feat: 增加CRC-16校验(顺便添加了缺少的厂家设备驱动)

feat: 增加第三方模块 lwrb
feat: 增加麦轮逆解部分
feat: 增加LOG输出格式

app/by_motion.c

@@ -0,0 +1,54 @@
+#include "by_motion.h"
+
+#include <math.h>
+#include <string.h>
+
+#define D_X          (0.18f) // 底盘 Y 轴上两轮中心的间距
+#define D_Y          (0.25f) // 底盘 X 轴上两轮中心的间距
+#define RX_RY        ((D_X + D_Y) / 2.f)
+
+#define FP2U16_SCALE (1000.f)                // 浮点转存为整数缩放尺度，所有设备该参数需对应
+#define FP2U16(x)    ((int16_t)(x * FP2U16_SCALE)) // 浮点转存为整数
+
+/**********************************************
+ * v_1 = v_{ty} + v_{tx} - (r_x + r_y) * \omega
+ * v_2 = v_{ty} - v_{tx} + (r_x + r_y) * \omega
+ * v_3 = v_{ty} + v_{tx} + (r_x + r_y) * \omega
+ * v_4 = v_{ty} - v_{tx} - (r_x + r_y) * \omega
+ **********************************************/
+
+/*** 各轮转速，左上角为 1 号，顺时针标号 ***/
+float v_wheel[4] = {0.f};
+
+/** 目标速度 **/
+motion_speed_type motion_speed_struct;
+
+/** 下发数据包 **/
+int16_t motion_speed_data[4] = {0};
+
+void by_motion_init(void)
+{
+  memset(&motion_speed_struct, 0, sizeof(motion_speed_struct));
+  memset(v_wheel, 0, sizeof(v_wheel));
+}
+
+void by_motion_calc_speed(motion_speed_type *speed)
+{
+  motion_speed_struct = *speed;
+
+  v_wheel[0] = speed->v_x + speed->v_y - RX_RY * speed->v_w;
+  v_wheel[1] = speed->v_x - speed->v_y + RX_RY * speed->v_w;
+  v_wheel[2] = speed->v_x + speed->v_y + RX_RY * speed->v_w;
+  v_wheel[3] = speed->v_x - speed->v_y - RX_RY * speed->v_w;
+}
+
+/**
+ * @brief
+ *
+ */
+void by_motion_pack_speed(void)
+{
+  for (uint8_t i = 0; i < 4; i++) {
+    motion_speed_data[i] = FP2U16(v_wheel[i]);
+  }
+}