修改扫描速度

MDK-ARM/DevC/DevC.build_log.htm

@@ -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:  03/14/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -37,7 +37,124 @@ 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 main.c...
+compiling freertos.c...
+compiling gpio.c...
+compiling adc.c...
+compiling can.c...
+compiling crc.c...
+compiling dma.c...
+compiling i2c.c...
+compiling rng.c...
+compiling spi.c...
+compiling tim.c...
+compiling usart.c...
+compiling stm32f4xx_hal_msp.c...
+compiling stm32f4xx_it.c...
+compiling usb_device.c...
+compiling usbd_desc.c...
+compiling usbd_cdc_if.c...
+compiling usbd_conf.c...
+compiling system_stm32f4xx.c...
+compiling stm32f4xx_hal_pcd.c...
+compiling stm32f4xx_hal_pcd_ex.c...
+compiling stm32f4xx_hal_rcc.c...
+compiling stm32f4xx_ll_usb.c...
+compiling stm32f4xx_hal_rcc_ex.c...
+compiling stm32f4xx_hal_flash_ramfunc.c...
+compiling stm32f4xx_hal_flash.c...
+compiling stm32f4xx_hal_flash_ex.c...
+compiling stm32f4xx_hal_gpio.c...
+compiling stm32f4xx_hal_dma_ex.c...
+compiling stm32f4xx_hal_dma.c...
+compiling stm32f4xx_hal_pwr.c...
+compiling stm32f4xx_hal_pwr_ex.c...
+compiling stm32f4xx_hal_cortex.c...
+compiling stm32f4xx_hal.c...
+compiling stm32f4xx_hal_exti.c...
+compiling stm32f4xx_hal_adc.c...
+compiling stm32f4xx_hal_adc_ex.c...
+compiling stm32f4xx_hal_can.c...
+compiling stm32f4xx_hal_crc.c...
+compiling stm32f4xx_hal_i2c_ex.c...
+compiling stm32f4xx_hal_rng.c...
+compiling stm32f4xx_hal_i2c.c...
+compiling stm32f4xx_hal_spi.c...
+compiling stm32f4xx_hal_uart.c...
+compiling stm32f4xx_hal_tim_ex.c...
+compiling croutine.c...
+compiling event_groups.c...
+compiling stm32f4xx_hal_tim.c...
+compiling list.c...
+compiling stream_buffer.c...
+compiling queue.c...
+compiling tasks.c...
+compiling timers.c...
+compiling heap_4.c...
+compiling port.c...
+compiling cmsis_os2.c...
+compiling usbd_core.c...
+compiling usbd_ioreq.c...
+compiling usbd_ctlreq.c...
+compiling adc.c...
+compiling buzzer.c...
+compiling usbd_cdc.c...
+compiling crc32.c...
+compiling delay.c...
+compiling can.c...
+compiling fric.c...
+compiling flash.c...
+compiling gpio.c...
+compiling laser.c...
+compiling led.c...
+compiling i2c.c...
+compiling mm.c...
+compiling rand.c...
+compiling pwm.c...
+compiling servo.c...
+compiling spi.c...
+compiling uart.c...
+compiling usb.c...
+compiling ahrs.c...
+compiling ballistics.c...
+compiling crc8.c...
+compiling capacity.c...
 compiling cmd.c...
+compiling error_detect.c...
+compiling crc16.c...
+compiling limiter.c...
+compiling filter.c...
+compiling mixer.c...
+compiling pid.c...
+compiling FreeRTOS_CLI.c...
+compiling user_math.c...
+compiling bmi088.c...
+compiling ui.c...
+compiling can.c...
+compiling dr16.c...
+compiling ist8310.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=149536 RO-data=7272 RW-data=760 ZI-data=43832  
 FromELF: creating hex file...
@@ -55,7 +172,7 @@ 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:  00:00:22
 </pre>
 </body>
 </html>

MDK-ARM/DevC/DevC.hex

@@ -551,7 +551,7 @@
 :10225000C0F602002F211BF037FBFFE7FFE742F239
 :102260001D72C0F6000202200190032101F042FA23
 :10227000019842F20572C0F60002082101F03AFA14
-:10228000029949F6A630C3F6C420C1F81F0002998E
+:10228000029941F26F20C3F68330C1F81F00029912
 :1022900049F6A630C3F64430C1F8230042F2B83103
 :1022A000C2F200010120087000208DF80F00FFE746
 :1022B0009DF90F0004B080BD82B00190009101989B
@@ -1080,7 +1080,7 @@
 :1043600024E00298006801998862029840680199E7
 :10437000C86201988078C007A0B1FFE70298007E6C
 :10438000C00748B1FFE70199022081F83400019984
-:10439000012081F8360004E00199012081F8340001
+:10439000012081F8360004E00199022081F8340000
 :1043A000FFE7FFE700208DF80F00FFE79DF90F0002
 :1043B00004B0704780B584B0029001918DED000A81
 :1043C000029820B9FFE7FF208DF80F0056E0019812
@@ -9542,7 +9542,7 @@
 :105420000000803F0000803F000080BFDB0FC940CC
 :10543000000080BF000080BF000080BF000080BF70
 :1054400000000041000010428FC2F53CCDCCCC3DA5
-:10545000CDCC4C3D000000000000C84164000000BD
+:10545000CDCC4C3D000000000000C8417D000000A4
 :10546000000101002B5A0208A84D0208215A020827
 :10547000DC4D020800000000000000003A5A02085B
 :1054800088010020425A020888010020265A02089A

MDK-ARM/DevC/DevC.htm

@@ -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: Mon Mar 10 22:02:56 2025
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Fri Mar 14 22:09:28 2025
 <BR><P>
 <H3>Maximum Stack Usage =        632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>

User/device/ai.c

@@ -51,7 +51,7 @@ int8_t AI_Init(AI_t *ai) {
   BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
                             Ai_IdleLineCallback);
   
-  ai->search_velocity.yaw = 0.0015f;
+  ai->search_velocity.yaw = 0.004f;
   ai->search_velocity.pit = 0.003f;
   inited = true;
   return 0;

User/module/config.c

@@ -481,7 +481,7 @@ static const Config_RobotParam_t param_sentry = {
     .cover_close_duty = 0.050f,
     .model = SHOOT_MODEL_17MM,
     .bullet_speed = 25.f,
-    .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
+    .min_shoot_delay = (uint32_t)(1000.0f / 8.0f),
   }, /* shoot */
 
   .can = {