添加nuc控制小陀螺模式开启
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@ -37,9 +37,45 @@ 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 ballistics.c...
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compiling ahrs.c...
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compiling freertos.c...
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compiling capacity.c...
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compiling cmd.c...
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compiling crc16.c...
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compiling filter.c...
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compiling mixer.c...
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compiling pid.c...
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compiling user_math.c...
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compiling ui.c...
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compiling bmi088.c...
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compiling can.c...
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compiling dr16.c...
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compiling ist8310.c...
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compiling ai.c...
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compiling referee.c...
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compiling cap.c...
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compiling config.c...
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compiling gimbal.c...
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compiling chassis.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 cap.c...
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compiling can.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=148800 RO-data=6908 RW-data=760 ZI-data=43832
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Program Size: Code=148832 RO-data=6908 RW-data=760 ZI-data=43832
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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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@ -55,7 +91,7 @@ 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: 00:00:02
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Build Time Elapsed: 00:00:11
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</pre>
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</body>
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</html>
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18470
MDK-ARM/DevC/DevC.hex
18470
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: Sun Mar 9 16:57:50 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Tue Mar 11 09:18:01 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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@ -767,7 +767,7 @@ 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="[288]"></a>AI_PackCmd</STRONG> (Thumb, 62 bytes, Stack size 8 bytes, ai.o(.text.AI_PackCmd))
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<P><STRONG><a name="[288]"></a>AI_PackCmd</STRONG> (Thumb, 72 bytes, Stack size 8 bytes, ai.o(.text.AI_PackCmd))
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<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = AI_PackCmd
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</UL>
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<BR>[Called By]<UL><LI><a href="#[97]">>></a> Task_Ai
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@ -1271,7 +1271,7 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[8f]">>></a> Task_Command
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</UL>
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<P><STRONG><a name="[296]"></a>CMD_ParseHost</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
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<P><STRONG><a name="[296]"></a>CMD_ParseHost</STRONG> (Thumb, 158 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
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<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CMD_ParseHost
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</UL>
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<BR>[Called By]<UL><LI><a href="#[8f]">>></a> Task_Command
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@ -7313,7 +7313,7 @@ Local Symbols
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<BR>[Called By]<UL><LI><a href="#[133]">>></a> CMD_ParseRc
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</UL>
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<P><STRONG><a name="[137]"></a>CMD_RcLogic</STRONG> (Thumb, 320 bytes, Stack size 20 bytes, cmd.o(.text.CMD_RcLogic))
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<P><STRONG><a name="[137]"></a>CMD_RcLogic</STRONG> (Thumb, 316 bytes, Stack size 20 bytes, cmd.o(.text.CMD_RcLogic))
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<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CMD_RcLogic
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</UL>
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<BR>[Called By]<UL><LI><a href="#[133]">>></a> CMD_ParseRc
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1
Middlewares/Third_Party/Protocol/protocol.h
vendored
1
Middlewares/Third_Party/Protocol/protocol.h
vendored
@ -15,6 +15,7 @@ extern "C"
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#define AI_NOTICE_HITBUFF (1 << 1)
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#define AI_NOTICE_AUTOMATIC (1 << 2)
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#define AI_NOTICE_FIRE (1 << 3)
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#define AI_NOTICE_ROTOR (1 << 7)
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#define AI_ID_MCU (0xC4)
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#define AI_ID_REF (0xA8)
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@ -241,7 +241,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
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break;
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case CMD_SW_DOWN:
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cmd->chassis.mode = CHASSIS_MODE_ROTOR;
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// cmd->chassis.mode = CHASSIS_MODE_ROTOR;
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cmd->chassis.mode_rotor = ROTOR_MODE_CW;
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cmd->ai_status = AI_STATUS_NAVIGATION;
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cmd->host_overwrite = true;
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@ -400,6 +400,13 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec)
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cmd->chassis.ctrl_vec.vx = host->chassis_move_vec.vx;
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cmd->chassis.ctrl_vec.vy = host->chassis_move_vec.vy;
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cmd->chassis.ctrl_vec.wz = host->chassis_move_vec.wz;
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/*底盘运动模式*/
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if (host->rotor){
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cmd->chassis.mode = CHASSIS_MODE_ROTOR;
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} else {
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cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
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}
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/* host射击命令,设置不同的射击频率和弹丸初速度 */
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if (host->fire)
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{
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@ -254,6 +254,7 @@ typedef struct {
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} chassis_move_vec; /* 底盘移动向量 */
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bool fire; /* 开火状态 */
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bool rotor; /* 小陀螺状态 */
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} CMD_Host_t;
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/**
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@ -91,7 +91,7 @@ void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
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cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
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cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
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cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
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// cmd_host->fire = true;
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cmd_host->rotor = (ai->form_host.data.notice & AI_NOTICE_ROTOR);
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cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
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cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
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cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
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