面向实验室师生发布文章、项目资料与维护记录。https://ice11123.github.io/GUET_428/https://ice11123.github.io/GUET_428/blog/%E5%85%B6%E4%BB%96/%E6%AC%A2%E8%BF%8E%E4%BD%BF%E7%94%A8/https://ice11123.github.io/GUET_428/blog/%E5%85%B6%E4%BB%96/%E6%AC%A2%E8%BF%8E%E4%BD%BF%E7%94%A8/这是一篇原创的功能演示文章，用来验证博客的 Markdown、数学公式、图表与交互组件。Tue, 11 Aug 2026 00:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%85%B6%E4%BB%96/%E7%AB%99%E7%82%B9%E6%8C%87%E5%8D%97/github-publishing-guide/https://ice11123.github.io/GUET_428/blog/%E5%85%B6%E4%BB%96/%E7%AB%99%E7%82%B9%E6%8C%87%E5%8D%97/github-publishing-guide/从接受协作邀请到网页编辑 Markdown、提交文章、检查自动部署，介绍 GUET_428 的完整发文流程。Sun, 11 Oct 2026 05:00:00 GMThttps://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/pid%E7%AE%97%E6%B3%95/01-positional-incremental-pid/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/pid%E7%AE%97%E6%B3%95/01-positional-incremental-pid/从闭环控制的基本问题出发，说明位置式与增量式 PID 的状态、离散公式、输出限幅、目标切换和电机接入方法。Sun, 20 Sep 2026 00:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/pid%E7%AE%97%E6%B3%95/02-low-pass-incremental-speed-pid/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/pid%E7%AE%97%E6%B3%95/02-low-pass-incremental-speed-pid/从编码器反馈开始，讲清一阶低通、左右轮独立控制器、增量式 PID、电机命令和串口观测如何组成双轮速度闭环。Sun, 20 Sep 2026 00:10:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/pid%E7%AE%97%E6%B3%95/03-feedforward-anti-windup-cascade-pid/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/pid%E7%AE%97%E6%B3%95/03-feedforward-anti-windup-cascade-pid/在基础速度环之上加入前馈、测量微分、条件积分和位置—速度级联，建立可用于双轮小车的工程化控制思路。Sun, 20 Sep 2026 00:20:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/rtos-%E4%BB%BB%E5%8A%A1%E8%B0%83%E5%BA%A6%E5%99%A8/01-cooperative-scheduler/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/rtos-%E4%BB%BB%E5%8A%A1%E8%B0%83%E5%BA%A6%E5%99%A8/01-cooperative-scheduler/从 1 ms 时基、任务表、周期判定和优先级出发，讲清协作式调度器如何运行，以及怎样让采样、控制和通信任务互不阻塞。Sun, 20 Sep 2026 01:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/01-ti-car-start/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/01-ti-car-start/从整车任务、软硬件模块和非抢占式调度主线认识 MSPM0G35XX TI 小车，并建立后续阅读地图。Sat, 19 Sep 2026 00:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/02-system-architecture/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/02-system-architecture/拆解 MSPM0G35XX TI 小车的合作式任务表、执行顺序、周期预算、APP/BSP 分层和共享状态边界。Sat, 19 Sep 2026 01:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/03-first-motor-run/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/03-first-motor-run/沿着 MSPM0G35XX 到 TB6612 的执行链，解释 GPIO 方向、双通道 PWM、STBY、极性统一和应用层安全输出。Sat, 19 Sep 2026 02:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/04-software-architecture/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/04-software-architecture/解释 MSPM0G35XX 硬件 QEI 如何采集左右编码器，并把计数差转换为速度、累计里程和控制反馈。Sat, 19 Sep 2026 03:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/05-motor-execution-chain/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/05-motor-execution-chain/从编码器反馈到 TB6612 输出，拆解 MSPM0G35XX TI 小车的速度滤波、前馈 PID、目标斜坡、位置外环与停稳判定。Sat, 19 Sep 2026 04:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/06-encoder-motion-metrics/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/06-encoder-motion-metrics/从 MSPM0G35XX GPIO 采样到左右轮目标速度，拆解五路循迹的黑线解码、位置偏差、一阶低通、微分限幅和终点识别。Sat, 19 Sep 2026 05:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/07-speed-position-control/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/07-speed-position-control/按底层驱动、数据处理和应用层拆解 MSPM0G35XX 工程中的 ICM42688，并明确其当前默认关闭、尚待整车上板验收的证据边界。Sat, 19 Sep 2026 06:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/08-line-tracking-system/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/08-line-tracking-system/说明 MSPM0G35XX TI 小车如何通过按键、OLED、串口、LED、蜂鸣器和外部同步信号完成任务选择、状态呈现与诊断。Sat, 19 Sep 2026 07:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/09-observability-and-hmi/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/09-observability-and-hmi/拆解 MSPM0G35XX TI 小车如何用模式状态、循迹阶段和统一停机路径，把多个底层模块组织成可预测任务。Sat, 19 Sep 2026 08:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/10-integration-and-delivery/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/ti%E5%B0%8F%E8%BD%A6%E5%AE%9E%E6%88%98/10-integration-and-delivery/把 MSPM0G35XX、非抢占式调度器、TB6612、编码器、五路循迹、控制器和交互模块重新组合成完整任务时序。Sat, 19 Sep 2026 09:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%96%B0%E7%94%9F%E5%85%A5%E9%97%A8/01-first-week/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%96%B0%E7%94%9F%E5%85%A5%E9%97%A8/01-first-week/给零基础新生的第一周学习地图：认识目标、准备工具、建立安全习惯，并完成第一次可复现的小实验。Thu, 17 Sep 2026 04:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%96%B0%E7%94%9F%E5%85%A5%E9%97%A8/02-electrical-basics/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%96%B0%E7%94%9F%E5%85%A5%E9%97%A8/02-electrical-basics/从智能小车最常见的接线问题出发，理解电压、电流、功率、信号电平与共地，并学会安全使用万用表。Thu, 17 Sep 2026 05:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%96%B0%E7%94%9F%E5%85%A5%E9%97%A8/03-mcu-gpio-pwm/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%96%B0%E7%94%9F%E5%85%A5%E9%97%A8/03-mcu-gpio-pwm/不依赖具体车型，从主控、GPIO、PWM、电机驱动器和直流电机之间的关系开始理解运动控制。Thu, 17 Sep 2026 06:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/01-kalman-fusion-design/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/01-kalman-fusion-design/从状态、预测和测量更新出发，讲清角度、角速度、角加速度和陀螺仪偏置如何组成异步传感器融合器。Sun, 20 Sep 2026 03:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/02-two-state-kalman-filter/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/02-two-state-kalman-filter/用轻量的角度—偏置模型讲清预测、加速度计校正、2×2 协方差、互补滤波以及采样周期对姿态估计的影响。Sun, 20 Sep 2026 03:10:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/03-mspm0-mpu6050-balance-control/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/03-mspm0-mpu6050-balance-control/从姿态和速度反馈出发，讲清直立环、速度环与转向环如何协作，并说明 I²C、电机输出和级联调试中的安全边界。Sun, 20 Sep 2026 03:20:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/04-mpu6050-dmp-package/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/04-mpu6050-dmp-package/分清寄存器驱动、InvenSense DMP 与互补滤波三层职责，并讲解 I²C 超时、单位换算、归一化和姿态输出链。Sun, 20 Sep 2026 03:30:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/05-jy901s-uart-driver/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/05-jy901s-uart-driver/从 UART 字节流出发，讲清 11 字节帧状态机、校验、单位换算、时间戳、数据新鲜度和可靠校准方法。Sun, 20 Sep 2026 03:40:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/06-bno080-uart-rvc-project/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/06-bno080-uart-rvc-project/沿着 DMA、UART 空闲中断、19 字节帧解析和主循环消费，讲清连续姿态数据如何可靠进入控制程序。Sun, 20 Sep 2026 03:50:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/07-bno080-datasheet-rvc/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E6%BB%A4%E6%B3%A2%E7%AE%97%E6%B3%95%E4%B8%8E%E9%99%80%E8%9E%BA%E4%BB%AA%E9%A9%B1%E5%8A%A8/07-bno080-datasheet-rvc/从 115200 8N1、19 字节帧和校验开始，讲清角度与加速度换算、车体坐标映射、丢帧识别和数据新鲜度。Sun, 20 Sep 2026 04:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E7%81%B0%E5%BA%A6%E5%8F%8A%E5%BE%AA%E8%BF%B9%E7%8E%AFpid/01-eight-channel-tracker/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E7%81%B0%E5%BA%A6%E5%8F%8A%E5%BE%AA%E8%BF%B9%E7%8E%AFpid/01-eight-channel-tracker/从八路数字灰度采样出发，讲清位置映射、加权质心、IQ 定点偏差、失线检测以及方向环的接入方法。Sun, 20 Sep 2026 02:00:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E7%81%B0%E5%BA%A6%E5%8F%8A%E5%BE%AA%E8%BF%B9%E7%8E%AFpid/02-mspm0g35xx-line-tracking-project/https://ice11123.github.io/GUET_428/blog/%E5%B0%8F%E8%BD%A6%E7%BB%84/%E7%81%B0%E5%BA%A6%E5%8F%8A%E5%BE%AA%E8%BF%B9%E7%8E%AFpid/02-mspm0g35xx-line-tracking-project/沿着十二路灰度采样、位置估计、方向 PID、PWM、电机和编码器链路，讲清循迹小车怎样形成完整控制闭环。Sun, 20 Sep 2026 02:10:00 GMT离子怪https://ice11123.github.io/GUET_428/blog/%E9%A3%9E%E6%8E%A7%E7%BB%84/drone-showcase/https://ice11123.github.io/GUET_428/blog/%E9%A3%9E%E6%8E%A7%E7%BB%84/drone-showcase/Mon, 12 Oct 2026 03:00:00 GMThttps://ice11123.github.io/GUET_428/blog/%E9%A3%9E%E6%8E%A7%E7%BB%84/nano%E6%8E%A5%E6%94%B6%E6%9C%BA%E9%85%8D%E5%AF%B9%E5%AD%97/https://ice11123.github.io/GUET_428/blog/%E9%A3%9E%E6%8E%A7%E7%BB%84/nano%E6%8E%A5%E6%94%B6%E6%9C%BA%E9%85%8D%E5%AF%B9%E5%AD%97/记录 nano 接收机 WebUI 中配对字（Binding Phrase）、串口协议与失效保护的实际取值，供装机对频时对照。Fri, 18 Sep 2026 01:00:00 GMThttps://ice11123.github.io/GUET_428/blog/%E9%A3%9E%E6%8E%A7%E7%BB%84/%E6%8B%93%E7%A9%BA%E8%80%85%E9%A3%9E%E6%8E%A7%E4%BB%A3%E7%A0%81%E8%A7%A3%E6%9E%90%E6%96%87%E6%A1%A3/https://ice11123.github.io/GUET_428/blog/%E9%A3%9E%E6%8E%A7%E7%BB%84/%E6%8B%93%E7%A9%BA%E8%80%85%E9%A3%9E%E6%8E%A7%E4%BB%A3%E7%A0%81%E8%A7%A3%E6%9E%90%E6%96%87%E6%A1%A3/按时间片调度的频率分层梳理拓空者（匿名）飞控的任务与数据流，并记录学长改版中飞行模式、融合高度与雷达坐标系变换三处已知问题。Fri, 18 Sep 2026 03:00:00 GMThttps://ice11123.github.io/GUET_428/blog/%E9%A3%9E%E6%8E%A7%E7%BB%84/%E6%8B%93%E7%A9%BA%E8%80%85%E9%A3%9E%E6%8E%A7%E5%9F%BA%E7%A1%80%E8%B5%B7%E9%A3%9E%E6%B5%81%E7%A8%8B/https://ice11123.github.io/GUET_428/blog/%E9%A3%9E%E6%8E%A7%E7%BB%84/%E6%8B%93%E7%A9%BA%E8%80%85%E9%A3%9E%E6%8E%A7%E5%9F%BA%E7%A1%80%E8%B5%B7%E9%A3%9E%E6%B5%81%E7%A8%8B/拓空者飞控使用匿名原版代码起飞所需的最小器材清单、模式前提，以及开启定点模式要追加的传感器。Fri, 18 Sep 2026 02:00:00 GMT