From 7f2d2a085604073f4457ecd3d5d8e2dc4f7ed172 Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Sat, 14 Jun 2025 21:04:59 +0800 Subject: [PATCH] =?UTF-8?q?=E8=BF=98=E5=8F=AF=E7=94=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/c_cpp_properties.json | 36 +++++++++++++-------------- MDK-ARM/.vscode/uv4.log | 28 ++++++++++++++++++--- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1-shooter.uvoptx | 8 +++--- User/device/djiMotor.c | 2 +- User/module/ball.cpp | 2 ++ 6 files changed, 51 insertions(+), 27 deletions(-) diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json index 120b12d..479213b 100644 --- a/MDK-ARM/.vscode/c_cpp_properties.json +++ b/MDK-ARM/.vscode/c_cpp_properties.json @@ -3,26 +3,26 @@ { "name": "R1-shooter", "includePath": [ - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Inc", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\bsp", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\module", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\task", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\lib", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\User\\device", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Core\\Inc", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\CMSIS\\Include", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\bsp", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\module", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\task", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\lib", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\User\\device", "D:\\keil\\ARM\\ARMCC\\include", "D:\\keil\\ARM\\ARMCC\\include\\rw", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\MDK-ARM", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Core\\Src", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source", - "d:\\Desktop\\r1\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang" + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\MDK-ARM", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Core\\Src", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Drivers\\STM32F4xx_HAL_Driver\\Src", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source", + "d:\\Desktop\\r1\\r1_upper\\r1_upper\\r1upper-1\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang" ], "defines": [ "USE_HAL_DRIVER", diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index 2ac5c03..8c2e769 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,8 +1,30 @@ *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' Build target 'R1-shooter' +compiling gpio.c... +compiling main.c... +compiling userTask.c... +compiling usart.c... +compiling gimbal.cpp... +compiling shoot.cpp... +compiling remote_control.c... +compiling nuc.c... +compiling user_math.c... +compiling uart_it.c... +compiling motor.cpp... +compiling GO_M8010_6_Driver.c... +compiling djiMotor.c... +..\User\device\djiMotor.c(162): warning: #177-D: variable "eventReceive" was declared but never referenced + static osEventFlagsId_t eventReceive; +..\User\device\djiMotor.c: 1 warning, 0 errors +compiling initTask.c... compiling ball.cpp... +compiling ballTask.cpp... +compiling encodeCan.cpp... +compiling gimbalTask.cpp... +compiling nucTask.cpp... +compiling shootTask.cpp... linking... -Program Size: Code=26644 RO-data=1812 RW-data=240 ZI-data=23520 +Program Size: Code=26664 RO-data=1812 RW-data=244 ZI-data=23516 FromELF: creating hex file... -"R1-shooter\R1-shooter.axf" - 0 Error(s), 0 Warning(s). -Build Time Elapsed: 00:00:03 +"R1-shooter\R1-shooter.axf" - 0 Error(s), 1 Warning(s). +Build Time Elapsed: 00:00:24 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index e1bf9c5..f60a07e 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/4/26 16:32:18 \ No newline at end of file +2025/6/14 13:19:08 \ No newline at end of file diff --git a/MDK-ARM/R1-shooter.uvoptx b/MDK-ARM/R1-shooter.uvoptx index a3a851b..ab98bf0 100644 --- a/MDK-ARM/R1-shooter.uvoptx +++ b/MDK-ARM/R1-shooter.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 3 + 6 @@ -114,7 +114,7 @@ - BIN\CMSIS_AGDI.dll + STLink\ST-LINKIII-KEIL_SWO.dll @@ -140,7 +140,7 @@ 0 DLGUARM - + (105=-1,-1,-1,-1,0) 0 @@ -1041,7 +1041,7 @@ User/module - 0 + 1 0 0 0 diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c index e2042c4..1172199 100644 --- a/User/device/djiMotor.c +++ b/User/device/djiMotor.c @@ -159,7 +159,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) } #else -static osEventFlagsId_t eventReceive; +//static osEventFlagsId_t eventReceive; static osThreadId_t thread_alert; /** * @brief 自定义大疆电机回调函数 diff --git a/User/module/ball.cpp b/User/module/ball.cpp index d51f707..9b77ad1 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -217,6 +217,8 @@ void Ball::ballHadling(void) { case BALL_IDLE: HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸闭合 + HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合 + HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭 if (key > 0) // 检测按键是否被按下 { key = 0; // 重置按键状态