 IMU 横摆环会再做修正。
+
+调参顺序（用户建议）：
+1. 先标定陀螺零偏（开机静止采样，代码已做）。
+2. **实测确认 `gyro[2]` 符号**：命令左转，确认 `gyro[2] > 0`；若相反把
+   `AKM_GYRO_Z_SIGN` 改为 `-1.0f`。
+3. 小 `Kp`（0.05~0.10）起步，逐步加大到临界前。
+4. 有稳态误差再加一点 `Ki`。
+5. 最后引入前馈 `α = 0.2~0.5` 减轻 PI 负担。
+
+## 8. 开关一览（`BALANCE/robot_select_init.h`）
+
+| 宏 | 默认 | 含义 |
+|----|-----:|------|
+| `AKM_SERVO_DEBUG_REMOTE_CH1` | 1 | 1 = 舵机直接由遥控 CH1 驱动，覆盖所有控制律（板级调试） |
+| `AKM_DIRECT_MAP` | 1 | 1 = 直接映射调试模式；0 = 交给 Mode 0 / Mode 2 |
+| `AKM_DIRECT_VZ_FULL` | 1.0f | Mode 1 & Mode 2 共用：Vz 满行程量程（rad/s）= 上位机会发的最大 angular.z |
+| `AKM_YAW_ASSIST` | 0 | 1 = 横摆闭环（Mode 2）；仅在 `AKM_DIRECT_MAP=0` 时生效 |
+| `AKM_YAW_KP` / `AKM_YAW_KI` | 0.10 / 0.00 | 横摆角速度误差 PI 增益（m/s per rad/s） |
+| `AKM_YAW_FF_ALPHA` | 0.00f | 几何前馈混合系数（0=纯反馈，1=纯几何差速=Mode 0） |
+| `AKM_YAW_MIN_SPEED` | 0.10f | 低于此速度冻结横摆环（m/s） |
+| `AKM_YAW_MAX_DIFF_RATIO` | 0.35f | 差速幅度上限（占 |Vx| 的比例） |
+| `AKM_GYRO_Z_TO_RADPS` | 3754.9f | gyro[2] LSB→rad/s（FS ±500dps） |
+| `AKM_GYRO_Z_SIGN` | +1.0f | IMU +z 与 ROS（+=左）符号对齐，实测确认 |
+| `AKM_YAW_IMU_LPF` | 0.30f | 横摆角速度一阶低通系数（0=无滤波） |
+
+模式互斥与优先级：
+- `AKM_SERVO_DEBUG_REMOTE_CH1 = 1` 时，**舵机总是由 CH1 覆盖**，优先于任何控制
+  律计算出的舵机值（电机差速仍按所选模式运行）。
+- `AKM_DIRECT_MAP` 与 `AKM_YAW_ASSIST` 都作用于整条控制律：`AKM_DIRECT_MAP = 1`
+  优先（直接映射）；`= 0` 时再看 `AKM_YAW_ASSIST`（1 = Mode 2 横摆闭环，
+  0 = Mode 0 标定运动学）。
+
+## 9. 串口通信（ROS ↔ STM32）
+
+### 频率与方向
+
+| 方向 | 频率 | 机制 | 代码位置 |
+|------|-----:|------|----------|
+| 控制环 | 200 Hz | `Balance_task`，`RATE_200_HZ` | balance.c:350 |
+| 发送（TX，STM32→ROS） | 200 Hz | **DMA 非阻塞** | usartx.c `data_task` |
+| 接收（RX，ROS→STM32） | 中断驱动 | `USART3_IRQHandler`（RXNE） | usartx.c |
+
+- 只保留 **USART3（ROS）**。原先 `data_task` 20 Hz 阻塞式群发 USART1/3/5+CAN，
+  现已删掉 USART1/USART5/CAN 发送，只留 USART3。
+- 帧长 24 字节（`SEND_DATA_SIZE`），`Vz` 在 RX 中断里由
+  `XYZ_Target_Speed_transition` 解析：`raw/1000 + (raw%1000)*0.001`（rad/s）。
+
+### 为什么改 DMA 非阻塞发送
+
+旧的 `usart3_send` 是忙等：`USART3->DR = data; while((USART3->SR&0x40)==0);`。
+`data_task` 与 `Balance_task` **同为优先级 4**（FreeRTOS 抢占 + 时间片，1ms tick）。
+同优先级下忙等无法被控制环抢占，20→200 Hz 会放大抖动、白耗 CPU。改成 DMA 后：
+
+- `USART3_SEND` 只触发一次 DMA 传输（DMA1 Stream3 / Channel4 = USART3_TX），
+  CPU 立即返回，shift-out 期间不占用控制环。
+- 上一帧未发完则跳过本周期（`DMA_GetCmdStatus != DISABLE` 判定），不忙等。
+- 需要把 `FWLIB/src/stm32f4xx_dma.c` 加入 Makefile（原先未编译该驱动）。
+
+### 波特率 921600
+
+USART3 波特率 **115200 → 921600**（system.c:129，`uart3_init(921600)`）。
+
+- 一帧 24 字节 = 240 bit（8N1，10 bit/byte）的 shift-out 时间：
+  - 115200：240/115200 ≈ **2.08 ms**
+  - 921600：240/921600 ≈ **0.26 ms**（快 8 倍，远低于 5 ms 周期）
+- 带宽占用：200 Hz × 24 B = 4800 B/s，两档都绰绰有余；提速主要是留余量。
+- APB1=42 MHz，16 倍过采样分频后实际约 913 k，偏差 ~0.9%（UART 容忍 <2.5%）。
+- **ROS 端必须同步改 921600**，否则乱码——这是最易漏的一步。
+
+## 10. 复现拟合
+
+标定原始脚本与中间产物在 `calibration/` 目录。核心步骤：
+1. R(cm) → R(m)，`kappa = sign / R_m`（sign 由 x 半弓高定，+ 为右）。
+2. 对 `(kappa, servo)` 做二次最小二乘，得 C0/C1/C2。
+3. 用 LOO 交叉验证确认二次优于查表与三次。
+4. `AKM_KAPPA_MAX = max(|kappa|)`。
--- a/doc/uart_protocol_v2_timestamp.md
+++ b/doc/uart_protocol_v2_timestamp.md
@@ -0,0 +1,111 @@
+# 下位机 UART 发送协议 v2（带采样时间戳）
+
+本文件描述 STM32 下位机通过 **USART3（ROS 口，波特率 921600）** 周期发送给上位机的
+传感器数据帧格式。v2 在原 24 字节帧的基础上，于**帧尾追加**了会话 ID 与两个采样
+时间戳字段，用于上位机做 IMU / 轮速 / 雷达的时间对齐。
+
+- 对应源码：[HARDWARE/usartx.c](../HARDWARE/usartx.c)、[HARDWARE/usartx.h](../HARDWARE/usartx.h)
+- 时间源实现：[HARDWARE/timer.c](../HARDWARE/timer.c) 的 `TIM7_Init()` / `mcu_time_us()`
+- 设计背景与总体原则见 [时间戳.md](时间戳.md)
+
+## 1. 帧总览
+
+| 项目 | 值 |
+| ---- | ---- |
+| 帧头 `FRAME_HEADER` | `0x7B` |
+| 帧尾 `FRAME_TAIL` | `0x7D` |
+| 帧长 `SEND_DATA_SIZE` | **44 字节**（v1 为 24 字节） |
+| 发送周期 | 200 Hz（`data_task`，USART3 非阻塞 DMA 发送） |
+| 字节序 | 多字节字段一律 **大端**（高字节在前） |
+| 校验 | 单字节 XOR，覆盖 byte 0..41 |
+
+设计约束：byte 0..21 与 v1 完全一致，新增字段全部放在校验位之前的尾部，
+使只读取旧字段的解析器仍然兼容。
+
+## 2. 字节布局
+
+| 偏移 | 长度 | 字段 | 类型 | 说明 |
+| ---- | ---- | ---- | ---- | ---- |
+| 0 | 1 | Frame_Header | u8 | 帧头 `0x7B` |
+| 1 | 1 | Flag_Stop | u8 | 软件失能标志（1=停车） |
+| 2 | 2 | X_speed | int16 | X 轴线速度，单位 mm/s，大端 |
+| 4 | 2 | Y_speed | int16 | Y 轴线速度，单位 mm/s，大端 |
+| 6 | 2 | Z_speed | int16 | Z 轴角速度，单位 mm/s（等效），大端 |
+| 8 | 2 | Accel_X | int16 | 加速度计 X（ROS 坐标），大端 |
+| 10 | 2 | Accel_Y | int16 | 加速度计 Y（ROS 坐标），大端 |
+| 12 | 2 | Accel_Z | int16 | 加速度计 Z（ROS 坐标），大端 |
+| 14 | 2 | Gyro_X | int16 | 陀螺仪 X（ROS 坐标），大端 |
+| 16 | 2 | Gyro_Y | int16 | 陀螺仪 Y（ROS 坐标），大端 |
+| 18 | 2 | Gyro_Z | int16 | 陀螺仪 Z（ROS 坐标），大端 |
+| 20 | 2 | Power_Voltage | int16 | 电池电压×1000，大端 |
+| **22** | **4** | **session_id** | **uint32** | 本次 MCU 启动会话 ID，大端 |
+| **26** | **8** | **speed_sample_time_us** | **uint64** | 编码器采样时刻（μs），大端 |
+| **34** | **8** | **imu_sample_time_us** | **uint64** | IMU 采样时刻（μs），大端 |
+| 42 | 1 | Checksum | u8 | byte 0..41 的 XOR |
+| 43 | 1 | Frame_Tail | u8 | 帧尾 `0x7D` |
+
+加粗行为 v2 相对 v1 的新增字段。
+
+## 3. 时间源
+
+时间戳由自由运行的 **TIM7** 提供，见 [HARDWARE/timer.c](../HARDWARE/timer.c)：
+
+- TIM7 挂在 APB1，定时器时钟 84 MHz，预分频 84 → **1 MHz 计数（1 tick = 1 μs）**。
+- 16 位计数器每 65.536 ms 回绕一次，更新中断把高 32 位软件计数 `g_time_high` 加一。
+- `mcu_time_us()` 返回 `(g_time_high << 16) | CNT`，即**自上电以来的单调递增微秒数**，
+  可用位宽 48 位（约 8.9 年不回绕）。
+- TIM2~TIM5 被四路编码器占用、TIM8 被航模遥控输入捕获占用，故选空闲的 TIM7。
+- TIM7 更新中断优先级设为 5（数值大于 `configMAX_SYSCALL_INTERRUPT_PRIORITY`
+  对应的抢占门限），ISR 内只做自增，不调用任何 FreeRTOS API。
+
+> 注意：`mcu_time_us()` 只增不减，绝不因校时而跳变。上位机负责维护
+> `T_host = a·t_mcu + b` 的时钟映射（见 [时间戳.md](时间戳.md) 第 7、8 节）。
+
+## 4. 两个时间戳分别打在哪里
+
+v1 只有"发送时刻"隐含语义，无法表达 IMU（100 Hz）与轮速（200 Hz）是**异步采集**的。
+v2 在各自真实采样点打点，写入全局变量，`data_transition()` 打包时快照：
+
+| 时间戳 | 打点位置 | 采样率 |
+| ---- | ---- | ---- |
+| `speed_sample_time_us` | [balance.c](../BALANCE/balance.c) `Get_Velocity_Form_Encoder()` 读编码器锁存计数器的瞬间 | 200 Hz |
+| `imu_sample_time_us` | [MPU6050.c](../HARDWARE/MPU6050/MPU6050.c) `MPU6050_task` I2C 读取前 | 100 Hz |
+
+因此一帧内同时带两个时间戳：上位机应把加速度/角速度对齐到 `imu_sample_time_us`，
+把 X/Y/Z 速度对齐到 `speed_sample_time_us`，而不是共用一个发送时刻。
+
+> IMU 打点在 I2C 突发读取之前，是在没有 DRDY（数据就绪）中断条件下能取到的、
+> 最接近物理采样的时刻。若日后接入 MPU 的 DRDY 引脚中断，可把打点移到中断里进一步减小抖动。
+
+## 5. session_id
+
+- 定义在 [usartx.c](../HARDWARE/usartx.c)：`g_session_id`。
+- 当前实现为**固定值 `0xA5A5A5A5`**。
+- 用途：上位机据此判断下位机是否重启过（重启后 `mcu_time_us()` 从 0 重新计时，
+  时钟映射 `a, b` 必须重新拟合）。
+- 待办：如需真正区分每次上电，应在启动时用熵源（如未初始化 RAM、启动 tick 等）
+  生成一次性随机值。当前固定值只能表明"协议版本一致"，不能区分不同启动会话。
+
+## 6. 校验与解析建议
+
+- 校验位 `buffer[42] = XOR(buffer[0..41])`，与 v1 的计算方式相同，只是范围从 22 扩到 42。
+- 上位机解析步骤：
+  1. 同步帧头 `0x7B`；
+  2. 读满 44 字节；
+  3. 校验 `buffer[43] == 0x7D` 且 `XOR(buffer[0..41]) == buffer[42]`；
+  4. 按上表大端解出各字段。
+- 多字节字段务必按大端手动组装，不要直接 `memcpy` 结构体（编译器填充/对齐/端序差异）。
+
+## 7. 其他发送通道
+
+| 通道 | 现状 |
+| ---- | ---- |
+| USART3（ROS 主口，DMA） | 已用 `SEND_DATA_SIZE`，自动发送完整 44 字节 |
+| USART1 / USART5 | 已改用 `SEND_DATA_SIZE`，发送完整 44 字节 |
+| CAN | 当前未被调用；`CAN_SEND()` 仍按 8×3=24 字节分包，**不含时间戳字段**。如需经 CAN 传时间戳需另行扩展分包 |
+
+## 8. 上位机适配提醒
+
+USART3 收到的帧已从 24 字节变为 **44 字节**。上位机（ROS 端）解析代码必须同步更新：
+帧长、校验范围、以及尾部三个新字段的读取。否则会因帧长不符导致解析错位。
+
--- a/doc/时间戳.md
+++ b/doc/时间戳.md
@@ -0,0 +1,349 @@
+针对现在的“FreeRTOS 下位机 + Linux/ROS 2 上位机 + 后续轮速/IMU/2D雷达融合”，建议直接制定一套统一的时间戳与通信协议。
+
+最核心的原则是：
+
+[
+\boxed{
+\text{MCU原始单调时间戳永不修改}
+\quad+\quad
+\text{上位机维护时钟映射}
+}
+]
+
+即：
+
+[
+T_{\rm host}=a,t_{\rm mcu}+b
+]
+
+## 1. 下位机统一时间基准
+
+不要把 `xTaskGetTickCount()` 作为传感器主时间戳。
+
+它适合：
+
+* `vTaskDelayUntil()` 周期调度；
+* 超时判断；
+* 任务延时；
+* 毫秒级状态机。
+
+它不适合：
+
+* IMU与编码器精确对齐；
+* 200 Hz以上传感器采样；
+* 分析通信延迟；
+* 后续雷达、IMU、轮式里程计融合。
+
+FreeRTOS Tick 的分辨率由 `configTICK_RATE_HZ` 决定；ISR 中若确实要读 Tick，应使用 `xTaskGetTickCountFromISR()`。[FreeRTOS Task Utilities](https://www.freertos.org/Documentation/02-Kernel/04-API-references/03-Task-utilities/00-Task-utilities)
+
+### 推荐时间源
+
+使用一个32位硬件定时器：
+
+```text
+计数频率：1 MHz
+计数单位：1 us
+自动重装值：0xFFFFFFFF
+软件扩展：64 bit
+时间含义：MCU自本次上电以来经过的微秒数
+```
+
+例如 STM32 可以使用 TIM2 或 TIM5：
+
+[
+t_{\rm mcu}\in uint64_t,\qquad 单位=\mu s
+]
+
+32位、1 MHz计数器约每71.58分钟回绕一次，所以用更新中断增加高32位。
+
+```c
+static volatile uint32_t g_time_high = 0;
+
+void TIM2_IRQHandler(void)
+{
+    if (__HAL_TIM_GET_FLAG(&htim2, TIM_FLAG_UPDATE) != RESET) {
+        __HAL_TIM_CLEAR_IT(&htim2, TIM_IT_UPDATE);
+        g_time_high++;
+    }
+}
+
+uint64_t mcu_time_us(void)
+{
+    uint32_t high1;
+    uint32_t high2;
+    uint32_t low;
+    uint32_t status;
+
+    do {
+        high1 = g_time_high;
+        __DMB();
+
+        low = TIM2->CNT;
+        status = TIM2->SR;
+
+        __DMB();
+        high2 = g_time_high;
+    } while (high1 != high2);
+
+    /*
+     * 计数器已经回绕，但更新中断可能还没有得到执行。
+     * low 小于半量程，说明读取发生在回绕之后。
+     */
+    if ((status & TIM_SR_UIF) && low < 0x80000000U) {
+        high1++;
+    }
+
+    return ((uint64_t)high1 << 32) | low;
+}
+```
+
+注意：
+
+* 定时器时钟必须确认是否受 APB 分频后的“定时器倍频”影响；
+* 不要直接读取一个由中断写入的普通 `uint64_t`，32位MCU上未必原子；
+* 如果启用了 STOP 模式或 Tickless Idle，要确认这个定时器休眠时是否继续工作；
+* 时间戳只能递增，不能因为校时而向前或向后跳变。
+
+## 2. 时间戳应该在哪里打
+
+时间戳必须尽可能靠近数据真正产生的位置。
+
+| 数据       | 推荐时间戳位置       |
+| -------- | ------------- |
+| IMU      | DRDY中断发生时     |
+| SPI读取IMU | 不要等SPI读取完成才打点 |
+| 编码器      | 控制定时器锁存计数器时   |
+| 电机控制量    | PWM寄存器更新时     |
+| 控制周期     | 控制周期入口        |
+| 上位机接收    | 完整帧接收完成时，单独记录 |
+
+例如：
+
+```c
+typedef struct {
+    uint64_t sample_time_us;
+    int16_t gyro_raw[3];
+    int16_t accel_raw[3];
+} ImuSample;
+```
+
+IMU中断中只做：
+
+1. 读取 `mcu_time_us()`；
+2. 保存时间戳；
+3. 通知采集任务；
+4. 立即退出中断。
+
+不要在中断中完成协议编码、CRC计算和串口发送。
+
+如果传感器内部启用了低通滤波，DRDY时间仍然可能比真实物理测量晚一个固定群延迟。后续可以增加：
+
+```c
+corrected_time_us = drdy_time_us - imu_filter_delay_us;
+```
+
+但必须在确定传感器滤波器延迟后再补偿。
+
+## 3. FreeRTOS任务结构
+
+建议使用：
+
+```mermaid
+flowchart TD
+    A["IMU DRDY / 控制定时器 ISR"] --> B["采样环形缓冲区"]
+    B --> C["传感器处理任务"]
+    C --> D["协议发送队列"]
+    D --> E["唯一 UART TX 任务"]
+    F["UART DMA / IDLE ISR"] --> G["接收环形缓冲区"]
+    G --> H["协议解析任务"]
+```
+
+关键规则：
+
+* UART发送只能有一个所有者任务，避免多个任务发送的数据交叉；
+* UART接收使用DMA、IDLE中断和环形缓冲区；
+* ISR只负责搬运数据和通知任务；
+* 二进制协议和 `printf()` 调试日志不要共用同一个UART；
+* 如果ISR调用 FreeRTOS 的 `...FromISR()` 接口，中断优先级必须符合 `configMAX_SYSCALL_INTERRUPT_PRIORITY` 约束；
+* 周期任务使用 `vTaskDelayUntil()`，它能避免普通相对延时产生的累计漂移，但实际执行时刻仍应调用硬件微秒时钟记录。[FreeRTOS `vTaskDelayUntil()`](https://freertos.org/xtaskdelayuntiltask-control.html)
+
+例如200 Hz低精度周期任务：
+
+```c
+void SensorTask(void *argument)
+{
+    TickType_t last_wake = xTaskGetTickCount();
+    const TickType_t period = pdMS_TO_TICKS(5);
+
+    for (;;) {
+        vTaskDelayUntil(&last_wake, period);
+
+        uint64_t actual_time_us = mcu_time_us();
+
+        /* 采集和处理 */
+    }
+}
+```
+
+如果要求更稳定的200 Hz采样，应由硬件定时器产生中断，再通知任务，而不是完全依赖 FreeRTOS Tick。
+
+## 4. 推荐二进制帧规范 v1
+
+假设使用 UART 或 USB CDC，建议采用：
+
+```text
+COBS编码（协议头 + 负载 + CRC32） + 0x00帧分隔符
+```
+
+COBS的好处是任意解析错误后，都可以在下一个 `0x00` 重新找到帧边界。
+
+### 统一协议头：24字节
+
+之前已有的基础上额外增加
+| session_id     | uint32 |  4 | 本次MCU启动会话ID  |
+| sample_time_us | uint64 |  8 | MCU采样时间      |
+
+
+但不要直接执行：
+
+```c
+uart_send((uint8_t *)&header, sizeof(header)); // 不推荐
+```
+
+因为不同编译器可能存在：
+
+* 结构体填充；
+* 对齐差异；
+* 大小端差异；
+* 浮点格式差异。
+
+             |
+
+
+## 7. 四时间戳同步协议
+
+每次同步记录：
+
+* (T_1)：上位机发送请求；
+* (t_2)：MCU收到并解析请求；
+* (t_3)：MCU准备发送响应；
+* (T_4)：上位机收到完整响应。
+
+定义MCU时间减上位机时间为：
+
+[
+\theta=
+\frac{(t_2-T_1)+(t_3-T_4)}{2}
+]
+
+往返延迟：
+
+[
+d=(T_4-T_1)-(t_3-t_2)
+]
+
+初始转换：
+
+[
+T_{\rm host}\approx t_{\rm mcu}-\theta
+]
+
+运行中收集多组：
+
+[
+x_i=\frac{t_{2,i}+t_{3,i}}{2}
+]
+
+[
+y_i=\frac{T_{1,i}+T_{4,i}}{2}
+]
+
+拟合：
+
+[
+\boxed{T_{\rm host}=a,t_{\rm mcu}+b}
+]
+
+推荐参数：
+
+* 启动时连续同步20～50次；
+* 初始阶段先令 (a=1)，从最小RTT样本估计 (b)；
+* 运行中每1秒同步一次；
+* 保存最近60～120组；
+* 丢弃RTT明显偏大的样本；
+* 使用RTT最小的20%～30%拟合 (a,b)；
+* MCU时间戳本身永远不被“校准”或重写。
+
+上位机使用 `CLOCK_MONOTONIC_RAW` 或 `std::chrono::steady_clock`，不要使用会被NTP校时改变的墙上时间参与控制。
+
+## 8. ROS 2时间戳转换
+
+MCU的“上电微秒数”不能直接填进 ROS 消息的 `header.stamp`，否则无法和激光雷达时间对齐。
+
+上位机先得到：
+
+[
+T_{\rm steady}=a,t_{\rm mcu}+b
+]
+
+再在ROS桥接节点中保存一对锚点：
+
+[
+(T_{\rm steady,0},T_{\rm ros,0})
+]
+
+转换为：
+
+[
+T_{\rm ros,sample}
+==================
+
+T_{\rm ros,0}
+
+(T_{\rm steady,sample}-T_{\rm steady,0})
+]
+
+然后将这个时间填入：
+
+* `sensor_msgs/Imu.header.stamp`；
+* `nav_msgs/Odometry.header.stamp`；
+* 编码器或轮速自定义消息时间戳。
+
+这样轮速、IMU和激光雷达才能在同一ROS时间轴上融合。
+
+## 9. 上位机命令不要依赖绝对时间
+
+普通运动命令建议使用“接收后立即执行＋超时”：
+
+```c
+typedef struct {
+    uint32_t command_sequence;
+    uint32_t valid_for_us;
+    float velocity_ref;
+    float yaw_rate_ref;
+} MotionCommand;
+```
+
+MCU收到时记录：
+
+```c
+last_command_rx_us = mcu_time_us();
+```
+
+安全判断：
+
+```c
+if (mcu_time_us() - last_command_rx_us > command.valid_for_us) {
+    enter_safe_deceleration();
+}
+```
+
+只有真正需要未来定时执行时，才让上位机通过逆映射计算：
+
+[
+t_{\rm mcu,execute}
+===================
+
+\frac{T_{\rm host,execute}-b}{a}
+]
+