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修改参数

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RB 2025-03-14 22:28:10 +08:00
parent 996825c0cc
commit f53af0b510
11 changed files with 5274 additions and 5387 deletions
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160
MDK-ARM/DevC.uvguix.lvzucheng
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7
MDK-ARM/DevC.uvoptx
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@ -417,11 +417,6 @@
<WinNumber>1</WinNumber>
<ItemText>host</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -1229,7 +1224,7 @@
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/DevC/DevC.axf
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40
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: 03/13/2025
Project File Date: 03/14/2025
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@ -37,43 +37,7 @@ 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 freertos.c...
compiling ahrs.c...
compiling capacity.c...
compiling crc16.c...
compiling cmd.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 referee.c...
compiling ai.c...
compiling cap.c...
compiling config.c...
compiling chassis.c...
compiling gimbal.c...
compiling ai.c...
compiling shoot.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 info.c...
compiling ctrl_shoot.c...
compiling init.c...
compiling monitor.c...
compiling rc.c...
compiling referee.c...
compiling user_task.c...
linking...
Program Size: Code=149520 RO-data=7272 RW-data=760 ZI-data=43832
FromELF: creating hex file...
@ -91,7 +55,7 @@ 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: 00:00:08
Build Time Elapsed: 00:00:04
</pre>
</body>
</html>

6
MDK-ARM/DevC/DevC.hex
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@ -551,7 +551,7 @@
:10225000C0F602002F211BF02FFBFFE7FFE742F241
:102260001D72C0F6000202200190032101F042FA23
:10227000019842F20572C0F60002082101F03AFA14
:10228000029949F6A630C3F6C420C1F81F0002998E
:10228000029941F26F20C3F68330C1F81F00029912
:1022900049F6A630C3F64430C1F8230042F2B83103
:1022A000C2F200010120087000208DF80F00FFE746
:1022B0009DF90F0004B080BD82B00190009101989B
@ -602,7 +602,7 @@
:1025800000EE100A1BF03CFB039910EE100AC1F894
:102590001F00FFE7FFE70398D0F81F0002990860CB
:1025A0000398D0F823000299486004B080BD00BFB2
:1025B0000000000000000040666666666666F63F42
:1025B0000000000000000040333333333333FB3F6F
:1025C00066666666666612409A999999999913406B
:1025D00033333333333303409A99999999990540AA
:1025E00080B582B00090022001F024F842F600414C
@ -9541,7 +9541,7 @@
:105410000000803F0000803F000080BFDB0FC940DC
:10542000000080BF000080BF000080BF000080BF80
:1054300000000041000010428FC2F53CCDCCCC3DB5
:10544000CDCC4C3D000000000000C84164000000CD
:10544000CDCC4C3D000000000000C8417D000000B4
:10545000000101001B5A0208984D0208115A020867
:10546000CC4D020800000000000000002A5A02088B
:1054700088010020325A020888010020165A0208CA

2
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: Thu Mar 13 14:18:24 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Fri Mar 14 22:27:57 2025
<BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>

10440
MDK-ARM/DevC/DevC_Debug.dep
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MDK-ARM/DevC/ai.o
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MDK-ARM/DevC/config.o
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4
User/device/ai.c
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@ -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;
@ -101,7 +101,7 @@ 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 > 2.0){
ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
} else if (gimbal_ai->pit < 1.4) {
} else if (gimbal_ai->pit < 1.7) {
ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
}

2
User/module/config.c
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@ -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 = {