Auto commit at 2025-06-14 13:02:31

src/mc/CMakeLists.txt

@@ -5,6 +5,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+link_directories(${CMAKE_CURRENT_SOURCE_DIR}/lib)
+
 # Find dependencies
 find_package(sweeper_interfaces REQUIRED)
 find_package(ament_cmake REQUIRED)
@@ -19,6 +21,8 @@ add_executable(mc_node ${SRC_FILES})
 
 ament_target_dependencies(mc_node rclcpp std_msgs sweeper_interfaces)
 
+target_link_libraries(mc_node controlcan pthread)
+
 # Set include directories for the target
 target_include_directories(
   mc_node
@@ -31,6 +35,15 @@ target_compile_features(mc_node PUBLIC c_std_99 cxx_std_17)
 install(TARGETS mc_node DESTINATION lib/${PROJECT_NAME})
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
+set(LIB_DIR ${CMAKE_CURRENT_SOURCE_DIR}/lib)
+
+# 安装libcontrolcan动态库（.so）
+install(
+  FILES
+    ${LIB_DIR}/libcontrolcan.so
+  DESTINATION lib
+)
+
 # Handle testing if needed
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

src/mc/include/mc/can_driver.h

@@ -42,25 +42,13 @@ public:
     // 设置接收回调
     void setReceiveCallback(ReceiveCallback callback, void *userData = nullptr);
 
-    // 设置硬件过滤规则
-    bool setFilter(const std::vector<can_filter> &filters);
-
-    // 追加一个过滤器
-    bool addFilter(const can_filter &filter);
-
-    // 追加一组过滤器
-    bool addFilters(const std::vector<can_filter> &filters);
-
 private:
     void receiveThreadFunc();
-    bool applyFilters(); // 应用当前filters_
-
     int sockfd = -1;
     std::atomic<bool> running{false};
     std::thread receiveThread;
     ReceiveCallback callback;
     void *userData = nullptr;
-    std::vector<can_filter> filters_; // 当前所有过滤器
 };
 
 #endif // CAN_DRIVER_H

src/mc/include/mc/controlcan.h

@@ -0,0 +1,104 @@
+#ifndef CONTROLCAN_H
+#define CONTROLCAN_H
+
+////文件版本：v2.02 20190609
+//接口卡类型定义
+
+#define VCI_USBCAN1		3
+#define VCI_USBCAN2		4
+#define VCI_USBCAN2A		4
+
+#define VCI_USBCAN_E_U 		20
+#define VCI_USBCAN_2E_U 	21
+
+//函数调用返回状态值
+#define	STATUS_OK					1
+#define STATUS_ERR					0
+	
+#define USHORT unsigned short int
+#define BYTE unsigned char
+#define CHAR char
+#define UCHAR unsigned char
+#define UINT unsigned int
+#define DWORD unsigned int
+#define PVOID void*
+#define ULONG unsigned int
+#define INT int
+#define UINT32 UINT
+#define LPVOID void*
+#define BOOL BYTE
+#define TRUE 1
+#define FALSE 0
+
+//1.ZLGCAN系列接口卡信息的数据类型。
+typedef  struct  _VCI_BOARD_INFO{
+		USHORT	hw_Version;
+		USHORT	fw_Version;
+		USHORT	dr_Version;
+		USHORT	in_Version;
+		USHORT	irq_Num;
+		BYTE	can_Num;
+		CHAR	str_Serial_Num[20];
+		CHAR	str_hw_Type[40];
+		USHORT	Reserved[4];
+} VCI_BOARD_INFO,*PVCI_BOARD_INFO; 
+
+//2.定义CAN信息帧的数据类型。
+typedef  struct  _VCI_CAN_OBJ{
+	UINT	ID;
+	UINT	TimeStamp;
+	BYTE	TimeFlag;
+	BYTE	SendType;
+	BYTE	RemoteFlag;//是否是远程帧
+	BYTE	ExternFlag;//是否是扩展帧
+	BYTE	DataLen;
+	BYTE	Data[8];
+	BYTE	Reserved[3];
+}VCI_CAN_OBJ,*PVCI_CAN_OBJ;
+
+//3.定义初始化CAN的数据类型
+typedef struct _INIT_CONFIG{
+	DWORD	AccCode;
+	DWORD	AccMask;
+	DWORD	Reserved;
+	UCHAR	Filter;
+	UCHAR	Timing0;	
+	UCHAR	Timing1;	
+	UCHAR	Mode;
+}VCI_INIT_CONFIG,*PVCI_INIT_CONFIG;
+
+///////// new add struct for filter /////////
+typedef struct _VCI_FILTER_RECORD{
+	DWORD ExtFrame;	//是否为扩展帧
+	DWORD Start;
+	DWORD End;
+}VCI_FILTER_RECORD,*PVCI_FILTER_RECORD;
+
+#ifdef __cplusplus
+#define EXTERN_C  extern "C"
+#else
+#define EXTERN_C
+#endif
+
+EXTERN_C DWORD VCI_OpenDevice(DWORD DeviceType,DWORD DeviceInd,DWORD Reserved);
+EXTERN_C DWORD VCI_CloseDevice(DWORD DeviceType,DWORD DeviceInd);
+EXTERN_C DWORD VCI_InitCAN(DWORD DeviceType, DWORD DeviceInd, DWORD CANInd, PVCI_INIT_CONFIG pInitConfig);
+
+EXTERN_C DWORD VCI_ReadBoardInfo(DWORD DeviceType,DWORD DeviceInd,PVCI_BOARD_INFO pInfo);
+
+EXTERN_C DWORD VCI_SetReference(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,DWORD RefType,PVOID pData);
+
+EXTERN_C ULONG VCI_GetReceiveNum(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+EXTERN_C DWORD VCI_ClearBuffer(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+
+EXTERN_C DWORD VCI_StartCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+EXTERN_C DWORD VCI_ResetCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
+
+EXTERN_C ULONG VCI_Transmit(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pSend,UINT Len);
+EXTERN_C ULONG VCI_Receive(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pReceive,UINT Len,INT WaitTime);
+
+EXTERN_C DWORD  VCI_UsbDeviceReset(DWORD DevType,DWORD DevIndex,DWORD Reserved);
+EXTERN_C DWORD  VCI_FindUsbDevice2(PVCI_BOARD_INFO pInfo);
+
+#endif
+

src/mc/src/can_driver.cpp

@@ -1,59 +1,73 @@
 #include "mc/can_driver.h"
+#include "mc/controlcan.h"
 #include <cstring>
-#include <stdexcept>
-#include <iostream>
-#include <thread>
 #include <fcntl.h>
-#include <unistd.h>
-#include <sys/ioctl.h>
-#include <net/if.h>
+#include <iostream>
 #include <linux/can.h>
 #include <linux/can/raw.h>
+#include <net/if.h>
+#include <stdexcept>
+#include <sys/ioctl.h>
+#include <thread>
+#include <unistd.h>
+#include <mutex>
+
+std::mutex canMutex;
+
+DWORD deviceType = VCI_USBCAN2; // 或 VCI_USBCAN_2E_U 等
+DWORD deviceIndex = 0;          // 通常为 0（第一个设备）
+DWORD channelIndex = 0;         // 通道号：0 表示 CAN1，1 表示 CAN2
 
 CANDriver::CANDriver() = default;
 
-CANDriver::~CANDriver()
-{
-    close();
-}
+CANDriver::~CANDriver() { close(); }
 
 bool CANDriver::open(const std::string &interface)
 {
   if (running)
     return false;
 
-    sockfd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
-    if (sockfd < 0)
+  // 参数可解析 interface 设定 channelIndex，例如 interface="can0" =>
+  // channelIndex=0
+  deviceType = VCI_USBCAN2;
+  deviceIndex = 0;
+  channelIndex = (interface == "can1") ? 1 : 0;
+
+  if (VCI_OpenDevice(deviceType, deviceIndex, 0) != STATUS_OK)
   {
-        perror("socket");
+    std::cerr << "VCI_OpenDevice failed" << std::endl;
     return false;
   }
 
-    struct ifreq ifr;
-    std::strncpy(ifr.ifr_name, interface.c_str(), IFNAMSIZ - 1);
-    ifr.ifr_name[IFNAMSIZ - 1] = '\0';
+  VCI_INIT_CONFIG config{};
+  config.AccCode = 0;
+  config.AccMask = 0xFFFFFFFF;
+  config.Filter = 0;     // 接收所有
+  config.Timing0 = 0x00; // 500Kbps 示例（需查文档确认 Timing）
+  config.Timing1 = 0x1C;
+  config.Mode = 0; // 正常模式
 
-    if (ioctl(sockfd, SIOCGIFINDEX, &ifr) < 0)
+  if (VCI_InitCAN(deviceType, deviceIndex, channelIndex, &config) !=
+      STATUS_OK)
   {
-        perror("ioctl");
-        ::close(sockfd);
+    std::cerr << "VCI_InitCAN failed" << std::endl;
+    VCI_CloseDevice(deviceType, deviceIndex);
     return false;
   }
 
-    struct sockaddr_can addr{};
-    addr.can_family = AF_CAN;
-    addr.can_ifindex = ifr.ifr_ifindex;
-
-    if (bind(sockfd, reinterpret_cast<struct sockaddr *>(&addr), sizeof(addr)) < 0)
+  if (VCI_StartCAN(deviceType, deviceIndex, channelIndex) != STATUS_OK)
   {
-        perror("bind");
-        ::close(sockfd);
+    std::cerr << "VCI_StartCAN failed" << std::endl;
+    VCI_CloseDevice(deviceType, deviceIndex);
     return false;
   }
 
-    // 设置为非阻塞
-    int flags = fcntl(sockfd, F_GETFL, 0);
-    fcntl(sockfd, F_SETFL, flags | O_NONBLOCK);
+  if (VCI_ClearBuffer(deviceType, deviceIndex, channelIndex) != 1)
+  {
+    std::cerr << "VCI_ClearBuffer failed" << std::endl;
+    VCI_CloseDevice(deviceType, deviceIndex);
+    return false;
+  }
 
   running = true;
   receiveThread = std::thread(&CANDriver::receiveThreadFunc, this);
@@ -69,11 +83,11 @@ void CANDriver::close()
   if (receiveThread.joinable())
     receiveThread.join();
 
-    if (sockfd >= 0)
-    {
-        ::close(sockfd);
-        sockfd = -1;
-    }
+  // 先清空缓冲区，防止缓冲区残留数据导致重复接收
+  VCI_ClearBuffer(deviceType, deviceIndex, channelIndex);
+
+  VCI_ResetCAN(deviceType, deviceIndex, channelIndex);
+  VCI_CloseDevice(deviceType, deviceIndex);
 }
 
 bool CANDriver::sendFrame(const CANFrame &frame)
@@ -81,18 +95,18 @@ bool CANDriver::sendFrame(const CANFrame &frame)
   if (!running)
     return false;
 
-    struct can_frame raw_frame{};
-    raw_frame.can_id = frame.id;
-    if (frame.ext)
-        raw_frame.can_id |= CAN_EFF_FLAG;
-    if (frame.rtr)
-        raw_frame.can_id |= CAN_RTR_FLAG;
-    raw_frame.can_dlc = frame.dlc;
-    std::memcpy(raw_frame.data, frame.data, frame.dlc);
+  VCI_CAN_OBJ obj{};
+  obj.ID = frame.id;
+  obj.RemoteFlag = frame.rtr ? 1 : 0;
+  obj.ExternFlag = frame.ext ? 1 : 0;
+  obj.SendType = 0; // 普通发送
+  obj.DataLen = frame.dlc;
+  std::memcpy(obj.Data, frame.data, frame.dlc);
 
-    if (write(sockfd, &raw_frame, sizeof(raw_frame)) != sizeof(raw_frame))
+  std::lock_guard<std::mutex> lock(canMutex); // 加锁
+  if (VCI_Transmit(deviceType, deviceIndex, channelIndex, &obj, 1) != 1)
   {
-        perror("write");
+    std::cerr << "VCI_Transmit failed" << std::endl;
     return false;
   }
 
@@ -105,69 +119,40 @@ void CANDriver::setReceiveCallback(ReceiveCallback callback, void *userData)
   this->userData = userData;
 }
 
-bool CANDriver::setFilter(const std::vector<can_filter> &filters)
-{
-    if (!running)
-        return false;
-
-    filters_ = filters;
-    return applyFilters();
-}
-
-bool CANDriver::addFilter(const can_filter &filter)
-{
-    filters_.push_back(filter);
-    return applyFilters();
-}
-
-bool CANDriver::addFilters(const std::vector<can_filter> &filters)
-{
-    filters_.insert(filters_.end(), filters.begin(), filters.end());
-    return applyFilters();
-}
-
-bool CANDriver::applyFilters()
-{
-    if (!running)
-        return false;
-
-    if (filters_.empty())
-    {
-        setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_FILTER, nullptr, 0);
-        return true;
-    }
-
-    if (setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_FILTER,
-                   filters_.data(), filters_.size() * sizeof(can_filter)) < 0)
-    {
-        perror("setsockopt");
-        return false;
-    }
-
-    return true;
-}
-
 void CANDriver::receiveThreadFunc()
 {
-    struct can_frame raw_frame;
+  constexpr int maxFrames = 2500;
+  VCI_CAN_OBJ rec[maxFrames];
+
   while (running)
   {
-        ssize_t nbytes = read(sockfd, &raw_frame, sizeof(raw_frame));
-        if (nbytes < 0)
+    ULONG len = 0;
     {
-            if (errno != EAGAIN)
-                perror("read");
+      std::lock_guard<std::mutex> lock(canMutex); // 加锁
+      len = VCI_Receive(deviceType, deviceIndex, channelIndex, rec, maxFrames, 10);
+    }
+
+    if (len == 0)
+    {
+      std::this_thread::sleep_for(std::chrono::milliseconds(10));
       continue;
     }
 
-        if (nbytes == sizeof(raw_frame) && callback)
+    for (ULONG i = 0; i < len && callback; ++i)
     {
       CANFrame frame;
-            frame.id = raw_frame.can_id & CAN_EFF_MASK;
-            frame.ext = static_cast<bool>(raw_frame.can_id & CAN_EFF_FLAG);
-            frame.rtr = static_cast<bool>(raw_frame.can_id & CAN_RTR_FLAG);
-            frame.dlc = raw_frame.can_dlc;
-            std::memcpy(frame.data, raw_frame.data, raw_frame.can_dlc);
+      frame.id = rec[i].ID;
+      frame.ext = rec[i].ExternFlag != 0;
+      frame.rtr = rec[i].RemoteFlag != 0;
+      frame.dlc = rec[i].DataLen;
+
+      if (frame.dlc > 8)
+      {
+        std::cerr << "Invalid CAN data length: " << (int)frame.dlc << std::endl;
+        frame.dlc = 8; // 或跳过此帧
+      }
+
+      std::memcpy(frame.data, rec[i].Data, frame.dlc);
       callback(frame, userData);
     }
   }

src/mc/src/mc.cpp

@@ -1,12 +1,12 @@
-#include <cstdio>
-#include <iostream>
-#include <iomanip>
 #include "mc/can_driver.h"
 #include "mc/can_struct.h"
 #include "mc/get_config.h"
 #include "rclcpp/rclcpp.hpp"
 #include "sweeper_interfaces/msg/can_frame.hpp"
 #include "sweeper_interfaces/msg/mc_ctrl.hpp"
+#include <cstdio>
+#include <iomanip>
+#include <iostream>
 
 namespace sweeperMsg = sweeper_interfaces::msg;
 
@@ -23,7 +23,7 @@ std::atomic<bool> vcu_awake = false;        // 是否唤醒成功
 rclcpp::Time last_vcu_msg_time;             // 上次收到vcu数据帧的时间
 
 // 全局开关，控制是否打印 CAN 消息到终端
-bool g_can_print_enable = false;
+bool g_can_print_enable = true;
 
 struct ControlCache
 {
@@ -47,7 +47,8 @@ struct ControlCache
       return false;
 
     auto now = std::chrono::steady_clock::now();
-    auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(now - last_update_time);
+    auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(
+        now - last_update_time);
 
     if (duration.count() > 100) // ms超时
     {
@@ -95,23 +96,27 @@ void receiveHandler(const CANFrame &frame, void *userData)
   auto msg = sweeperMsg::CanFrame();
   msg.id = frame.id;
   msg.dlc = frame.dlc;
-  msg.data.assign(frame.data, frame.data + frame.dlc);
+  size_t len = frame.dlc <= 8 ? frame.dlc : 8;
+  msg.data.assign(frame.data, frame.data + len);
+
   publisher->publish(msg);
 
   // 根据开关决定是否打印 CAN 消息
-  if (g_can_print_enable)
+  if (g_can_print_enable && len > 0)
   {
     std::stringstream ss;
     ss << "CAN ID: ";
     if (frame.id > 0x7FF)
       ss << std::hex << std::uppercase << frame.id;
     else
-      ss << std::hex << std::uppercase << std::setw(5) << std::setfill(' ') << frame.id;
+      ss << std::hex << std::uppercase << std::setw(5) << std::setfill(' ')
+         << frame.id;
 
     ss << " Data: ";
     for (int i = 0; i < frame.dlc; ++i)
     {
-      ss << std::setw(2) << std::setfill('0') << std::hex << (int)frame.data[i] << " ";
+      ss << std::setw(2) << std::setfill('0') << std::hex << (int)frame.data[i]
+         << " ";
     }
 
     RCLCPP_INFO(node->get_logger(), "%s", ss.str().c_str());
@@ -162,32 +167,33 @@ void VCUWakeUp()
 void setupTimers(rclcpp::Node::SharedPtr node)
 {
   // VCU 唤醒帧发送定时器，1Hz
-  static rclcpp::TimerBase::SharedPtr timer_wakeup = node->create_wall_timer(
-      std::chrono::seconds(1), [node]()
+  static rclcpp::TimerBase::SharedPtr timer_wakeup =
+      node->create_wall_timer(std::chrono::seconds(1), [node]()
                               {
-        if (!vcu_awake.load())
-        {
-          RCLCPP_INFO(node->get_logger(), "[TIMER][VCU] Not awake, sending wake-up frame...");
+        if (!vcu_awake.load()) {
+          RCLCPP_INFO(node->get_logger(),
+                      "[TIMER][VCU] Not awake, sending wake-up frame...");
           VCUWakeUp();
         } });
 
   // vcu报文 watchdog 检查，200ms
-  static rclcpp::TimerBase::SharedPtr timer_estop_watchdog = node->create_wall_timer(
-      std::chrono::milliseconds(200), [node]()
+  static rclcpp::TimerBase::SharedPtr timer_estop_watchdog =
+      node->create_wall_timer(std::chrono::milliseconds(200), [node]()
                               {
         auto now = node->now();
         auto elapsed = now - last_vcu_msg_time;
 
-        if (vcu_msg_received.load() && elapsed > rclcpp::Duration::from_seconds(0.5))
-        {
-          RCLCPP_WARN(node->get_logger(), "[TIMER][VCU] message timeout, resetting wake-up state.");
+        if (vcu_msg_received.load() &&
+            elapsed > rclcpp::Duration::from_seconds(0.5)) {
+          RCLCPP_WARN(node->get_logger(),
+                      "[TIMER][VCU] message timeout, resetting wake-up state.");
           vcu_msg_received.store(false);
           vcu_awake.store(false);
         } });
 
   // MCU控制，50Hz
-  static rclcpp::TimerBase::SharedPtr timer_mcu = node->create_wall_timer(
-      std::chrono::milliseconds(20), []()
+  static rclcpp::TimerBase::SharedPtr timer_mcu =
+      node->create_wall_timer(std::chrono::milliseconds(20), []()
                               {
         sweeperMsg::McCtrl msg = get_safe_control();
 
@@ -199,8 +205,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
         canctl.sendFrame(mcu_cmd.toFrame()); });
 
   // EPS 控制，20Hz
-  static rclcpp::TimerBase::SharedPtr timer_eps = node->create_wall_timer(
-      std::chrono::milliseconds(50), []()
+  static rclcpp::TimerBase::SharedPtr timer_eps =
+      node->create_wall_timer(std::chrono::milliseconds(50), []()
                               {
         sweeperMsg::McCtrl msg = get_safe_control();
 
@@ -212,8 +218,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
         canctl.sendFrame(eps_cmd.toFrame()); });
 
   // VCU 控制，10Hz
-  static rclcpp::TimerBase::SharedPtr timer_vcu = node->create_wall_timer(
-      std::chrono::milliseconds(100), []()
+  static rclcpp::TimerBase::SharedPtr timer_vcu =
+      node->create_wall_timer(std::chrono::milliseconds(100), []()
                               {
         sweeperMsg::McCtrl msg = get_safe_control();
 
@@ -229,9 +235,8 @@ void setupTimers(rclcpp::Node::SharedPtr node)
         vcu2_cmd.setSpray(msg.spray);
         vcu2_cmd.setSweeepCtrl(msg.sweep_ctrl);
 
-        // canctl.sendFrame(vcu1_cmd.toFrame());
-        // canctl.sendFrame(vcu2_cmd.toFrame());
-      });
+        canctl.sendFrame(vcu1_cmd.toFrame());
+        canctl.sendFrame(vcu2_cmd.toFrame()); });
 }
 
 int main(int argc, char **argv)
@@ -244,7 +249,8 @@ int main(int argc, char **argv)
   RCLCPP_INFO(node->get_logger(), "Starting mc package...");
 
   // 创建一个 Publisher
-  auto can_publisher = node->create_publisher<sweeperMsg::CanFrame>("can_data", 10);
+  auto can_publisher =
+      node->create_publisher<sweeperMsg::CanFrame>("can_data", 10);
 
   // 创建 Subscriber（收控制指令）
   auto subscriber = node->create_subscription<sweeperMsg::McCtrl>(
@@ -260,7 +266,8 @@ int main(int argc, char **argv)
 
   if (!canctl.open(mc_config.can_dev))
   {
-    RCLCPP_ERROR(node->get_logger(), "Failed to open CAN interface: %s", mc_config.can_dev.c_str());
+    RCLCPP_ERROR(node->get_logger(), "Failed to open CAN interface: %s",
+                 mc_config.can_dev.c_str());
     return -1;
   }
 

src/radio_ctrl/src/radio_ctrl.cpp

@@ -8,7 +8,8 @@
 
 namespace sweeperMsg = sweeper_interfaces::msg;
 
-constexpr float EPS_GEAR_RATIO = 16.5f;
+constexpr float DEG_PER_SEC_TO_RPM = 1.0f / 6.0f;
+constexpr float GEAR_RATIO = 7.0f;
 constexpr float DELTA_T = 0.02f; // 20ms
 const uint16_t speed[3] = {192, 992, 1792};
 
@@ -90,7 +91,15 @@ private:
                 {
                     msg.gear = 1; // R挡
                 }
+                else
+                {
+                    msg.gear = 0;
+                    msg.brake = 1;
+                    msg.rpm = 0;
+                }
 
+                if (ch_data[7] != 992)
+                {
                     // 油门 / 刹车逻辑
                     if (ch_data[1] <= speed[1])
                     {
@@ -102,6 +111,7 @@ private:
                         msg.brake = 0;
                         msg.rpm = static_cast<uint8_t>(MCU_RPM_MAX * (ch_data[1] - speed[1]) / (speed[2] - speed[1]));
                     }
+                }
 
                 // 一键清扫
                 if (ch_data[5] == 1792)
@@ -122,13 +132,13 @@ private:
                 }
 
                 // 转向逻辑
-                float target_angle = (992 - static_cast<float>(ch_data[3])) / 800 * EPS_ANGLE_MAX;
+                float target_angle = (static_cast<float>(ch_data[3] - 992)) / 800 * EPS_ANGLE_MAX;
 
                 // 角速度（度/秒）
                 float angle_speed = fabs(target_angle - current_feedback_angle) / DELTA_T;
 
                 // 电机转速（单位：rpm）
-                float motor_rpm = angle_speed * EPS_GEAR_RATIO;
+                float motor_rpm = angle_speed * DEG_PER_SEC_TO_RPM * GEAR_RATIO;
 
                 // 限制电机转速到 [120, 1500] 范围，防止过小/过大
                 uint16_t can_speed = std::clamp(