MDK-ARM/DevC/DevC.build_log.htm

@@ -37,9 +37,126 @@ 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 gpio.c...
+compiling main.c...
+compiling freertos.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_it.c...
+compiling stm32f4xx_hal_msp.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_ll_usb.c...
+compiling stm32f4xx_hal_rcc.c...
+compiling stm32f4xx_hal_rcc_ex.c...
+compiling stm32f4xx_hal_flash.c...
+compiling stm32f4xx_hal_flash_ex.c...
+compiling stm32f4xx_hal_flash_ramfunc.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_crc.c...
+compiling stm32f4xx_hal_can.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_tim_ex.c...
+compiling stm32f4xx_hal_uart.c...
+compiling croutine.c...
+compiling stm32f4xx_hal_tim.c...
+compiling list.c...
+compiling event_groups.c...
+compiling queue.c...
+compiling stream_buffer.c...
+compiling tasks.c...
+compiling timers.c...
+compiling heap_4.c...
+compiling port.c...
+compiling cmsis_os2.c...
+compiling usbd_core.c...
+compiling usbd_ctlreq.c...
+compiling usbd_ioreq.c...
+compiling adc.c...
+compiling usbd_cdc.c...
+compiling buzzer.c...
+compiling crc32.c...
+compiling can.c...
+compiling delay.c...
+compiling flash.c...
+compiling fric.c...
+compiling gpio.c...
+compiling i2c.c...
+compiling laser.c...
+compiling led.c...
+compiling mm.c...
+compiling pwm.c...
+compiling rand.c...
+compiling servo.c...
+compiling spi.c...
+compiling uart.c...
+compiling usb.c...
+compiling ahrs.c...
+compiling ballistics.c...
+compiling capacity.c...
+compiling crc8.c...
+compiling crc16.c...
+compiling cmd.c...
+compiling error_detect.c...
+compiling limiter.c...
+compiling filter.c...
+compiling mixer.c...
+compiling pid.c...
+compiling FreeRTOS_CLI.c...
+compiling user_math.c...
+compiling ui.c...
+compiling bmi088.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 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 rc.c...
+compiling monitor.c...
+compiling referee.c...
+compiling user_task.c...
 linking...
-Program Size: Code=149520 RO-data=7272 RW-data=760 ZI-data=43832  
+Program Size: Code=148744 RO-data=7272 RW-data=760 ZI-data=43824  
 FromELF: creating hex file...
 "DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
 
@@ -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:  00:00:23
 </pre>
 </body>
 </html>

Middlewares/Third_Party/Protocol/protocol.h

@@ -15,7 +15,6 @@ extern "C"
 #define AI_NOTICE_HITBUFF (1 << 1)
 #define AI_NOTICE_AUTOMATIC (1 << 2)
 #define AI_NOTICE_FIRE (1 << 3)
-#define AI_NOTICE_SEARCH_ARMOR (1 << 4)
 
 #define AI_ID_MCU (0xC4)
 #define AI_ID_REF (0xA8)

User/component/cmd.h

@@ -253,7 +253,6 @@ typedef struct {
   } chassis_move_vec; /* 底盘移动向量 */
 
   bool fire; /* 开火状态 */
-  bool search_armor; /* 寻找装甲板模式 */
 } CMD_Host_t;
 
 /**

User/component/user_math.c

@@ -27,10 +27,6 @@ inline float AbsClip(float in, float limit) {
   return (in < -limit) ? -limit : ((in > limit) ? limit : in);
 }
 
-float fAbs(float in){
-  return (in > 0) ? in : -in;
-}
-
 inline void Clip(float *origin, float min, float max) {
   if (*origin > max) *origin = max;
   if (*origin < min) *origin = min;

User/component/user_math.h

@@ -51,8 +51,6 @@ float InvSqrt(float x);
 
 float AbsClip(float in, float limit);
 
-float fAbs(float in);
-
 void Clip(float *origin, float min, float max);
 
 float Sign(float in);

User/device/ai.c

@@ -51,8 +51,6 @@ 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.pit = 0.003f;
   inited = true;
   return 0;
 }
@@ -93,31 +91,12 @@ 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->search_armor = (ai->form_host.data.notice & AI_NOTICE_SEARCH_ARMOR);
+  // cmd_host->fire = true;
-  cmd_host->fire = false;
-  cmd_host->search_armor = true;
   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;
 }
 
-void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
-  if (gimbal_ai->pit > 2.75){
-    ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
-  } else if (gimbal_ai->pit < 2.35) {
-    ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
-  }
-  
-  if (gimbal_ai->yaw > 1.4 && gimbal_ai->yaw < 1.7) {
-    ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw);
-  } else if (gimbal_ai->yaw > 5.7 && gimbal_ai->yaw < 6.0) {
-    ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);
-  }
-
-  cmd_host->gimbal_delta.yaw = ai->search_velocity.yaw;
-  cmd_host->gimbal_delta.pit = ai->search_velocity.pit;
-}
-
 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;

User/device/ai.h

@@ -35,17 +35,11 @@ typedef struct __packed {
   Protocol_UpPackageMCU_t package;
 } AI_UpPackageMCU_t;
 
-typedef struct {
-  float yaw;
-  float pit;
-} AI_SearchVelocity_t;
-
 typedef struct __packed {
   osThreadId_t thread_alert;
 
   Protocol_DownPackage_t form_host;
 
-  AI_SearchVelocity_t search_velocity;
   struct {
     AI_UpPackageReferee_t ref;
     AI_UpPackageMCU_t mcu;
@@ -67,7 +61,6 @@ int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat, const AHRS_Eulr_t *gi
 int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref);
 int8_t AI_StartSend(AI_t *ai, bool option);
 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);
 #ifdef __cplusplus
 }
 #endif

User/module/gimbal.c

@@ -152,14 +152,6 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
   Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
   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) {
-      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;
-  }
-  
-
   /* 重置输入指令，防止重复处理 */
   AHRS_ResetEulr(&(g_cmd->delta_eulr));
 

User/task/ai.c

@@ -62,9 +62,6 @@ void Task_Ai(void *argument) {
 
     if (ai.status != AI_STATUS_STOP && ai.ai_online){
       AI_PackCmd(&ai, &cmd_host);
-      if (cmd_host.search_armor) {
-        AI_SearchArmor(&ai, &cmd_host, &gimbal_ai);
-      }
       osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
       osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);
     }