修改地盘ref协议

This commit is contained in:
RB 2025-03-12 14:54:20 +08:00
parent cff20de568
commit 498ee93880
21 changed files with 12747 additions and 12713 deletions

File diff suppressed because one or more lines are too long

View File

@ -1224,7 +1224,7 @@
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

Binary file not shown.

View File

@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
Project File Date: 03/09/2025
Project File Date: 03/11/2025
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@ -37,10 +37,32 @@ 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 freertos.c...
compiling can.c...
compiling referee.c...
compiling cap.c...
compiling ai.c...
compiling chassis.c...
compiling config.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=148832 RO-data=6908 RW-data=760 ZI-data=43832
Program Size: Code=148856 RO-data=6908 RW-data=760 ZI-data=43840
FromELF: creating hex file...
"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
@ -56,7 +78,7 @@ 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: 00:00:03
Build Time Elapsed: 00:00:06
</pre>
</body>
</html>

File diff suppressed because it is too large Load Diff

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: Tue Mar 11 09:24:59 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Mar 12 10:05:36 2025
<BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -773,7 +773,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Ai
</UL>
<P><STRONG><a name="[d1]"></a>AI_PackMCU</STRONG> (Thumb, 200 bytes, Stack size 24 bytes, ai.o(.text.AI_PackMCU))
<P><STRONG><a name="[d1]"></a>AI_PackMCU</STRONG> (Thumb, 188 bytes, Stack size 24 bytes, ai.o(.text.AI_PackMCU))
<BR><BR>[Stack]<UL><LI>Max Depth = 52<LI>Call Chain = AI_PackMCU &rArr; CRC16_Calc &rArr; CRC16_Byte
</UL>
<BR>[Calls]<UL><LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CRC16_Calc
@ -781,7 +781,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Ai
</UL>
<P><STRONG><a name="[d3]"></a>AI_PackRef</STRONG> (Thumb, 54 bytes, Stack size 16 bytes, ai.o(.text.AI_PackRef))
<P><STRONG><a name="[d3]"></a>AI_PackRef</STRONG> (Thumb, 82 bytes, Stack size 16 bytes, ai.o(.text.AI_PackRef))
<BR><BR>[Stack]<UL><LI>Max Depth = 44<LI>Call Chain = AI_PackRef &rArr; CRC16_Calc &rArr; CRC16_Byte
</UL>
<BR>[Calls]<UL><LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CRC16_Calc
@ -3537,7 +3537,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[261]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Referee_PackUI
</UL>
<P><STRONG><a name="[2a3]"></a>Referee_PackAI</STRONG> (Thumb, 38 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackAI))
<P><STRONG><a name="[2a3]"></a>Referee_PackAI</STRONG> (Thumb, 56 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackAI))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = Referee_PackAI
</UL>
<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Referee
@ -3992,8 +3992,8 @@ Global Symbols
</UL>
<BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init)
</UL>
<P><STRONG><a name="[87]"></a>Task_Init</STRONG> (Thumb, 942 bytes, Stack size 56 bytes, init.o(.text.Task_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 308<LI>Call Chain = Task_Init &rArr; osThreadNew &rArr; xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick &rArr; vListInsertEnd
<P><STRONG><a name="[87]"></a>Task_Init</STRONG> (Thumb, 940 bytes, Stack size 48 bytes, init.o(.text.Task_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 300<LI>Call Chain = Task_Init &rArr; osThreadNew &rArr; xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick &rArr; vListInsertEnd
</UL>
<BR>[Calls]<UL><LI><a href="#[280]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadTerminate
<LI><a href="#[241]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadNew

File diff suppressed because it is too large Load Diff

File diff suppressed because it is too large Load Diff

Binary file not shown.

Binary file not shown.

Binary file not shown.

Binary file not shown.

Binary file not shown.

Binary file not shown.

Binary file not shown.

Binary file not shown.

Binary file not shown.

View File

@ -47,8 +47,9 @@ extern "C"
/* 电控 -> 视觉 裁判系统数据结构体*/
typedef struct __attribute__((packed))
{
uint16_t remain_hp; /* 剩余血量 */
uint16_t stage_remain_time; /* 比赛剩余时间 */
uint16_t remain_hp;
uint8_t game_progress : 4;
uint16_t stage_remain_time;
} Protocol_UpDataReferee_t;
/* 视觉 -> 电控 数据结构体*/

View File

@ -130,6 +130,7 @@ int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref) {
(void)ref;
ai->to_host.ref.id = AI_ID_REF;
ai->to_host.ref.package.data.remain_hp = ref->remain_hp;
ai->to_host.ref.package.data.game_progress = ref->game_progress;
ai->to_host.ref.package.data.stage_remain_time = ref->stage_remain_time;
ai->to_host.ref.package.crc16 = CRC16_Calc(
(const uint8_t *)&(ai->to_host.ref.package),

View File

@ -562,7 +562,8 @@ uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref) {
uint8_t Referee_PackAI(Referee_ForAI_t *ai, const Referee_t *ref) {
ai->ref_status = ref->ref_status;
ai->remain_hp = ref->robot_status.remain_hp;
ai->stage_remain_time = ref->dart_status.stage_remain_time;
ai->game_progress = ref->game_status.game_progress;
ai->stage_remain_time = ref->game_status.stage_remain_time;
return 0;
}

View File

@ -466,6 +466,7 @@ typedef struct {
typedef struct {
Referee_Status_t ref_status;
uint16_t remain_hp;
uint8_t game_progress : 4;
uint16_t stage_remain_time;
} Referee_ForAI_t;