robofish/RMUL2025
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

调好pid了

Browse Source
This commit is contained in:
RB 2025-03-15 01:03:52 +08:00
parent 6b05b4d58a
commit 1f897bd9ae
10 changed files with 74 additions and 74 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
MDK-ARM/DevC.uvguix.lvzucheng
View File

File diff suppressed because one or more lines are too long

BIN
MDK-ARM/DevC/DevC.axf
View File

Binary file not shown.

2
MDK-ARM/DevC/DevC.build_log.htm
View File

@ -55,7 +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: 00:00:01
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

12
MDK-ARM/DevC/DevC.hex
View File

@ -551,7 +551,7 @@
:10225000C0F602002F211BF037FBFFE7FFE742F239
:102260001D72C0F6000202200190032101F042FA23
:10227000019842F20572C0F60002082101F03AFA14
:10228000029941F26F20C3F68330C1F81F00029912
:1022800002994DF20A70C3F62330C1F81F0002997B
:1022900041F26F20C3F60330C1F8230042F2B83197
:1022A000C2F200010120087000208DF80F00FFE746
:1022B0009DF90F0004B080BD82B00190009101989B
@ -602,7 +602,7 @@
:1025800000EE100A1BF044FB039910EE100AC1F88C
:102590001F00FFE7FFE70398D0F81F0002990860CB
:1025A0000398D0F823000299486004B080BD00BFB2
:1025B0009A999999999905409A9999999999034065
:1025B00033333333333303409A99999999990140CE
:1025C000666666666666F63F333333333333FB3F06
:1025D000CDCCCCCCCCCC1640000000000000184084
:1025E00080B582B00090022001F024F842F600414C
@ -9527,13 +9527,13 @@
:10533000000080BF0000003F0000803F0000000030
:10534000000000000000803F0000803F000080BFA0
:10535000DB0FC940000080BF000080BF00000000DC
:105360008FC2753E0000803F0000003F000000003B
:10536000CDCC4C3ECDCC4C3F0000003F00000000B7
:105370000000803F0000803F000080BF000080BF31
:10538000000020410000803F00000000CDCC4C3DDB
:1053800000000041CDCC4C3F00000000CDCC4C3D96
:105390000000000000002041000080BFDB0FC9407A
:1053A0000000803E0000803F000000000000000080
:1053A000CDCC4C3ECDCC4C3F0000000000000000B6
:1053B0000000803F0000803F000080BF000080BFF1
:1053C000000000400000A04000002040000000005D
:1053C000000000400000804000002040000000007D
:1053D0000000000000002041000080BFDB0FC9403A
:1053E000000080BF00007A446666863F000100002E
:1053F0006F12833A0000803FCDCC4C3E0AD7233C4D

2
MDK-ARM/DevC/DevC.htm
View File

@ -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: Fri Mar 14 22:45:10 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Sat Mar 15 01:02:19 2025
<BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>

64
MDK-ARM/DevC/DevC_Debug.dep
View File

@ -178,7 +178,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C
I (..\Core\Inc\tim.h)(0x67D3C840)
I (..\User\task\user_task.h)(0x67D43839)
I (..\User\module\config.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
@ -3567,8 +3567,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
F (..\User\component\cmd.c)(0x67D43D09)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/cmd.o -MD)
I (..\User\component\cmd.h)(0x67D43D09)
F (..\User\component\cmd.c)(0x67D45AAE)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/cmd.o -MD)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
@ -4066,14 +4066,14 @@ I (..\User\device\device.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\mm.h)(0x67D3C840)
I (..\User\device\referee.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ui.h)(0x67D3C840)
F (..\User\device\dr16.c)(0x67D3C840)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/dr16.o -MD)
I (..\User\device\dr16.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
@ -4192,7 +4192,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
@ -4251,8 +4251,8 @@ I (..\User\bsp\uart.h)(0x67D3C840)
I (..\Core\Inc\usart.h)(0x67D3C840)
I (..\User\component\crc16.h)(0x67D3C840)
I (..\User\component\crc8.h)(0x67D3C840)
F (..\User\device\ai.c)(0x67D440EE)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai.o -MD)
I (..\User\device\ai.h)(0x67D43D09)
F (..\User\device\ai.c)(0x67D46117)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai.o -MD)
I (..\User\device\ai.h)(0x67D45AAE)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@ -4302,7 +4302,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x67D3C840)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
I (..\User\device\referee.h)(0x67D3C840)
@ -4377,14 +4377,14 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x67D3C840)
I (..\User\device\referee.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\component\capacity.h)(0x67D3C840)
I (..\User\component\limiter.h)(0x67D3C840)
F (..\User\module\chassis.c)(0x67D3C840)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/chassis.o -MD)
I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
@ -4450,10 +4450,10 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\User\bsp\mm.h)(0x67D3C840)
I (..\User\component\limiter.h)(0x67D3C840)
I (..\User\module\cap.h)(0x67D43839)
F (..\User\module\config.c)(0x67D438CB)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/config.o -MD)
F (..\User\module\config.c)(0x67D45FE5)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/config.o -MD)
I (..\User\module\config.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
@ -4520,7 +4520,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x67D43839)
I (..\User\module\shoot.h)(0x67D43839)
I (..\User\bsp\flash.h)(0x67D3C840)
F (..\User\module\gimbal.c)(0x67D43D09)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/gimbal.o -MD)
F (..\User\module\gimbal.c)(0x67D45AAE)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/gimbal.o -MD)
I (..\User\module\gimbal.h)(0x67D43839)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
@ -4570,7 +4570,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
@ -4590,7 +4590,7 @@ I (..\User\module\shoot.h)(0x67D43839)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
@ -4651,7 +4651,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\pwm.h)(0x67D3C840)
I (..\User\component\limiter.h)(0x67D3C840)
F (..\User\task\ai.c)(0x67D43839)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai_1.o -MD)
I (..\User\device\ai.h)(0x67D43D09)
I (..\User\device\ai.h)(0x67D45AAE)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@ -4701,7 +4701,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x67D3C840)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
I (..\User\device\referee.h)(0x67D3C840)
@ -4801,7 +4801,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\device\can.h)(0x67D43839)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
@ -4871,7 +4871,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x67D3C840)
I (..\User\device\referee.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\task\user_task.h)(0x67D43839)
@ -4951,7 +4951,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x67D3C840)
I (..\User\device\referee.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\task\user_task.h)(0x67D43839)
@ -5038,7 +5038,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
I (..\User\task\user_task.h)(0x67D43839)
I (..\User\module\config.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@ -5061,7 +5061,7 @@ I (..\User\device\dr16.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
@ -5140,7 +5140,7 @@ I (..\User\component\limiter.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
@ -5265,7 +5265,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
@ -5299,7 +5299,7 @@ I (..\User\module\shoot.h)(0x67D43839)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
@ -5436,7 +5436,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
@ -5505,7 +5505,7 @@ I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\bsp\usb.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
@ -5602,7 +5602,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
@ -5627,7 +5627,7 @@ I (..\User\device\dr16.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
@ -5707,7 +5707,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
@ -5794,7 +5794,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
I (..\User\component\cmd.h)(0x67D43D09)
I (..\User\component\cmd.h)(0x67D45AAE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\component\user_math.h)(0x67D43839)

BIN
MDK-ARM/DevC/ai.o
View File

Binary file not shown.

BIN
MDK-ARM/DevC/config.o
View File

Binary file not shown.

6
User/device/ai.c
View File

@ -51,7 +51,7 @@ int8_t AI_Init(AI_t *ai) {
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
Ai_IdleLineCallback);
ai->search_velocity.yaw = 0.004f;
ai->search_velocity.yaw = 0.0025f;
ai->search_velocity.pit = 0.002f;
inited = true;
return 0;
@ -99,9 +99,9 @@ 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 > 2.7){
if (gimbal_ai->pit > 2.4){
ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
} else if (gimbal_ai->pit < 2.45) {
} else if (gimbal_ai->pit < 2.2) {
ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
}

14
User/module/config.c
View File

@ -388,8 +388,8 @@ static const Config_RobotParam_t param_sentry = {
.pid = {
{
/* GIMBAL_PID_YAW_OMEGA_IDX */
.k = 0.24f,
.p = 1.0f,
.k = 0.20f,
.p = 0.8f,
.i = 0.5f,
.d = 0.0f,
.i_limit = 1.0f,
@ -398,8 +398,8 @@ static const Config_RobotParam_t param_sentry = {
.range = -1.0f,
}, {
/* GIMBAL_PID_YAW_ANGLE_IDX */
.k = 10.0f,
.p = 1.0f,
.k = 8.0f,
.p = 0.8f,
.i = 0.0f,
.d = 0.05f,
.i_limit = 0.0f,
@ -409,8 +409,8 @@ static const Config_RobotParam_t param_sentry = {
}, {
/* GIMBAL_PID_PIT_OMEGA_IDX */
.k = 0.25f,
.p = 1.0f,
.k = 0.2f,
.p = 0.8f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
@ -420,7 +420,7 @@ static const Config_RobotParam_t param_sentry = {
}, {
/* GIMBAL_PID_PIT_ANGLE_IDX */
.k = 2.0f,
.p = 5.0f,
.p = 4.0f,
.i = 2.5f,
.d = 0.0f,
.i_limit = 0.0f,