他穿着一条开源内裤：https://github.com/mobangjack/kylinbot

Architecture

1. BSP （Board Support Packages)

• btm (Bluetooth module)
• btn (Button on board)
• can1 (CAN bus 1)
• can2 (CAN bus 2)
• dbi (Debug interface based on uart)
• key (Additional keys)
• led (LED on board)
• pwm (PWM signal group)
• rcv (DR16 receiver)
• tim (System timers)
• tty (TTY for api data transmission)

2. APP (Applications)

• act (Action)
• cal (Calibration)
• can (CAN bus application)
• cfg (Configuration)
• cmd (Command)
• com (Communication)
• ctl (Logic controller)
• dbg (Debugger)
• dci (DBUS controller interface)
• dnl (Down-link communication)
• fos (Flash operating system)
• hci (Host control interface)
• ini (System initialization information provider)
• ios (Input/output stream)
• mec (Mechanical kinetics solver)
• odo (Dash board)
• rci (Remote control interface)
• sys (System-wide type definitions and functions)
• upd (System updater)
• upl (Up-link communication)
• wdg (Watch dog)
• wsm (Work state machine)

3. KOS (Kylin Operating System)

• kos (Kylin operating system)
• sch (Scheduler)