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添加nuc控制小陀螺模式开启

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RB 2025-03-11 09:23:12 +08:00
parent 33c47a12e4
commit 4cc319e997
15 changed files with 12376 additions and 12311 deletions
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106
MDK-ARM/DevC.uvguix.lvzucheng
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MDK-ARM/DevC/DevC.axf
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40
MDK-ARM/DevC/DevC.build_log.htm
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@ -37,9 +37,45 @@ 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 ahrs.c...
compiling freertos.c...
compiling capacity.c...
compiling cmd.c...
compiling crc16.c...
compiling filter.c...
compiling mixer.c...
compiling pid.c...
compiling user_math.c...
compiling ui.c...
compiling bmi088.c...
compiling can.c...
compiling dr16.c...
compiling ist8310.c...
compiling ai.c...
compiling referee.c...
compiling cap.c...
compiling config.c...
compiling gimbal.c...
compiling chassis.c...
compiling shoot.c...
compiling ai.c...
compiling atti_esti.c...
compiling cap.c...
compiling can.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=148800 RO-data=6908 RW-data=760 ZI-data=43832
Program Size: Code=148832 RO-data=6908 RW-data=760 ZI-data=43832
FromELF: creating hex file...
"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
@ -55,7 +91,7 @@ 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: 00:00:02
Build Time Elapsed: 00:00:11
</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: Sun Mar 9 16:57:50 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Tue Mar 11 09:18:01 2025
<BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -767,7 +767,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Ai
</UL>
<P><STRONG><a name="[288]"></a>AI_PackCmd</STRONG> (Thumb, 62 bytes, Stack size 8 bytes, ai.o(.text.AI_PackCmd))
<P><STRONG><a name="[288]"></a>AI_PackCmd</STRONG> (Thumb, 72 bytes, Stack size 8 bytes, ai.o(.text.AI_PackCmd))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = AI_PackCmd
</UL>
<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Ai
@ -1271,7 +1271,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Command
</UL>
<P><STRONG><a name="[296]"></a>CMD_ParseHost</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
<P><STRONG><a name="[296]"></a>CMD_ParseHost</STRONG> (Thumb, 158 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CMD_ParseHost
</UL>
<BR>[Called By]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Command
@ -7313,7 +7313,7 @@ Local Symbols
<BR>[Called By]<UL><LI><a href="#[133]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CMD_ParseRc
</UL>
<P><STRONG><a name="[137]"></a>CMD_RcLogic</STRONG> (Thumb, 320 bytes, Stack size 20 bytes, cmd.o(.text.CMD_RcLogic))
<P><STRONG><a name="[137]"></a>CMD_RcLogic</STRONG> (Thumb, 316 bytes, Stack size 20 bytes, cmd.o(.text.CMD_RcLogic))
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CMD_RcLogic
</UL>
<BR>[Called By]<UL><LI><a href="#[133]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CMD_ParseRc

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MDK-ARM/DevC/DevC_Debug.dep
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Middlewares/Third_Party/Protocol/protocol.h vendored
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@ -15,6 +15,7 @@ extern "C"
#define AI_NOTICE_HITBUFF (1 << 1)
#define AI_NOTICE_AUTOMATIC (1 << 2)
#define AI_NOTICE_FIRE (1 << 3)
#define AI_NOTICE_ROTOR (1 << 7)
#define AI_ID_MCU (0xC4)
#define AI_ID_REF (0xA8)

9
User/component/cmd.c
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@ -241,7 +241,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
break;
case CMD_SW_DOWN:
cmd->chassis.mode = CHASSIS_MODE_ROTOR;
// cmd->chassis.mode = CHASSIS_MODE_ROTOR;
cmd->chassis.mode_rotor = ROTOR_MODE_CW;
cmd->ai_status = AI_STATUS_NAVIGATION;
cmd->host_overwrite = true;
@ -400,6 +400,13 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec)
cmd->chassis.ctrl_vec.vx = host->chassis_move_vec.vx;
cmd->chassis.ctrl_vec.vy = host->chassis_move_vec.vy;
cmd->chassis.ctrl_vec.wz = host->chassis_move_vec.wz;
/*底盘运动模式*/
if (host->rotor){
cmd->chassis.mode = CHASSIS_MODE_ROTOR;
} else {
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
}
/* host射击命令，设置不同的射击频率和弹丸初速度 */
if (host->fire)
{

1
User/component/cmd.h
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@ -254,6 +254,7 @@ typedef struct {
} chassis_move_vec; /* 底盘移动向量 */
bool fire; /* 开火状态 */
bool rotor; /* 小陀螺状态 */
} CMD_Host_t;
/**

2
User/device/ai.c
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@ -91,7 +91,7 @@ void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
// cmd_host->fire = true;
cmd_host->rotor = (ai->form_host.data.notice & AI_NOTICE_ROTOR);
cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;