robofish/RMUL2025
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

form->from

Browse Source
This commit is contained in:
RB 2025-03-11 16:17:10 +08:00
parent 4cc319e997
commit cff20de568
9 changed files with 26 additions and 61 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
MDK-ARM/DevC.uvguix.lvzucheng
View File

File diff suppressed because one or more lines are too long

BIN
MDK-ARM/DevC/DevC.axf
View File

Binary file not shown.

37
MDK-ARM/DevC/DevC.build_log.htm
View File

@ -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\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\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'. 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 ai.c...
compiling referee.c...
compiling cap.c...
compiling config.c...
compiling gimbal.c...
compiling chassis.c...
compiling shoot.c...
compiling ai.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... linking...
Program Size: Code=148832 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... 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 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> <h2>Collection of Component Files used:</h2>
Build Time Elapsed: 00:00:11 Build Time Elapsed: 00:00:03
</pre> </pre>
</body> </body>
</html> </html>

2
MDK-ARM/DevC/DevC.htm
View File

@ -3,7 +3,7 @@
<title>Static Call Graph - [DevC\DevC.axf]</title></head> <title>Static Call Graph - [DevC\DevC.axf]</title></head>
<body><HR> <body><HR>
<H1>Static Call Graph for image DevC\DevC.axf</H1><HR> <H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Tue Mar 11 09:18:01 2025 <BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Tue Mar 11 09:24:59 2025
<BR><P> <BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3> <H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3> Call chain for Maximum Stack Depth:</H3>

6
MDK-ARM/DevC/DevC_Debug.dep
View File

@ -4251,8 +4251,8 @@ I (..\User\bsp\uart.h)(0x6070F48E)
I (..\Core\Inc\usart.h)(0x6070F48E) I (..\Core\Inc\usart.h)(0x6070F48E)
I (..\User\component\crc16.h)(0x6070F48E) I (..\User\component\crc16.h)(0x6070F48E)
I (..\User\component\crc8.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) 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)(0x67CF8D37) I (..\User\device\ai.h)(0x67CF90AE)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) 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\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.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\bsp\pwm.h)(0x6070F48E)
I (..\User\component\limiter.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) 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 (..\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\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)

BIN
MDK-ARM/DevC/ai.o
View File

Binary file not shown.

BIN
MDK-ARM/DevC/ai_1.o
View File

Binary file not shown.

20
User/device/ai.c
View File

@ -75,10 +75,10 @@ bool AI_WaitDmaCplt(void) {
} }
int8_t AI_ParseHost(AI_t *ai) { 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; goto error;
ai->ai_online = true; 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); memset(rxbuf, 0, AI_LEN_RX_BUFF);
return DEVICE_OK; return DEVICE_OK;
@ -88,20 +88,20 @@ error:
} }
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) { 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.yaw = ai->from_host.data.gimbal.yaw;
cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit; cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit;
cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE); cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE);
cmd_host->rotor = (ai->form_host.data.notice & AI_NOTICE_ROTOR); cmd_host->rotor = (ai->from_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.vx = ai->from_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.vy = ai->from_host.data.chassis_move_vec.vy;
cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz; 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) { int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
if (ai == NULL) return DEVICE_ERR_NULL; if (ai == NULL) return DEVICE_ERR_NULL;
if (cmd_host == NULL) return DEVICE_ERR_NULL; if (cmd_host == NULL) return DEVICE_ERR_NULL;
ai->ai_online = false; 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)); memset(cmd_host, 0, sizeof(*cmd_host));
return 0; return 0;
} }

2
User/device/ai.h
View File

@ -38,7 +38,7 @@ typedef struct __packed {
typedef struct __packed { typedef struct __packed {
osThreadId_t thread_alert; osThreadId_t thread_alert;
Protocol_DownPackage_t form_host; Protocol_DownPackage_t from_host;
struct { struct {
AI_UpPackageReferee_t ref; AI_UpPackageReferee_t ref;