准备调pid
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@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
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<h2>Project:</h2>
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C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
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Project File Date: 03/14/2025
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Project File Date: 03/16/2025
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<h2>Output:</h2>
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*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
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@ -37,9 +37,9 @@ Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to
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Note: source file '..\User\task\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_3.o'.
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Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.
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Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
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compiling ai.c...
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compiling config.c...
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linking...
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Program Size: Code=149536 RO-data=7272 RW-data=760 ZI-data=43832
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Program Size: Code=149536 RO-data=6928 RW-data=1104 ZI-data=43832
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FromELF: creating hex file...
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"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
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12163
MDK-ARM/DevC/DevC.hex
12163
MDK-ARM/DevC/DevC.hex
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@ -3,7 +3,7 @@
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<title>Static Call Graph - [DevC\DevC.axf]</title></head>
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<body><HR>
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<H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Mar 15 01:02:19 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sun Mar 16 09:55:55 2025
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<BR><P>
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<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
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Call chain for Maximum Stack Depth:</H3>
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@ -724,9 +724,9 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[347]">>></a> __ieee754_rem_pio2
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</UL>
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<P><STRONG><a name="[362]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
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<P><STRONG><a name="[362]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dclz77c.o(.text), UNUSED)
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<P><STRONG><a name="[363]"></a>__decompress1</STRONG> (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
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<P><STRONG><a name="[363]"></a>__decompress2</STRONG> (Thumb, 94 bytes, Stack size unknown bytes, __dclz77c.o(.text), UNUSED)
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<P><STRONG><a name="[c3]"></a>AHRS_GetEulr</STRONG> (Thumb, 348 bytes, Stack size 48 bytes, ahrs.o(.text.AHRS_GetEulr))
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<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = AHRS_GetEulr ⇒ __hardfp_atan2f
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@ -751,8 +751,8 @@ Global Symbols
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<P><STRONG><a name="[188]"></a>AHRS_ResetEulr</STRONG> (Thumb, 18 bytes, Stack size 4 bytes, ahrs.o(.text.AHRS_ResetEulr))
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<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = AHRS_ResetEulr
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</UL>
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<BR>[Called By]<UL><LI><a href="#[184]">>></a> Gimbal_SetMode
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<LI><a href="#[183]">>></a> Gimbal_Control
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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<LI><a href="#[184]">>></a> Gimbal_SetMode
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</UL>
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<P><STRONG><a name="[ca]"></a>AHRS_Update</STRONG> (Thumb, 3098 bytes, Stack size 224 bytes, ahrs.o(.text.AHRS_Update))
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@ -1443,20 +1443,20 @@ Global Symbols
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<P><STRONG><a name="[185]"></a>CircleAdd</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd))
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<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CircleAdd
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</UL>
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<BR>[Called By]<UL><LI><a href="#[283]">>></a> Shoot_UpdateFeedback
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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<LI><a href="#[283]">>></a> Shoot_UpdateFeedback
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<LI><a href="#[27c]">>></a> Shoot_Control
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<LI><a href="#[27d]">>></a> Shoot_SetMode
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<LI><a href="#[189]">>></a> Gimbal_Init
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<LI><a href="#[183]">>></a> Gimbal_Control
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</UL>
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<P><STRONG><a name="[186]"></a>CircleError</STRONG> (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError))
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<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CircleError
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</UL>
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<BR>[Called By]<UL><LI><a href="#[148]">>></a> PID_Calc
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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<LI><a href="#[148]">>></a> PID_Calc
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<LI><a href="#[283]">>></a> Shoot_UpdateFeedback
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<LI><a href="#[27d]">>></a> Shoot_SetMode
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<LI><a href="#[183]">>></a> Gimbal_Control
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</UL>
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<P><STRONG><a name="[14c]"></a>CircleReverse</STRONG> (Thumb, 32 bytes, Stack size 4 bytes, user_math.o(.text.CircleReverse))
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@ -3118,11 +3118,11 @@ Global Symbols
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<LI><a href="#[23a]">>></a> __ARM_isinf
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<LI><a href="#[c8]">>></a> __aeabi_f2d
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</UL>
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<BR>[Called By]<UL><LI><a href="#[145]">>></a> Chassis_Control
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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<LI><a href="#[145]">>></a> Chassis_Control
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<LI><a href="#[148]">>></a> PID_Calc
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<LI><a href="#[156]">>></a> LowPassFilter2p_Reset
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<LI><a href="#[27c]">>></a> Shoot_Control
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<LI><a href="#[183]">>></a> Gimbal_Control
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</UL>
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<P><STRONG><a name="[14e]"></a>LowPassFilter2p_Init</STRONG> (Thumb, 316 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Init))
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@ -3448,10 +3448,10 @@ Global Symbols
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<LI><a href="#[14a]">>></a> LowPassFilter2p_Apply
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<LI><a href="#[c8]">>></a> __aeabi_f2d
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</UL>
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<BR>[Called By]<UL><LI><a href="#[145]">>></a> Chassis_Control
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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<LI><a href="#[145]">>></a> Chassis_Control
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<LI><a href="#[8d]">>></a> Task_AttiEsti
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<LI><a href="#[27c]">>></a> Shoot_Control
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<LI><a href="#[183]">>></a> Gimbal_Control
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</UL>
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<P><STRONG><a name="[14d]"></a>PID_Init</STRONG> (Thumb, 406 bytes, Stack size 32 bytes, pid.o(.text.PID_Init))
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@ -3972,12 +3972,12 @@ Global Symbols
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<LI><a href="#[f7]">>></a> osKernelGetTickFreq
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<LI><a href="#[289]">>></a> osKernelGetTickCount
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<LI><a href="#[28e]">>></a> osDelayUntil
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<LI><a href="#[183]">>></a> Gimbal_Control
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<LI><a href="#[18a]">>></a> Gimbal_UpdateFeedback
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<LI><a href="#[29e]">>></a> Gimbal_PackAI
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<LI><a href="#[189]">>></a> Gimbal_Init
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<LI><a href="#[2a0]">>></a> Gimbal_DumpUI
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<LI><a href="#[29f]">>></a> Gimbal_DumpOutput
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<LI><a href="#[183]">>></a> Gimbal_Control
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</UL>
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<BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init)
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</UL>
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@ -345,7 +345,11 @@ static const Config_RobotParam_t param_hero = {
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}, /* can */
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}; /* param_hero */
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#ifdef DEBUG
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Config_RobotParam_t param_sentry = {
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#else
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static const Config_RobotParam_t param_sentry = {
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#endif
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.model = ROBOT_MODEL_SENTRY,
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.chassis = { /* 底盘模块参数 */
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