修改弹速

2025-03-16 23:02:55 +08:00 · 2025-03-16 23:02:55 +08:00 · 1b0ed78b10
commit 1b0ed78b10
parent fe7d4bd705
13 changed files with 12175 additions and 12169 deletions
--- a/MDK-ARM/DevC.uvguix.lvzucheng
+++ b/MDK-ARM/DevC.uvguix.lvzucheng
--- a/MDK-ARM/DevC/DevC.axf
+++ b/MDK-ARM/DevC/DevC.axf
--- a/MDK-ARM/DevC/DevC.build_log.htm
+++ b/MDK-ARM/DevC/DevC.build_log.htm
@ -37,45 +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'.
 Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.
 Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
-compiling ballistics.c...
-compiling freertos.c...
-compiling ahrs.c...
-compiling capacity.c...
-compiling crc16.c...
-compiling cmd.c...
-compiling filter.c...
-compiling mixer.c...
-compiling pid.c...
-compiling user_math.c...
-compiling bmi088.c...
-compiling ui.c...
-compiling can.c...
-compiling dr16.c...
-compiling ist8310.c...
-compiling ai.c...
-compiling cap.c...
-compiling referee.c...
 compiling config.c...
-compiling chassis.c...
-compiling gimbal.c...
-compiling shoot.c...
-compiling ai.c...
-compiling atti_esti.c...
-compiling can.c...
-compiling cap.c...
-compiling cli.c...
-compiling command.c...
-compiling ctrl_chassis.c...
-compiling ctrl_gimbal.c...
-compiling ctrl_shoot.c...
-compiling info.c...
-compiling init.c...
-compiling monitor.c...
-compiling rc.c...
-compiling referee.c...
-compiling user_task.c...
 linking...
-Program Size: Code=149536 RO-data=6928 RW-data=1104 ZI-data=43832  
+Program Size: Code=149584 RO-data=6928 RW-data=1104 ZI-data=43832  
 FromELF: creating hex file...
 "DevC\DevC.axf" - 0 Error(s), 0 Warning(s).

@ -91,7 +55,7 @@ Package Vendor: Keil
  C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include

 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:08
+Build Time Elapsed:  00:00:02
 </pre>
 </body>
 </html>
--- a/MDK-ARM/DevC/DevC.hex
+++ b/MDK-ARM/DevC/DevC.hex
--- a/MDK-ARM/DevC/DevC.htm
+++ b/MDK-ARM/DevC/DevC.htm
@ -3,7 +3,7 @@
 <title>Static Call Graph - [DevC\DevC.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Sun Mar 16 10:24:19 2025
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Sun Mar 16 23:01:30 2025
 <BR><P>
 <H3>Maximum Stack Usage =        632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@ -1353,7 +1353,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[268]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Referee_Parse
 </UL>

-<P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 284 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm))
+<P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 320 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm))
 <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CalculateRpm
 </UL>
 <BR>[Called By]<UL><LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control
--- a/MDK-ARM/DevC/DevC.map
+++ b/MDK-ARM/DevC/DevC.map
--- a/MDK-ARM/DevC/DevC_Debug.dep
+++ b/MDK-ARM/DevC/DevC_Debug.dep
--- a/MDK-ARM/DevC/config.o
+++ b/MDK-ARM/DevC/config.o
--- a/MDK-ARM/DevC/shoot.o
+++ b/MDK-ARM/DevC/shoot.o
--- a/MDK-ARM/DevC/user_math.o
+++ b/MDK-ARM/DevC/user_math.o
--- a/User/component/user_math.c
+++ b/User/component/user_math.c
@ -107,6 +107,7 @@ 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 == 30.0f) return 6600.f;
    if (bullet_speed == 30.0f) return 7350.f;
  } else {
    if (bullet_speed == 10.0f) return 4450.f;
--- a/User/module/config.c
+++ b/User/module/config.c
@ -2,21 +2,21 @@
 * 配置相关
 */

-#include "config.h"
+ #include "config.h"

-#include <stdint.h>
-#include <string.h>
+ #include <stdint.h>
+ #include <string.h>
 
-#include "bsp/flash.h"
+ #include "bsp/flash.h"
 
-#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
+ #define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
 
-/* clang-format off */
-#ifdef DEBUG
-Config_RobotParam_t param_default = {
-#else
-static const Config_RobotParam_t param_default = {
-#endif
+ /* clang-format off */
+ #ifdef DEBUG
+ Config_RobotParam_t param_default = {
+ #else
+ static const Config_RobotParam_t param_default = {
+ #endif
   .model = ROBOT_MODEL_INFANTRY,
 
   .chassis = { /* 底盘模块参数 */
@ -58,25 +58,25 @@ static const Config_RobotParam_t param_default = {
   .gimbal = { /* 云台模块参数 */
     .pid = {
       {
-//        /* GIMBAL_PID_YAW_OMEGA_IDX */
-//        .k = 0.25f,
-//        .p = 1.0f,
-//        .i = 1.0f,
-//        .d = 0.0f,
-//        .i_limit = 1.0f,
-//        .out_limit = 1.0f,
-//        .d_cutoff_freq = -1.0f,
-//        .range = -1.0f,
-//      }, {
-//        /* GIMBAL_PID_YAW_ANGLE_IDX */
-//        .k = 12.0f,
-//        .p = 1.0f,
-//        .i = 0.0f,
-//        .d = 0.05f,
-//        .i_limit = 0.0f,
-//        .out_limit = 10.0f,
-//        .d_cutoff_freq = -1.0f,
-//        .range = M_2PI,
+ //        /* GIMBAL_PID_YAW_OMEGA_IDX */
+ //        .k = 0.25f,
+ //        .p = 1.0f,
+ //        .i = 1.0f,
+ //        .d = 0.0f,
+ //        .i_limit = 1.0f,
+ //        .out_limit = 1.0f,
+ //        .d_cutoff_freq = -1.0f,
+ //        .range = -1.0f,
+ //      }, {
+ //        /* GIMBAL_PID_YAW_ANGLE_IDX */
+ //        .k = 12.0f,
+ //        .p = 1.0f,
+ //        .i = 0.0f,
+ //        .d = 0.05f,
+ //        .i_limit = 0.0f,
+ //        .out_limit = 10.0f,
+ //        .d_cutoff_freq = -1.0f,
+ //        .range = M_2PI,
         /* GIMBAL_PID_YAW_OMEGA_IDX */
         .k = 0.24f,
         .p = 1.0f,
@ -97,25 +97,25 @@ static const Config_RobotParam_t param_default = {
         .d_cutoff_freq = -1.0f,
         .range = M_2PI,
       }, {
-//        /* GIMBAL_PID_PIT_OMEGA_IDX */
-//        .k = 0.35f,
-//        .p = 1.0f,
-//        .i = 0.f,
-//        .d = 0.003f,
-//        .i_limit = 1.0f,
-//        .out_limit = 1.0f,
-//        .d_cutoff_freq = -1.0f,
-//        .range = -1.0f,
-//      }, {
-//        /* GIMBAL_PID_PIT_ANGLE_IDX */
-//        .k = 15.0f,
-//        .p = 1.0f,
-//        .i = 0.0f,
-//        .d = 0.0f,
-//        .i_limit = 0.0f,
-//        .out_limit = 10.0f,
-//        .d_cutoff_freq = -1.0f,
-//        .range = M_2PI,
+ //        /* GIMBAL_PID_PIT_OMEGA_IDX */
+ //        .k = 0.35f,
+ //        .p = 1.0f,
+ //        .i = 0.f,
+ //        .d = 0.003f,
+ //        .i_limit = 1.0f,
+ //        .out_limit = 1.0f,
+ //        .d_cutoff_freq = -1.0f,
+ //        .range = -1.0f,
+ //      }, {
+ //        /* GIMBAL_PID_PIT_ANGLE_IDX */
+ //        .k = 15.0f,
+ //        .p = 1.0f,
+ //        .i = 0.0f,
+ //        .d = 0.0f,
+ //        .i_limit = 0.0f,
+ //        .out_limit = 10.0f,
+ //        .d_cutoff_freq = -1.0f,
+ //        .range = M_2PI,
         /* GIMBAL_PID_PIT_OMEGA_IDX */
         .k = 0.25f,
         .p = 1.0f,
@ -198,9 +198,9 @@ static const Config_RobotParam_t param_default = {
     .shoot = BSP_CAN_2,      
     .cap = BSP_CAN_1,
     }, /* can */
-}; /* param_default */
+ }; /* param_default */
 
-static const Config_RobotParam_t param_hero = {
+ static const Config_RobotParam_t param_hero = {
   .model = ROBOT_MODEL_HERO,
 
   .chassis = { /* 底盘模块参数 */
@ -343,13 +343,13 @@ static const Config_RobotParam_t param_hero = {
     .shoot = BSP_CAN_2,      
     .cap = BSP_CAN_1,
     }, /* can */
-}; /* param_hero */      
+ }; /* param_hero */      
 
-#ifdef DEBUG
-Config_RobotParam_t param_sentry = {
-#else
-static const Config_RobotParam_t param_sentry = {
-#endif
+ #ifdef DEBUG
+ Config_RobotParam_t param_sentry = {
+ #else
+ static const Config_RobotParam_t param_sentry = {
+ #endif
   .model = ROBOT_MODEL_SENTRY,
 
   .chassis = { /* 底盘模块参数 */
@ -413,8 +413,8 @@ static const Config_RobotParam_t param_sentry = {
       }, {
 
         /* GIMBAL_PID_PIT_OMEGA_IDX */
-        .k = 0.3f,
-        .p = 1.5f,
+         .k = 0.2f,
+         .p = 0.8f,
         .i = 0.0f,
         .d = 0.0f,
         .i_limit = 1.0f,
@ -494,11 +494,11 @@ static const Config_RobotParam_t param_sentry = {
     .shoot = BSP_CAN_2,      
     .cap = BSP_CAN_1,
     }, /* can */
-}; /* param_sentry_left */   
+ }; /* param_sentry_left */   
 
-/* static const Config_RobotParam_t param_xxx; */
+ /* static const Config_RobotParam_t param_xxx; */
 
-static const Config_PilotCfg_t cfg_qs = {
+ static const Config_PilotCfg_t cfg_qs = {
   .param = {
     .sens_mouse = 0.06f,
     .sens_rc = 10.0f,
@ -526,9 +526,9 @@ static const Config_PilotCfg_t cfg_qs = {
       .width = 1920,
     },
   },
-};
+ };
 
-static const Config_PilotCfg_t cfg_zyma = {
+ static const Config_PilotCfg_t cfg_zyma = {
   .param = {
     .sens_mouse = 0.06f,
     .sens_rc = 6.0f,
@ -552,13 +552,13 @@ static const Config_PilotCfg_t cfg_zyma = {
       .move_slow_sense = 1.6f,		
     },       
   },
-};
+ };
 
-/* static const Config_PilotCfg_t cfg_xx; */
+ /* static const Config_PilotCfg_t cfg_xx; */
 
-/* clang-format on */
+ /* clang-format on */
 
-static const Config_RobotParamMap_t robot_param_map[] = {
+ static const Config_RobotParamMap_t robot_param_map[] = {
     {"default", &param_default},
     {"infantry", &param_default},
     {"hero", &param_hero},
@ -568,21 +568,21 @@ static const Config_RobotParamMap_t robot_param_map[] = {
     // {"sentry_right" &param_sentry_right},
     /* {"xxx", &param_xxx}, */
     {NULL, NULL},
-};
+ };
 
-static const Config_PilotCfgMap_t pilot_cfg_map[] = {
+ static const Config_PilotCfgMap_t pilot_cfg_map[] = {
     {"qs", &cfg_qs},
     {"zyma", &cfg_zyma},
     /* {"xx", &cfg_xx}, */
     {NULL, NULL},
-};
+ };
 
-/**
+ /**
  * \brief 从Flash读取配置信息
  *
  * \param cfg 配置信息
  */
-void Config_Get(Config_t *cfg) {
+ void Config_Get(Config_t *cfg) {
   BSP_Flash_ReadBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
   cfg->pilot_cfg = Config_GetPilotCfg(cfg->pilot_cfg_name);
   cfg->robot_param = Config_GetRobotParam(cfg->robot_param_name);
@ -593,27 +593,27 @@ void Config_Get(Config_t *cfg) {
   if ((uint32_t)(cfg->robot_param) == UINT32_MAX)
     cfg->robot_param = &param_default;
   if ((uint32_t)(cfg->pilot_cfg) == UINT32_MAX) cfg->pilot_cfg = &cfg_qs;
-}
+ }
 
-/**
+ /**
  * \brief 将配置信息写入Flash
  *
  * \param cfg 配置信息
  */
-void Config_Set(Config_t *cfg) {
+ void Config_Set(Config_t *cfg) {
   osKernelLock();
   BSP_Flash_EraseSector(11);
   BSP_Flash_WriteBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
   osKernelUnlock();
-}
+ }
 
-/**
+ /**
  * @brief 通过机器人参数名称获取机器人参数的指针
  *
  * @param robot_param_name 机器人参数名称
  * @return const Config_RobotParam_t* 机器人参数的指针
  */
-const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name) {
+ const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name) {
   if (robot_param_name == NULL) return NULL;
   for (size_t j = 0; robot_param_map[j].name != NULL; j++) {
     if (strcmp(robot_param_map[j].name, robot_param_name) == 0) {
@ -621,15 +621,15 @@ const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name) {
     }
   }
   return NULL; /* No match. */
-}
+ }
 
-/**
+ /**
  * @brief 通过操作手配置名称获取操作手配置的指针
  *
  * @param pilot_cfg_name 操作手配置名称
  * @return const Config_PilotCfg_t* 操作手配置的指针
  */
-const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name) {
+ const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name) {
   if (pilot_cfg_name == NULL) return NULL;
   for (size_t j = 0; pilot_cfg_map[j].name != NULL; j++) {
     if (strcmp(pilot_cfg_map[j].name, pilot_cfg_name) == 0) {
@ -637,12 +637,13 @@ const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name) {
     }
   }
   return NULL; /* No match. */
-}
+ }
 
-const Config_PilotCfgMap_t *Config_GetPilotNameMap(void) {
+ const Config_PilotCfgMap_t *Config_GetPilotNameMap(void) {
   return pilot_cfg_map;
-}
+ }
 
-const Config_RobotParamMap_t *Config_GetRobotNameMap(void) {
+ const Config_RobotParamMap_t *Config_GetRobotNameMap(void) {
   return robot_param_map;
-}
+ }
+ 
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@ -15,7 +15,7 @@
 #define HEAT_INCREASE_17MM (10.f)  /* 每发射一颗17mm弹丸增加10热量 */

 #define BULLET_SPEED_LIMIT_42MM (16.0)
-#define BULLET_SPEED_LIMIT_17MM (30.0)
+#define BULLET_SPEED_LIMIT_17MM (25.0)

 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */