Compare commits
5 Commits
sentry_rig
...
sentry_lef
| Author | SHA1 | Date | |
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7b0a5cf63c | ||
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f53af0b510 | ||
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996825c0cc | ||
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b729cecc0e | ||
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f92339fe85 |
File diff suppressed because one or more lines are too long
@@ -417,20 +417,7 @@
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<WinNumber>1</WinNumber>
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<ItemText>host</ItemText>
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</Ww>
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||||
<Ww>
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<count>12</count>
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||||
<WinNumber>1</WinNumber>
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<ItemText>gimbal_ai</ItemText>
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</Ww>
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</WatchWindow1>
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<MemoryWindow4>
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<Mm>
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<WinNumber>4</WinNumber>
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||||
<SubType>0</SubType>
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<ItemText>for_chassis</ItemText>
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||||
<AccSizeX>0</AccSizeX>
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||||
</Mm>
|
||||
</MemoryWindow4>
|
||||
<Tracepoint>
|
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<THDelay>0</THDelay>
|
||||
</Tracepoint>
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|
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Binary file not shown.
@@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
|
||||
|
||||
<h2>Project:</h2>
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||||
C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
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Project File Date: 03/19/2025
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Project File Date: 03/14/2025
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|
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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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@@ -37,13 +37,9 @@ Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to
|
||||
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 user_math.c...
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compiling main.c...
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compiling ai.c...
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compiling config.c...
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compiling shoot.c...
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linking...
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Program Size: Code=149600 RO-data=6928 RW-data=1104 ZI-data=43832
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Program Size: Code=149520 RO-data=7272 RW-data=760 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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@@ -59,7 +55,7 @@ Package Vendor: Keil
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C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
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<h2>Collection of Component Files used:</h2>
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Build Time Elapsed: 00:00:03
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Build Time Elapsed: 00:00:01
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</pre>
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</body>
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||||
</html>
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19336
MDK-ARM/DevC/DevC.hex
19336
MDK-ARM/DevC/DevC.hex
File diff suppressed because it is too large
Load Diff
@@ -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: Wed Mar 19 17:14:45 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Mar 15 00:25:56 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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|
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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="[362]"></a>__decompress</STRONG> (Thumb, 0 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="[363]"></a>__decompress1</STRONG> (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
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|
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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
|
||||
<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>
|
||||
<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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||||
<BR>[Called By]<UL><LI><a href="#[184]">>></a> Gimbal_SetMode
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||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
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||||
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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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@@ -1295,7 +1295,7 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[8f]">>></a> Task_Command
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||||
</UL>
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||||
|
||||
<P><STRONG><a name="[29a]"></a>CMD_ParseHost</STRONG> (Thumb, 120 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
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||||
<P><STRONG><a name="[29a]"></a>CMD_ParseHost</STRONG> (Thumb, 100 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
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||||
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CMD_ParseHost
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[8f]">>></a> Task_Command
|
||||
@@ -1353,7 +1353,7 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[268]">>></a> Referee_Parse
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 320 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm))
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<P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 284 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm))
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||||
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CalculateRpm
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[27c]">>></a> Shoot_Control
|
||||
@@ -1443,20 +1443,20 @@ Global Symbols
|
||||
<P><STRONG><a name="[185]"></a>CircleAdd</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CircleAdd
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
|
||||
<LI><a href="#[283]">>></a> Shoot_UpdateFeedback
|
||||
<BR>[Called By]<UL><LI><a href="#[283]">>></a> Shoot_UpdateFeedback
|
||||
<LI><a href="#[27c]">>></a> Shoot_Control
|
||||
<LI><a href="#[27d]">>></a> Shoot_SetMode
|
||||
<LI><a href="#[189]">>></a> Gimbal_Init
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[186]"></a>CircleError</STRONG> (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CircleError
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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||||
<LI><a href="#[148]">>></a> PID_Calc
|
||||
<BR>[Called By]<UL><LI><a href="#[148]">>></a> PID_Calc
|
||||
<LI><a href="#[283]">>></a> Shoot_UpdateFeedback
|
||||
<LI><a href="#[27d]">>></a> Shoot_SetMode
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14c]"></a>CircleReverse</STRONG> (Thumb, 32 bytes, Stack size 4 bytes, user_math.o(.text.CircleReverse))
|
||||
@@ -1752,7 +1752,7 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[8e]">>></a> Task_CLI
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[183]"></a>Gimbal_Control</STRONG> (Thumb, 856 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control))
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||||
<P><STRONG><a name="[183]"></a>Gimbal_Control</STRONG> (Thumb, 852 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control))
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||||
<BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = Gimbal_Control ⇒ Gimbal_SetMode ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[184]">>></a> Gimbal_SetMode
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||||
@@ -3118,11 +3118,11 @@ Global Symbols
|
||||
<LI><a href="#[23a]">>></a> __ARM_isinf
|
||||
<LI><a href="#[c8]">>></a> __aeabi_f2d
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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||||
<LI><a href="#[145]">>></a> Chassis_Control
|
||||
<BR>[Called By]<UL><LI><a href="#[145]">>></a> Chassis_Control
|
||||
<LI><a href="#[148]">>></a> PID_Calc
|
||||
<LI><a href="#[156]">>></a> LowPassFilter2p_Reset
|
||||
<LI><a href="#[27c]">>></a> Shoot_Control
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14e]"></a>LowPassFilter2p_Init</STRONG> (Thumb, 316 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Init))
|
||||
@@ -3448,10 +3448,10 @@ Global Symbols
|
||||
<LI><a href="#[14a]">>></a> LowPassFilter2p_Apply
|
||||
<LI><a href="#[c8]">>></a> __aeabi_f2d
|
||||
</UL>
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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
|
||||
<BR>[Called By]<UL><LI><a href="#[145]">>></a> Chassis_Control
|
||||
<LI><a href="#[8d]">>></a> Task_AttiEsti
|
||||
<LI><a href="#[27c]">>></a> Shoot_Control
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</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))
|
||||
@@ -3972,12 +3972,12 @@ Global Symbols
|
||||
<LI><a href="#[f7]">>></a> osKernelGetTickFreq
|
||||
<LI><a href="#[289]">>></a> osKernelGetTickCount
|
||||
<LI><a href="#[28e]">>></a> osDelayUntil
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
<LI><a href="#[18a]">>></a> Gimbal_UpdateFeedback
|
||||
<LI><a href="#[29e]">>></a> Gimbal_PackAI
|
||||
<LI><a href="#[189]">>></a> Gimbal_Init
|
||||
<LI><a href="#[2a0]">>></a> Gimbal_DumpUI
|
||||
<LI><a href="#[29f]">>></a> Gimbal_DumpOutput
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
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||||
<BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init)
|
||||
</UL>
|
||||
@@ -7581,7 +7581,7 @@ Local Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[145]">>></a> Chassis_Control
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[184]"></a>Gimbal_SetMode</STRONG> (Thumb, 256 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode))
|
||||
<P><STRONG><a name="[184]"></a>Gimbal_SetMode</STRONG> (Thumb, 252 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = Gimbal_SetMode ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[155]">>></a> PID_Reset
|
||||
|
||||
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@@ -288,7 +288,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
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cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
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cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
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cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
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cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
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cmd->gimbal.delta_eulr.pit = -rc->ch_r_y * dt_sec * cmd->param->sens_rc;
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}
|
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}
|
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|
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@@ -399,20 +399,14 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec)
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/* 云台欧拉角设置为host相应的变化的欧拉角 */
|
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cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
|
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cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
|
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|
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// cmd->shoot.mode = SHOOT_MODE_LOADED;
|
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/* host射击命令，设置不同的射击频率和弹丸初速度 */
|
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if(cmd->fire){
|
||||
if (host->fire)
|
||||
{
|
||||
cmd->shoot.mode = SHOOT_MODE_LOADED;
|
||||
cmd->shoot.fire = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
// cmd->shoot.mode = SHOOT_MODE_SAFE;
|
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cmd->shoot.mode = SHOOT_MODE_LOADED;
|
||||
}
|
||||
|
||||
if (cmd->fire && host->fire)
|
||||
{
|
||||
cmd->shoot.fire = true;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
@@ -198,8 +198,8 @@ typedef struct {
|
||||
|
||||
typedef struct {
|
||||
bool pc_ctrl; /* 是否使用键鼠控制 */
|
||||
bool host_overwrite; /* 是否Host控制 */
|
||||
bool fire; /* 是否允许发弹 */
|
||||
bool host_overwrite; /* 是否Host控制 */
|
||||
uint16_t key_last; /* 上次按键键值 */
|
||||
|
||||
struct {
|
||||
@@ -255,6 +255,7 @@ typedef struct {
|
||||
|
||||
bool fire; /* 开火状态 */
|
||||
// bool search_armor; /* 寻找装甲板模式 */
|
||||
|
||||
} CMD_Host_t;
|
||||
|
||||
/**
|
||||
|
||||
@@ -107,7 +107,6 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
|
||||
if (is17mm) {
|
||||
if (bullet_speed == 15.0f) return 4670.f;
|
||||
if (bullet_speed == 18.0f) return 5200.f;
|
||||
if (bullet_speed == 25.0f) return 6600.f;
|
||||
if (bullet_speed == 30.0f) return 7350.f;
|
||||
} else {
|
||||
if (bullet_speed == 10.0f) return 4450.f;
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
/*
|
||||
AI
|
||||
AI
|
||||
*/
|
||||
|
||||
/* Includes ----------------------------------------------------------------- */
|
||||
@@ -52,7 +52,7 @@ int8_t AI_Init(AI_t *ai) {
|
||||
Ai_IdleLineCallback);
|
||||
|
||||
ai->search_velocity.yaw = 0.0025f;
|
||||
ai->search_velocity.pit = 0.003f;
|
||||
ai->search_velocity.pit = 0.0015f;
|
||||
inited = true;
|
||||
return 0;
|
||||
}
|
||||
@@ -99,15 +99,15 @@ void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
|
||||
}
|
||||
|
||||
void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
|
||||
if (gimbal_ai->pit > 2.45){
|
||||
if (gimbal_ai->pit > 1.95){
|
||||
ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
|
||||
} else if (gimbal_ai->pit < 2.2) {
|
||||
} else if (gimbal_ai->pit < 1.75) {
|
||||
ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
|
||||
}
|
||||
|
||||
if (gimbal_ai->yaw > 1.5 && gimbal_ai->yaw < 1.9) {
|
||||
if (gimbal_ai->yaw > 4.6 && gimbal_ai->yaw < 4.9) {
|
||||
ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw);
|
||||
} else if (gimbal_ai->yaw > 5.4 && gimbal_ai->yaw < 6.0) {
|
||||
} else if (gimbal_ai->yaw > 2.4 && gimbal_ai->yaw < 2.7) {
|
||||
ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);
|
||||
}
|
||||
|
||||
@@ -170,3 +170,4 @@ int8_t AI_StartSend(AI_t *ai, bool ref_update) {
|
||||
return DEVICE_ERR;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -71,3 +71,6 @@ void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
1169
User/module/config.c
1169
User/module/config.c
File diff suppressed because it is too large
Load Diff
@@ -37,8 +37,8 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
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if (g->mode == GIMBAL_MODE_RELAX) {
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if (mode == GIMBAL_MODE_ABSOLUTE) {
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// g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
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g->setpoint.eulr.yaw = 3.7f;
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g->setpoint.eulr.pit = 2.2f;
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g->setpoint.eulr.yaw = 0.52f;
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g->setpoint.eulr.pit = 2.0f;
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} else if (mode == GIMBAL_MODE_RELATIVE) {
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g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
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}
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@@ -153,11 +153,11 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
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g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
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/* 限制yaw转动范围（待优化） */
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if (g->setpoint.eulr.yaw > 5.9f && g->setpoint.eulr.yaw < 6.01f) {
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g->setpoint.eulr.yaw = 5.9f;
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} else if (g->setpoint.eulr.yaw > 1.4f && g->setpoint.eulr.yaw < 1.71f) {
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g->setpoint.eulr.yaw = 1.71f;
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}
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if (g->setpoint.eulr.yaw > 4.5f && g->setpoint.eulr.yaw < 4.7f) {
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g->setpoint.eulr.yaw = 4.7f;
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} else if (g->setpoint.eulr.yaw > 2.6f && g->setpoint.eulr.yaw < 2.7f) {
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g->setpoint.eulr.yaw = 2.6f;
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}
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/* 重置输入指令，防止重复处理 */
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@@ -15,7 +15,7 @@
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#define HEAT_INCREASE_17MM (10.f) /* 每发射一颗17mm弹丸增加10热量 */
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#define BULLET_SPEED_LIMIT_42MM (16.0)
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#define BULLET_SPEED_LIMIT_17MM (25.0)
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#define BULLET_SPEED_LIMIT_17MM (30.0)
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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