修改地盘ref协议
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@ -1224,7 +1224,7 @@
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<Group>
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<GroupName>Middlewares/USB_Device_Library</GroupName>
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<tvExp>1</tvExp>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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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: 03/09/2025
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Project File Date: 03/11/2025
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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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@ -37,10 +37,32 @@ 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 freertos.c...
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compiling can.c...
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compiling referee.c...
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compiling cap.c...
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compiling ai.c...
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compiling chassis.c...
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compiling config.c...
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compiling gimbal.c...
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compiling shoot.c...
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compiling ai.c...
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compiling atti_esti.c...
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compiling can.c...
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compiling cap.c...
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compiling cli.c...
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compiling command.c...
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compiling ctrl_chassis.c...
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compiling ctrl_gimbal.c...
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compiling ctrl_shoot.c...
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compiling info.c...
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compiling init.c...
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compiling monitor.c...
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compiling rc.c...
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compiling referee.c...
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compiling user_task.c...
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linking...
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Program Size: Code=148832 RO-data=6908 RW-data=760 ZI-data=43832
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Program Size: Code=148856 RO-data=6908 RW-data=760 ZI-data=43840
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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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@ -56,7 +78,7 @@ 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: 00:00:06
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</pre>
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</body>
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</html>
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18471
MDK-ARM/DevC/DevC.hex
18471
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: Tue Mar 11 09:24:59 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Mar 12 10:05:36 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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@ -773,7 +773,7 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[97]">>></a> Task_Ai
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</UL>
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<P><STRONG><a name="[d1]"></a>AI_PackMCU</STRONG> (Thumb, 200 bytes, Stack size 24 bytes, ai.o(.text.AI_PackMCU))
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<P><STRONG><a name="[d1]"></a>AI_PackMCU</STRONG> (Thumb, 188 bytes, Stack size 24 bytes, ai.o(.text.AI_PackMCU))
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<BR><BR>[Stack]<UL><LI>Max Depth = 52<LI>Call Chain = AI_PackMCU ⇒ CRC16_Calc ⇒ CRC16_Byte
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</UL>
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<BR>[Calls]<UL><LI><a href="#[d2]">>></a> CRC16_Calc
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@ -781,7 +781,7 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[97]">>></a> Task_Ai
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</UL>
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<P><STRONG><a name="[d3]"></a>AI_PackRef</STRONG> (Thumb, 54 bytes, Stack size 16 bytes, ai.o(.text.AI_PackRef))
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<P><STRONG><a name="[d3]"></a>AI_PackRef</STRONG> (Thumb, 82 bytes, Stack size 16 bytes, ai.o(.text.AI_PackRef))
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<BR><BR>[Stack]<UL><LI>Max Depth = 44<LI>Call Chain = AI_PackRef ⇒ CRC16_Calc ⇒ CRC16_Byte
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</UL>
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<BR>[Calls]<UL><LI><a href="#[d2]">>></a> CRC16_Calc
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@ -3537,7 +3537,7 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[261]">>></a> Referee_PackUI
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</UL>
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<P><STRONG><a name="[2a3]"></a>Referee_PackAI</STRONG> (Thumb, 38 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackAI))
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<P><STRONG><a name="[2a3]"></a>Referee_PackAI</STRONG> (Thumb, 56 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackAI))
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<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = Referee_PackAI
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</UL>
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<BR>[Called By]<UL><LI><a href="#[96]">>></a> Task_Referee
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@ -3992,8 +3992,8 @@ Global Symbols
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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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<P><STRONG><a name="[87]"></a>Task_Init</STRONG> (Thumb, 942 bytes, Stack size 56 bytes, init.o(.text.Task_Init))
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<BR><BR>[Stack]<UL><LI>Max Depth = 308<LI>Call Chain = Task_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
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<P><STRONG><a name="[87]"></a>Task_Init</STRONG> (Thumb, 940 bytes, Stack size 48 bytes, init.o(.text.Task_Init))
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<BR><BR>[Stack]<UL><LI>Max Depth = 300<LI>Call Chain = Task_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
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</UL>
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<BR>[Calls]<UL><LI><a href="#[280]">>></a> osThreadTerminate
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<LI><a href="#[241]">>></a> osThreadNew
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5
Middlewares/Third_Party/Protocol/protocol.h
vendored
5
Middlewares/Third_Party/Protocol/protocol.h
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@ -47,8 +47,9 @@ extern "C"
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/* 电控 -> 视觉 裁判系统数据结构体*/
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typedef struct __attribute__((packed))
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{
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uint16_t remain_hp; /* 剩余血量 */
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uint16_t stage_remain_time; /* 比赛剩余时间 */
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uint16_t remain_hp;
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uint8_t game_progress : 4;
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uint16_t stage_remain_time;
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} Protocol_UpDataReferee_t;
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/* 视觉 -> 电控 数据结构体*/
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@ -130,6 +130,7 @@ int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref) {
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(void)ref;
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ai->to_host.ref.id = AI_ID_REF;
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ai->to_host.ref.package.data.remain_hp = ref->remain_hp;
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ai->to_host.ref.package.data.game_progress = ref->game_progress;
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ai->to_host.ref.package.data.stage_remain_time = ref->stage_remain_time;
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ai->to_host.ref.package.crc16 = CRC16_Calc(
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(const uint8_t *)&(ai->to_host.ref.package),
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uint8_t Referee_PackAI(Referee_ForAI_t *ai, const Referee_t *ref) {
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ai->ref_status = ref->ref_status;
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ai->remain_hp = ref->robot_status.remain_hp;
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ai->stage_remain_time = ref->dart_status.stage_remain_time;
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ai->game_progress = ref->game_status.game_progress;
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ai->stage_remain_time = ref->game_status.stage_remain_time;
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return 0;
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}
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@ -466,6 +466,7 @@ typedef struct {
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typedef struct {
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Referee_Status_t ref_status;
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uint16_t remain_hp;
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uint8_t game_progress : 4;
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uint16_t stage_remain_time;
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} Referee_ForAI_t;
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