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修改地盘ref协议

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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

75
MDK-ARM/DevC.uvguix.lvzucheng
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2
MDK-ARM/DevC.uvoptx
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@ -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>

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MDK-ARM/DevC/DevC.axf
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28
MDK-ARM/DevC/DevC.build_log.htm
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@ -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>

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MDK-ARM/DevC/DevC.hex
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MDK-ARM/DevC/DevC.htm
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@ -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

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MDK-ARM/DevC/DevC.map
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MDK-ARM/DevC/DevC_Debug.dep
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5
Middlewares/Third_Party/Protocol/protocol.h vendored
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@ -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*/

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User/device/ai.c
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@ -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),

3
User/device/referee.c
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@ -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;
}

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User/device/referee.h
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@ -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;