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RB 2025-03-19 17:19:43 +08:00
parent 3a509aaf87
commit d79bb5ea0b
13 changed files with 10709 additions and 10695 deletions
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95
MDK-ARM/DevC.uvguix.lvzucheng
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MDK-ARM/DevC/DevC.axf
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MDK-ARM/DevC/DevC.build_log.htm
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@ -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: 03/17/2025
Project File Date: 03/19/2025
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@ -37,9 +37,13 @@ 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 user_math.c...
compiling main.c...
compiling ai.c...
compiling config.c...
compiling shoot.c...
linking...
Program Size: Code=149584 RO-data=6928 RW-data=1104 ZI-data=43832
Program Size: Code=149600 RO-data=6928 RW-data=1104 ZI-data=43832
FromELF: creating hex file...
"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
@ -55,7 +59,7 @@ 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: 00:00:03
</pre>
</body>
</html>

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MDK-ARM/DevC/DevC.hex
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MDK-ARM/DevC/DevC.htm
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@ -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 17 13:03:58 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Mar 19 17:14:45 2025
<BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -1752,7 +1752,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_CLI
</UL>
<P><STRONG><a name="[183]"></a>Gimbal_Control</STRONG> (Thumb, 844 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control))
<P><STRONG><a name="[183]"></a>Gimbal_Control</STRONG> (Thumb, 856 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control))
<BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = Gimbal_Control &rArr; Gimbal_SetMode &rArr; PID_Reset &rArr; LowPassFilter2p_Reset &rArr; LowPassFilter2p_Apply &rArr; __ARM_isinf
</UL>
<BR>[Calls]<UL><LI><a href="#[184]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_SetMode

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MDK-ARM/DevC/DevC.map
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MDK-ARM/DevC/DevC_Debug.dep
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MDK-ARM/DevC/ai.o
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MDK-ARM/DevC/gimbal.o
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MDK-ARM/DevC/user_math.o
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User/component/user_math.c
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@ -107,7 +107,7 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
if (is17mm) {
if (bullet_speed == 15.0f) return 4670.f;
if (bullet_speed == 18.0f) return 5200.f;
if (bullet_speed == 30.0f) return 6600.f;
if (bullet_speed == 25.0f) return 6600.f;
if (bullet_speed == 30.0f) return 7350.f;
} else {
if (bullet_speed == 10.0f) return 4450.f;

6
User/device/ai.c
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@ -52,7 +52,7 @@ int8_t AI_Init(AI_t *ai) {
Ai_IdleLineCallback);
ai->search_velocity.yaw = 0.0025f;
ai->search_velocity.pit = 0.002f;
ai->search_velocity.pit = 0.003f;
inited = true;
return 0;
}
@ -99,13 +99,13 @@ void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
}
void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
if (gimbal_ai->pit > 2.4){
if (gimbal_ai->pit > 2.45){
ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
} else if (gimbal_ai->pit < 2.2) {
ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
}
if (gimbal_ai->yaw > 1.5 && gimbal_ai->yaw < 2.1) {
if (gimbal_ai->yaw > 1.5 && gimbal_ai->yaw < 1.9) {
ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw);
} else if (gimbal_ai->yaw > 5.4 && gimbal_ai->yaw < 6.0) {
ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);

6
User/module/gimbal.c
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@ -153,10 +153,10 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
/* 限制yaw转动范围（待优化） */
if (g->setpoint.eulr.yaw > 5.9f && g->setpoint.eulr.yaw < 6.0f) {
if (g->setpoint.eulr.yaw > 5.9f && g->setpoint.eulr.yaw < 6.01f) {
g->setpoint.eulr.yaw = 5.9f;
} else if (g->setpoint.eulr.yaw > 1.4f && g->setpoint.eulr.yaw < 1.5f) {
g->setpoint.eulr.yaw = 1.5f;
} else if (g->setpoint.eulr.yaw > 1.4f && g->setpoint.eulr.yaw < 1.71f) {
g->setpoint.eulr.yaw = 1.71f;
}