修改扫描速度
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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: 03/14/2025
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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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@ -37,7 +37,124 @@ 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 main.c...
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compiling freertos.c...
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compiling gpio.c...
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compiling adc.c...
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compiling can.c...
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compiling crc.c...
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compiling dma.c...
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compiling i2c.c...
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compiling rng.c...
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compiling spi.c...
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compiling tim.c...
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compiling usart.c...
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compiling stm32f4xx_hal_msp.c...
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compiling stm32f4xx_it.c...
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compiling usb_device.c...
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compiling usbd_desc.c...
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compiling usbd_cdc_if.c...
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compiling usbd_conf.c...
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compiling system_stm32f4xx.c...
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compiling stm32f4xx_hal_pcd.c...
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compiling stm32f4xx_hal_pcd_ex.c...
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compiling stm32f4xx_hal_rcc.c...
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compiling stm32f4xx_ll_usb.c...
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compiling stm32f4xx_hal_rcc_ex.c...
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compiling stm32f4xx_hal_flash_ramfunc.c...
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compiling stm32f4xx_hal_flash.c...
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compiling stm32f4xx_hal_flash_ex.c...
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compiling stm32f4xx_hal_gpio.c...
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compiling stm32f4xx_hal_dma_ex.c...
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compiling stm32f4xx_hal_dma.c...
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compiling stm32f4xx_hal_pwr.c...
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compiling stm32f4xx_hal_pwr_ex.c...
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compiling stm32f4xx_hal_cortex.c...
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compiling stm32f4xx_hal.c...
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compiling stm32f4xx_hal_exti.c...
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compiling stm32f4xx_hal_adc.c...
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compiling stm32f4xx_hal_adc_ex.c...
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compiling stm32f4xx_hal_can.c...
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compiling stm32f4xx_hal_crc.c...
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compiling stm32f4xx_hal_i2c_ex.c...
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compiling stm32f4xx_hal_rng.c...
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compiling stm32f4xx_hal_i2c.c...
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compiling stm32f4xx_hal_spi.c...
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compiling stm32f4xx_hal_uart.c...
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compiling stm32f4xx_hal_tim_ex.c...
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compiling croutine.c...
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compiling event_groups.c...
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compiling stm32f4xx_hal_tim.c...
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compiling list.c...
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compiling stream_buffer.c...
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compiling queue.c...
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compiling tasks.c...
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compiling timers.c...
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compiling heap_4.c...
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compiling port.c...
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compiling cmsis_os2.c...
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compiling usbd_core.c...
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compiling usbd_ioreq.c...
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compiling usbd_ctlreq.c...
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compiling adc.c...
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compiling buzzer.c...
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compiling usbd_cdc.c...
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compiling crc32.c...
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compiling delay.c...
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compiling can.c...
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compiling fric.c...
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compiling flash.c...
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compiling gpio.c...
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compiling laser.c...
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compiling led.c...
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compiling i2c.c...
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compiling mm.c...
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compiling rand.c...
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compiling pwm.c...
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compiling servo.c...
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compiling spi.c...
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compiling uart.c...
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compiling usb.c...
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compiling ahrs.c...
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compiling ballistics.c...
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compiling crc8.c...
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compiling capacity.c...
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compiling cmd.c...
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compiling error_detect.c...
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compiling crc16.c...
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compiling limiter.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 FreeRTOS_CLI.c...
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compiling user_math.c...
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compiling bmi088.c...
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compiling ui.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 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=149536 RO-data=7272 RW-data=760 ZI-data=43832
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FromELF: creating hex file...
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@ -55,7 +172,7 @@ 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: 00:00:22
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</pre>
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</body>
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</html>
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@ -551,7 +551,7 @@
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:10225000C0F602002F211BF037FBFFE7FFE742F239
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:102260001D72C0F6000202200190032101F042FA23
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:10227000019842F20572C0F60002082101F03AFA14
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:10228000029949F6A630C3F6C420C1F81F0002998E
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:10228000029941F26F20C3F68330C1F81F00029912
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:1022900049F6A630C3F64430C1F8230042F2B83103
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:1022A000C2F200010120087000208DF80F00FFE746
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:1022B0009DF90F0004B080BD82B00190009101989B
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@ -1080,7 +1080,7 @@
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:1043600024E00298006801998862029840680199E7
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:10437000C86201988078C007A0B1FFE70298007E6C
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:10438000C00748B1FFE70199022081F83400019984
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:10439000012081F8360004E00199012081F8340001
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:10439000012081F8360004E00199022081F8340000
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:1043A000FFE7FFE700208DF80F00FFE79DF90F0002
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:1043B00004B0704780B584B0029001918DED000A81
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:1043C000029820B9FFE7FF208DF80F0056E0019812
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@ -9542,7 +9542,7 @@
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:105420000000803F0000803F000080BFDB0FC940CC
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:10543000000080BF000080BF000080BF000080BF70
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:1054400000000041000010428FC2F53CCDCCCC3DA5
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:10545000CDCC4C3D000000000000C84164000000BD
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:10545000CDCC4C3D000000000000C8417D000000A4
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:10546000000101002B5A0208A84D0208215A020827
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:10547000DC4D020800000000000000003A5A02085B
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:1054800088010020425A020888010020265A02089A
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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: Mon Mar 10 22:02:56 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Fri Mar 14 22:09:28 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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File diff suppressed because it is too large
Load Diff
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@ -51,7 +51,7 @@ int8_t AI_Init(AI_t *ai) {
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BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
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Ai_IdleLineCallback);
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ai->search_velocity.yaw = 0.0015f;
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ai->search_velocity.yaw = 0.004f;
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ai->search_velocity.pit = 0.003f;
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inited = true;
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return 0;
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@ -481,7 +481,7 @@ static const Config_RobotParam_t param_sentry = {
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.cover_close_duty = 0.050f,
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.model = SHOOT_MODEL_17MM,
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.bullet_speed = 25.f,
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.min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
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.min_shoot_delay = (uint32_t)(1000.0f / 8.0f),
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}, /* shoot */
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.can = {
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