From cff20de5686443722c3aa324e596d99f82e84cc2 Mon Sep 17 00:00:00 2001 From: RB Date: Tue, 11 Mar 2025 16:17:10 +0800 Subject: [PATCH] form->from --- MDK-ARM/DevC.uvguix.lvzucheng | 20 ++++++++--------- MDK-ARM/DevC/DevC.axf | Bin 891916 -> 891916 bytes MDK-ARM/DevC/DevC.build_log.htm | 37 +------------------------------- MDK-ARM/DevC/DevC.htm | 2 +- MDK-ARM/DevC/DevC_Debug.dep | 6 +++--- MDK-ARM/DevC/ai.o | Bin 13768 -> 13768 bytes MDK-ARM/DevC/ai_1.o | Bin 7312 -> 7312 bytes User/device/ai.c | 20 ++++++++--------- User/device/ai.h | 2 +- 9 files changed, 26 insertions(+), 61 deletions(-) diff --git a/MDK-ARM/DevC.uvguix.lvzucheng b/MDK-ARM/DevC.uvguix.lvzucheng index 6a1a5e8..1bf68cf 100644 --- a/MDK-ARM/DevC.uvguix.lvzucheng +++ b/MDK-ARM/DevC.uvguix.lvzucheng @@ -530,7 +530,7 @@ 0 16 - 39010000B5010000E50500006D030000 + 39010000B5010000E50500003E030000 16 @@ -1170,7 +1170,7 @@ 0 16 - 39010000B5010000E50500006D030000 + 39010000B5010000E50500003E030000 16 @@ -1190,7 +1190,7 @@ 0 16 - 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898 diff --git a/MDK-ARM/DevC/DevC.axf b/MDK-ARM/DevC/DevC.axf index 78681607d987b25ea34d6f347e72577236dc18c2..90032f632ac00410e26c496c5d6ea8dd3016c502 100644 GIT binary patch delta 64 zcmeC#Vb-(5tf7Umg{g(Pg{6hHg{_6Xg` diff --git a/MDK-ARM/DevC/DevC.build_log.htm b/MDK-ARM/DevC/DevC.build_log.htm index cec7103..c6de147 100644 --- a/MDK-ARM/DevC/DevC.build_log.htm +++ b/MDK-ARM/DevC/DevC.build_log.htm @@ -37,43 +37,8 @@ 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=148832 RO-data=6908 RW-data=760 ZI-data=43832 FromELF: creating hex file... @@ -91,7 +56,7 @@ Package Vendor: Keil C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include

Collection of Component Files used:

-Build Time Elapsed: 00:00:11 +Build Time Elapsed: 00:00:03 diff --git a/MDK-ARM/DevC/DevC.htm b/MDK-ARM/DevC/DevC.htm index 4755b43..b5e27d0 100644 --- a/MDK-ARM/DevC/DevC.htm +++ b/MDK-ARM/DevC/DevC.htm @@ -3,7 +3,7 @@ Static Call Graph - [DevC\DevC.axf]

Static Call Graph for image DevC\DevC.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Tue Mar 11 09:18:01 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Tue Mar 11 09:24:59 2025

Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

diff --git a/MDK-ARM/DevC/DevC_Debug.dep b/MDK-ARM/DevC/DevC_Debug.dep index 01110e9..015eef6 100644 --- a/MDK-ARM/DevC/DevC_Debug.dep +++ b/MDK-ARM/DevC/DevC_Debug.dep @@ -4251,8 +4251,8 @@ I (..\User\bsp\uart.h)(0x6070F48E) I (..\Core\Inc\usart.h)(0x6070F48E) I (..\User\component\crc16.h)(0x6070F48E) I (..\User\component\crc8.h)(0x6070F48E) -F (..\User\device\ai.c)(0x67CF8F2C)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai.o -MD) -I (..\User\device\ai.h)(0x67CF8D37) +F (..\User\device\ai.c)(0x67CF90A9)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai.o -MD) +I (..\User\device\ai.h)(0x67CF90AE) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) @@ -4651,7 +4651,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\bsp\pwm.h)(0x6070F48E) I (..\User\component\limiter.h)(0x6070F48E) F (..\User\task\ai.c)(0x67CF8D37)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai_1.o -MD) -I (..\User\device\ai.h)(0x67CF8D37) +I (..\User\device\ai.h)(0x67CF90AE) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) diff --git a/MDK-ARM/DevC/ai.o b/MDK-ARM/DevC/ai.o index a0097d06d9ae1f7923e45e84d462a3af9df7cc6c..c57abb62f44c46af1061494b0361840ca235a875 100644 GIT binary patch delta 15 XcmX?+eIk3qHvy)i{LMcEE~o$iL8J$- delta 15 XcmX?+eIk3qHvy*nqRl@9E~o$iL7@k) diff --git a/MDK-ARM/DevC/ai_1.o b/MDK-ARM/DevC/ai_1.o index 5d568f24375dc95c5717a1369c036f317f0f5c6a..d271f346db4d32ec5c5dfeb3081a89aac255ee9c 100644 GIT binary patch delta 15 XcmbPWIl*$n9uB6W{LT9~E(rqwGS>!3 delta 15 XcmbPWIl*$n9uB7bqRsm_E(rqwGSmi0 diff --git a/User/device/ai.c b/User/device/ai.c index 8f0a7f6..803294a 100644 --- a/User/device/ai.c +++ b/User/device/ai.c @@ -75,10 +75,10 @@ bool AI_WaitDmaCplt(void) { } int8_t AI_ParseHost(AI_t *ai) { - if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host))) + if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host))) goto error; ai->ai_online = true; - memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host)); + memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host)); memset(rxbuf, 0, AI_LEN_RX_BUFF); return DEVICE_OK; @@ -88,20 +88,20 @@ error: } 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->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; + cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw; + cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit; + cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE); + cmd_host->rotor = (ai->from_host.data.notice & AI_NOTICE_ROTOR); + cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx; + cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy; + cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz; } int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) { if (ai == NULL) return DEVICE_ERR_NULL; if (cmd_host == NULL) return DEVICE_ERR_NULL; ai->ai_online = false; - memset(&(ai->form_host), 0, sizeof(ai->form_host)); + memset(&(ai->from_host), 0, sizeof(ai->from_host)); memset(cmd_host, 0, sizeof(*cmd_host)); return 0; } diff --git a/User/device/ai.h b/User/device/ai.h index 40bdd82..f478ad4 100644 --- a/User/device/ai.h +++ b/User/device/ai.h @@ -38,7 +38,7 @@ typedef struct __packed { typedef struct __packed { osThreadId_t thread_alert; - Protocol_DownPackage_t form_host; + Protocol_DownPackage_t from_host; struct { AI_UpPackageReferee_t ref;