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@ -417,7 +417,20 @@
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<WinNumber>1</WinNumber>
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<ItemText>host</ItemText>
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</Ww>
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<Ww>
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<count>12</count>
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<WinNumber>1</WinNumber>
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<ItemText>gimbal_ai</ItemText>
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</Ww>
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</WatchWindow1>
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<MemoryWindow4>
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<Mm>
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<WinNumber>4</WinNumber>
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<SubType>0</SubType>
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<ItemText>for_chassis</ItemText>
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<AccSizeX>0</AccSizeX>
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</Mm>
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</MemoryWindow4>
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<Tracepoint>
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<THDelay>0</THDelay>
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</Tracepoint>
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Binary file not shown.
@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
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<h2>Project:</h2>
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C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
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Project File Date: 03/09/2025
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Project File Date: 03/19/2025
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<h2>Output:</h2>
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*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
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@ -37,9 +37,13 @@ Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to
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Note: source file '..\User\task\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_3.o'.
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Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.
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Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
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compiling cmd.c...
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compiling user_math.c...
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compiling main.c...
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compiling ai.c...
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compiling config.c...
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compiling shoot.c...
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linking...
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Program Size: Code=149536 RO-data=7272 RW-data=760 ZI-data=43832
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Program Size: Code=149600 RO-data=6928 RW-data=1104 ZI-data=43832
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FromELF: creating hex file...
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"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
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@ -55,7 +59,7 @@ Package Vendor: Keil
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C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
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<h2>Collection of Component Files used:</h2>
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Build Time Elapsed: 00:00:02
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Build Time Elapsed: 00:00:03
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</pre>
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</body>
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</html>
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19327
MDK-ARM/DevC/DevC.hex
19327
MDK-ARM/DevC/DevC.hex
File diff suppressed because it is too large
Load Diff
@ -3,7 +3,7 @@
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<title>Static Call Graph - [DevC\DevC.axf]</title></head>
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<body><HR>
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<H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Mon Mar 10 22:02:56 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Mar 19 17:14:45 2025
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<BR><P>
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<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
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Call chain for Maximum Stack Depth:</H3>
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@ -724,9 +724,9 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[347]">>></a> __ieee754_rem_pio2
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</UL>
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<P><STRONG><a name="[362]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
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<P><STRONG><a name="[362]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dclz77c.o(.text), UNUSED)
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<P><STRONG><a name="[363]"></a>__decompress1</STRONG> (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
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<P><STRONG><a name="[363]"></a>__decompress2</STRONG> (Thumb, 94 bytes, Stack size unknown bytes, __dclz77c.o(.text), UNUSED)
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<P><STRONG><a name="[c3]"></a>AHRS_GetEulr</STRONG> (Thumb, 348 bytes, Stack size 48 bytes, ahrs.o(.text.AHRS_GetEulr))
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<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = AHRS_GetEulr ⇒ __hardfp_atan2f
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@ -751,8 +751,8 @@ Global Symbols
|
||||
<P><STRONG><a name="[188]"></a>AHRS_ResetEulr</STRONG> (Thumb, 18 bytes, Stack size 4 bytes, ahrs.o(.text.AHRS_ResetEulr))
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<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = AHRS_ResetEulr
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||||
</UL>
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<BR>[Called By]<UL><LI><a href="#[184]">>></a> Gimbal_SetMode
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<LI><a href="#[183]">>></a> Gimbal_Control
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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<LI><a href="#[184]">>></a> Gimbal_SetMode
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</UL>
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<P><STRONG><a name="[ca]"></a>AHRS_Update</STRONG> (Thumb, 3098 bytes, Stack size 224 bytes, ahrs.o(.text.AHRS_Update))
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@ -1353,7 +1353,7 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[268]">>></a> Referee_Parse
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</UL>
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||||
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<P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 284 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm))
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<P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 320 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm))
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<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CalculateRpm
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</UL>
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<BR>[Called By]<UL><LI><a href="#[27c]">>></a> Shoot_Control
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@ -1443,20 +1443,20 @@ Global Symbols
|
||||
<P><STRONG><a name="[185]"></a>CircleAdd</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd))
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<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CircleAdd
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</UL>
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<BR>[Called By]<UL><LI><a href="#[283]">>></a> Shoot_UpdateFeedback
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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||||
<LI><a href="#[283]">>></a> Shoot_UpdateFeedback
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<LI><a href="#[27c]">>></a> Shoot_Control
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<LI><a href="#[27d]">>></a> Shoot_SetMode
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<LI><a href="#[189]">>></a> Gimbal_Init
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<LI><a href="#[183]">>></a> Gimbal_Control
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||||
</UL>
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||||
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||||
<P><STRONG><a name="[186]"></a>CircleError</STRONG> (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError))
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<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CircleError
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||||
</UL>
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||||
<BR>[Called By]<UL><LI><a href="#[148]">>></a> PID_Calc
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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||||
<LI><a href="#[148]">>></a> PID_Calc
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||||
<LI><a href="#[283]">>></a> Shoot_UpdateFeedback
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||||
<LI><a href="#[27d]">>></a> Shoot_SetMode
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<LI><a href="#[183]">>></a> Gimbal_Control
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</UL>
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||||
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<P><STRONG><a name="[14c]"></a>CircleReverse</STRONG> (Thumb, 32 bytes, Stack size 4 bytes, user_math.o(.text.CircleReverse))
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@ -1752,7 +1752,7 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[8e]">>></a> Task_CLI
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</UL>
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||||
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<P><STRONG><a name="[183]"></a>Gimbal_Control</STRONG> (Thumb, 844 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control))
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<P><STRONG><a name="[183]"></a>Gimbal_Control</STRONG> (Thumb, 856 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control))
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<BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = Gimbal_Control ⇒ Gimbal_SetMode ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
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</UL>
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<BR>[Calls]<UL><LI><a href="#[184]">>></a> Gimbal_SetMode
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@ -3118,11 +3118,11 @@ Global Symbols
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<LI><a href="#[23a]">>></a> __ARM_isinf
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<LI><a href="#[c8]">>></a> __aeabi_f2d
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</UL>
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<BR>[Called By]<UL><LI><a href="#[145]">>></a> Chassis_Control
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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<LI><a href="#[145]">>></a> Chassis_Control
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<LI><a href="#[148]">>></a> PID_Calc
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<LI><a href="#[156]">>></a> LowPassFilter2p_Reset
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<LI><a href="#[27c]">>></a> Shoot_Control
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<LI><a href="#[183]">>></a> Gimbal_Control
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</UL>
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<P><STRONG><a name="[14e]"></a>LowPassFilter2p_Init</STRONG> (Thumb, 316 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Init))
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@ -3448,10 +3448,10 @@ Global Symbols
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||||
<LI><a href="#[14a]">>></a> LowPassFilter2p_Apply
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<LI><a href="#[c8]">>></a> __aeabi_f2d
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</UL>
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<BR>[Called By]<UL><LI><a href="#[145]">>></a> Chassis_Control
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<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
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<LI><a href="#[145]">>></a> Chassis_Control
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<LI><a href="#[8d]">>></a> Task_AttiEsti
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<LI><a href="#[27c]">>></a> Shoot_Control
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<LI><a href="#[183]">>></a> Gimbal_Control
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</UL>
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<P><STRONG><a name="[14d]"></a>PID_Init</STRONG> (Thumb, 406 bytes, Stack size 32 bytes, pid.o(.text.PID_Init))
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@ -3972,12 +3972,12 @@ Global Symbols
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||||
<LI><a href="#[f7]">>></a> osKernelGetTickFreq
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||||
<LI><a href="#[289]">>></a> osKernelGetTickCount
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||||
<LI><a href="#[28e]">>></a> osDelayUntil
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<LI><a href="#[183]">>></a> Gimbal_Control
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||||
<LI><a href="#[18a]">>></a> Gimbal_UpdateFeedback
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<LI><a href="#[29e]">>></a> Gimbal_PackAI
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<LI><a href="#[189]">>></a> Gimbal_Init
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<LI><a href="#[2a0]">>></a> Gimbal_DumpUI
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<LI><a href="#[29f]">>></a> Gimbal_DumpOutput
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<LI><a href="#[183]">>></a> Gimbal_Control
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</UL>
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<BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init)
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</UL>
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@ -107,6 +107,7 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
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if (is17mm) {
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if (bullet_speed == 15.0f) return 4670.f;
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if (bullet_speed == 18.0f) return 5200.f;
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if (bullet_speed == 25.0f) return 6600.f;
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if (bullet_speed == 30.0f) return 7350.f;
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} else {
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if (bullet_speed == 10.0f) return 4450.f;
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@ -51,7 +51,7 @@ int8_t AI_Init(AI_t *ai) {
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BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
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Ai_IdleLineCallback);
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ai->search_velocity.yaw = 0.0015f;
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ai->search_velocity.yaw = 0.0025f;
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ai->search_velocity.pit = 0.003f;
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inited = true;
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return 0;
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@ -99,15 +99,15 @@ void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
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}
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void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
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if (gimbal_ai->pit > 2.75){
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if (gimbal_ai->pit > 2.45){
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ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
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} else if (gimbal_ai->pit < 2.35) {
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} else if (gimbal_ai->pit < 2.2) {
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ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
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}
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if (gimbal_ai->yaw > 1.4 && gimbal_ai->yaw < 1.7) {
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if (gimbal_ai->yaw > 1.5 && gimbal_ai->yaw < 1.9) {
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ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw);
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} else if (gimbal_ai->yaw > 5.7 && gimbal_ai->yaw < 6.0) {
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} else if (gimbal_ai->yaw > 5.4 && gimbal_ai->yaw < 6.0) {
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ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);
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}
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@ -345,7 +345,11 @@ static const Config_RobotParam_t param_hero = {
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}, /* can */
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}; /* param_hero */
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#ifdef DEBUG
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Config_RobotParam_t param_sentry = {
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#else
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static const Config_RobotParam_t param_sentry = {
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#endif
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.model = ROBOT_MODEL_SENTRY,
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.chassis = { /* 底盘模块参数 */
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@ -388,8 +392,8 @@ static const Config_RobotParam_t param_sentry = {
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.pid = {
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{
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/* GIMBAL_PID_YAW_OMEGA_IDX */
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.k = 0.24f,
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.p = 1.0f,
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.k = 0.20f,
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.p = 0.8f,
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.i = 0.5f,
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.d = 0.0f,
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.i_limit = 1.0f,
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@ -398,8 +402,8 @@ static const Config_RobotParam_t param_sentry = {
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.range = -1.0f,
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}, {
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/* GIMBAL_PID_YAW_ANGLE_IDX */
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.k = 10.0f,
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.p = 1.0f,
|
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.k = 8.0f,
|
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.p = 0.8f,
|
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.i = 0.0f,
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.d = 0.05f,
|
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.i_limit = 0.0f,
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@ -409,8 +413,8 @@ static const Config_RobotParam_t param_sentry = {
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}, {
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/* GIMBAL_PID_PIT_OMEGA_IDX */
|
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.k = 0.25f,
|
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.p = 1.0f,
|
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.k = 0.2f,
|
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.p = 0.8f,
|
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.i = 0.0f,
|
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.d = 0.0f,
|
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.i_limit = 1.0f,
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@ -420,7 +424,7 @@ static const Config_RobotParam_t param_sentry = {
|
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}, {
|
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/* GIMBAL_PID_PIT_ANGLE_IDX */
|
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.k = 2.0f,
|
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.p = 5.0f,
|
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.p = 4.0f,
|
||||
.i = 2.5f,
|
||||
.d = 0.0f,
|
||||
.i_limit = 0.0f,
|
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@ -642,3 +646,4 @@ const Config_PilotCfgMap_t *Config_GetPilotNameMap(void) {
|
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const Config_RobotParamMap_t *Config_GetRobotNameMap(void) {
|
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return robot_param_map;
|
||||
}
|
||||
|
||||
@ -153,10 +153,10 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
|
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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) {
|
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g->setpoint.eulr.yaw = 5.9f;
|
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} 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;
|
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}
|
||||
|
||||
|
||||
|
||||
@ -15,7 +15,7 @@
|
||||
#define HEAT_INCREASE_17MM (10.f) /* 每发射一颗17mm弹丸增加10热量 */
|
||||
|
||||
#define BULLET_SPEED_LIMIT_42MM (16.0)
|
||||
#define BULLET_SPEED_LIMIT_17MM (30.0)
|
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#define BULLET_SPEED_LIMIT_17MM (25.0)
|
||||
|
||||
/* Private macro ------------------------------------------------------------ */
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user