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@ -417,7 +417,20 @@
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>host</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>12</count>
|
||||
<WinNumber>1</WinNumber>
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||||
<ItemText>gimbal_ai</ItemText>
|
||||
</Ww>
|
||||
</WatchWindow1>
|
||||
<MemoryWindow4>
|
||||
<Mm>
|
||||
<WinNumber>4</WinNumber>
|
||||
<SubType>0</SubType>
|
||||
<ItemText>for_chassis</ItemText>
|
||||
<AccSizeX>0</AccSizeX>
|
||||
</Mm>
|
||||
</MemoryWindow4>
|
||||
<Tracepoint>
|
||||
<THDelay>0</THDelay>
|
||||
</Tracepoint>
|
||||
|
||||
Binary file not shown.
@ -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: 03/09/2025
|
||||
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 cmd.c...
|
||||
compiling user_math.c...
|
||||
compiling main.c...
|
||||
compiling ai.c...
|
||||
compiling config.c...
|
||||
compiling shoot.c...
|
||||
linking...
|
||||
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
|
||||
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>
|
||||
|
||||
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 @@
|
||||
<title>Static Call Graph - [DevC\DevC.axf]</title></head>
|
||||
<body><HR>
|
||||
<H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
|
||||
<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Mon Mar 10 22:02:56 2025
|
||||
<BR><P>#<CALLGRAPH># 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>
|
||||
@ -724,9 +724,9 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[347]">>></a> __ieee754_rem_pio2
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[362]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[362]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dclz77c.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[363]"></a>__decompress1</STRONG> (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[363]"></a>__decompress2</STRONG> (Thumb, 94 bytes, Stack size unknown bytes, __dclz77c.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[c3]"></a>AHRS_GetEulr</STRONG> (Thumb, 348 bytes, Stack size 48 bytes, ahrs.o(.text.AHRS_GetEulr))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = AHRS_GetEulr ⇒ __hardfp_atan2f
|
||||
@ -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))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = AHRS_ResetEulr
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[184]">>></a> Gimbal_SetMode
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
|
||||
<LI><a href="#[184]">>></a> Gimbal_SetMode
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[ca]"></a>AHRS_Update</STRONG> (Thumb, 3098 bytes, Stack size 224 bytes, ahrs.o(.text.AHRS_Update))
|
||||
@ -1353,7 +1353,7 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[268]">>></a> Referee_Parse
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 284 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm))
|
||||
<P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 320 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CalculateRpm
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[27c]">>></a> Shoot_Control
|
||||
@ -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))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CircleAdd
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[283]">>></a> Shoot_UpdateFeedback
|
||||
<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
|
||||
<LI><a href="#[283]">>></a> Shoot_UpdateFeedback
|
||||
<LI><a href="#[27c]">>></a> Shoot_Control
|
||||
<LI><a href="#[27d]">>></a> Shoot_SetMode
|
||||
<LI><a href="#[189]">>></a> Gimbal_Init
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[186]"></a>CircleError</STRONG> (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CircleError
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[148]">>></a> PID_Calc
|
||||
<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
|
||||
<LI><a href="#[148]">>></a> PID_Calc
|
||||
<LI><a href="#[283]">>></a> Shoot_UpdateFeedback
|
||||
<LI><a href="#[27d]">>></a> Shoot_SetMode
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14c]"></a>CircleReverse</STRONG> (Thumb, 32 bytes, Stack size 4 bytes, user_math.o(.text.CircleReverse))
|
||||
@ -1752,7 +1752,7 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[8e]">>></a> 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 ⇒ Gimbal_SetMode ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[184]">>></a> Gimbal_SetMode
|
||||
@ -3118,11 +3118,11 @@ Global Symbols
|
||||
<LI><a href="#[23a]">>></a> __ARM_isinf
|
||||
<LI><a href="#[c8]">>></a> __aeabi_f2d
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[145]">>></a> Chassis_Control
|
||||
<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
|
||||
<LI><a href="#[145]">>></a> Chassis_Control
|
||||
<LI><a href="#[148]">>></a> PID_Calc
|
||||
<LI><a href="#[156]">>></a> LowPassFilter2p_Reset
|
||||
<LI><a href="#[27c]">>></a> Shoot_Control
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14e]"></a>LowPassFilter2p_Init</STRONG> (Thumb, 316 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Init))
|
||||
@ -3448,10 +3448,10 @@ Global Symbols
|
||||
<LI><a href="#[14a]">>></a> LowPassFilter2p_Apply
|
||||
<LI><a href="#[c8]">>></a> __aeabi_f2d
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[145]">>></a> Chassis_Control
|
||||
<BR>[Called By]<UL><LI><a href="#[183]">>></a> Gimbal_Control
|
||||
<LI><a href="#[145]">>></a> Chassis_Control
|
||||
<LI><a href="#[8d]">>></a> Task_AttiEsti
|
||||
<LI><a href="#[27c]">>></a> Shoot_Control
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14d]"></a>PID_Init</STRONG> (Thumb, 406 bytes, Stack size 32 bytes, pid.o(.text.PID_Init))
|
||||
@ -3972,12 +3972,12 @@ Global Symbols
|
||||
<LI><a href="#[f7]">>></a> osKernelGetTickFreq
|
||||
<LI><a href="#[289]">>></a> osKernelGetTickCount
|
||||
<LI><a href="#[28e]">>></a> osDelayUntil
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
<LI><a href="#[18a]">>></a> Gimbal_UpdateFeedback
|
||||
<LI><a href="#[29e]">>></a> Gimbal_PackAI
|
||||
<LI><a href="#[189]">>></a> Gimbal_Init
|
||||
<LI><a href="#[2a0]">>></a> Gimbal_DumpUI
|
||||
<LI><a href="#[29f]">>></a> Gimbal_DumpOutput
|
||||
<LI><a href="#[183]">>></a> Gimbal_Control
|
||||
</UL>
|
||||
<BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init)
|
||||
</UL>
|
||||
|
||||
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Load Diff
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@ -107,6 +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 == 25.0f) return 6600.f;
|
||||
if (bullet_speed == 30.0f) return 7350.f;
|
||||
} else {
|
||||
if (bullet_speed == 10.0f) return 4450.f;
|
||||
|
||||
@ -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 = 0.0025f;
|
||||
ai->search_velocity.pit = 0.003f;
|
||||
inited = true;
|
||||
return 0;
|
||||
@ -99,15 +99,15 @@ 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 > 2.75){
|
||||
if (gimbal_ai->pit > 2.45){
|
||||
ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
|
||||
} else if (gimbal_ai->pit < 2.35) {
|
||||
} else if (gimbal_ai->pit < 2.2) {
|
||||
ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
|
||||
}
|
||||
|
||||
if (gimbal_ai->yaw > 1.4 && gimbal_ai->yaw < 1.7) {
|
||||
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 > 5.7 && gimbal_ai->yaw < 6.0) {
|
||||
} else if (gimbal_ai->yaw > 5.4 && gimbal_ai->yaw < 6.0) {
|
||||
ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);
|
||||
}
|
||||
|
||||
|
||||
@ -2,21 +2,21 @@
|
||||
* 配置相关
|
||||
*/
|
||||
|
||||
#include "config.h"
|
||||
#include "config.h"
|
||||
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "bsp/flash.h"
|
||||
#include "bsp/flash.h"
|
||||
|
||||
#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
|
||||
#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
|
||||
|
||||
/* clang-format off */
|
||||
#ifdef DEBUG
|
||||
Config_RobotParam_t param_default = {
|
||||
#else
|
||||
static const Config_RobotParam_t param_default = {
|
||||
#endif
|
||||
/* clang-format off */
|
||||
#ifdef DEBUG
|
||||
Config_RobotParam_t param_default = {
|
||||
#else
|
||||
static const Config_RobotParam_t param_default = {
|
||||
#endif
|
||||
.model = ROBOT_MODEL_INFANTRY,
|
||||
|
||||
.chassis = { /* 底盘模块参数 */
|
||||
@ -58,25 +58,25 @@ static const Config_RobotParam_t param_default = {
|
||||
.gimbal = { /* 云台模块参数 */
|
||||
.pid = {
|
||||
{
|
||||
// /* GIMBAL_PID_YAW_OMEGA_IDX */
|
||||
// .k = 0.25f,
|
||||
// .p = 1.0f,
|
||||
// .i = 1.0f,
|
||||
// .d = 0.0f,
|
||||
// .i_limit = 1.0f,
|
||||
// .out_limit = 1.0f,
|
||||
// .d_cutoff_freq = -1.0f,
|
||||
// .range = -1.0f,
|
||||
// }, {
|
||||
// /* GIMBAL_PID_YAW_ANGLE_IDX */
|
||||
// .k = 12.0f,
|
||||
// .p = 1.0f,
|
||||
// .i = 0.0f,
|
||||
// .d = 0.05f,
|
||||
// .i_limit = 0.0f,
|
||||
// .out_limit = 10.0f,
|
||||
// .d_cutoff_freq = -1.0f,
|
||||
// .range = M_2PI,
|
||||
// /* GIMBAL_PID_YAW_OMEGA_IDX */
|
||||
// .k = 0.25f,
|
||||
// .p = 1.0f,
|
||||
// .i = 1.0f,
|
||||
// .d = 0.0f,
|
||||
// .i_limit = 1.0f,
|
||||
// .out_limit = 1.0f,
|
||||
// .d_cutoff_freq = -1.0f,
|
||||
// .range = -1.0f,
|
||||
// }, {
|
||||
// /* GIMBAL_PID_YAW_ANGLE_IDX */
|
||||
// .k = 12.0f,
|
||||
// .p = 1.0f,
|
||||
// .i = 0.0f,
|
||||
// .d = 0.05f,
|
||||
// .i_limit = 0.0f,
|
||||
// .out_limit = 10.0f,
|
||||
// .d_cutoff_freq = -1.0f,
|
||||
// .range = M_2PI,
|
||||
/* GIMBAL_PID_YAW_OMEGA_IDX */
|
||||
.k = 0.24f,
|
||||
.p = 1.0f,
|
||||
@ -97,25 +97,25 @@ static const Config_RobotParam_t param_default = {
|
||||
.d_cutoff_freq = -1.0f,
|
||||
.range = M_2PI,
|
||||
}, {
|
||||
// /* GIMBAL_PID_PIT_OMEGA_IDX */
|
||||
// .k = 0.35f,
|
||||
// .p = 1.0f,
|
||||
// .i = 0.f,
|
||||
// .d = 0.003f,
|
||||
// .i_limit = 1.0f,
|
||||
// .out_limit = 1.0f,
|
||||
// .d_cutoff_freq = -1.0f,
|
||||
// .range = -1.0f,
|
||||
// }, {
|
||||
// /* GIMBAL_PID_PIT_ANGLE_IDX */
|
||||
// .k = 15.0f,
|
||||
// .p = 1.0f,
|
||||
// .i = 0.0f,
|
||||
// .d = 0.0f,
|
||||
// .i_limit = 0.0f,
|
||||
// .out_limit = 10.0f,
|
||||
// .d_cutoff_freq = -1.0f,
|
||||
// .range = M_2PI,
|
||||
// /* GIMBAL_PID_PIT_OMEGA_IDX */
|
||||
// .k = 0.35f,
|
||||
// .p = 1.0f,
|
||||
// .i = 0.f,
|
||||
// .d = 0.003f,
|
||||
// .i_limit = 1.0f,
|
||||
// .out_limit = 1.0f,
|
||||
// .d_cutoff_freq = -1.0f,
|
||||
// .range = -1.0f,
|
||||
// }, {
|
||||
// /* GIMBAL_PID_PIT_ANGLE_IDX */
|
||||
// .k = 15.0f,
|
||||
// .p = 1.0f,
|
||||
// .i = 0.0f,
|
||||
// .d = 0.0f,
|
||||
// .i_limit = 0.0f,
|
||||
// .out_limit = 10.0f,
|
||||
// .d_cutoff_freq = -1.0f,
|
||||
// .range = M_2PI,
|
||||
/* GIMBAL_PID_PIT_OMEGA_IDX */
|
||||
.k = 0.25f,
|
||||
.p = 1.0f,
|
||||
@ -198,9 +198,9 @@ static const Config_RobotParam_t param_default = {
|
||||
.shoot = BSP_CAN_2,
|
||||
.cap = BSP_CAN_1,
|
||||
}, /* can */
|
||||
}; /* param_default */
|
||||
}; /* param_default */
|
||||
|
||||
static const Config_RobotParam_t param_hero = {
|
||||
static const Config_RobotParam_t param_hero = {
|
||||
.model = ROBOT_MODEL_HERO,
|
||||
|
||||
.chassis = { /* 底盘模块参数 */
|
||||
@ -343,9 +343,13 @@ static const Config_RobotParam_t param_hero = {
|
||||
.shoot = BSP_CAN_2,
|
||||
.cap = BSP_CAN_1,
|
||||
}, /* can */
|
||||
}; /* param_hero */
|
||||
}; /* param_hero */
|
||||
|
||||
static const Config_RobotParam_t param_sentry = {
|
||||
#ifdef DEBUG
|
||||
Config_RobotParam_t param_sentry = {
|
||||
#else
|
||||
static const Config_RobotParam_t param_sentry = {
|
||||
#endif
|
||||
.model = ROBOT_MODEL_SENTRY,
|
||||
|
||||
.chassis = { /* 底盘模块参数 */
|
||||
@ -388,8 +392,8 @@ static const Config_RobotParam_t param_sentry = {
|
||||
.pid = {
|
||||
{
|
||||
/* GIMBAL_PID_YAW_OMEGA_IDX */
|
||||
.k = 0.24f,
|
||||
.p = 1.0f,
|
||||
.k = 0.20f,
|
||||
.p = 0.8f,
|
||||
.i = 0.5f,
|
||||
.d = 0.0f,
|
||||
.i_limit = 1.0f,
|
||||
@ -398,8 +402,8 @@ static const Config_RobotParam_t param_sentry = {
|
||||
.range = -1.0f,
|
||||
}, {
|
||||
/* GIMBAL_PID_YAW_ANGLE_IDX */
|
||||
.k = 10.0f,
|
||||
.p = 1.0f,
|
||||
.k = 8.0f,
|
||||
.p = 0.8f,
|
||||
.i = 0.0f,
|
||||
.d = 0.05f,
|
||||
.i_limit = 0.0f,
|
||||
@ -409,8 +413,8 @@ static const Config_RobotParam_t param_sentry = {
|
||||
}, {
|
||||
|
||||
/* GIMBAL_PID_PIT_OMEGA_IDX */
|
||||
.k = 0.25f,
|
||||
.p = 1.0f,
|
||||
.k = 0.2f,
|
||||
.p = 0.8f,
|
||||
.i = 0.0f,
|
||||
.d = 0.0f,
|
||||
.i_limit = 1.0f,
|
||||
@ -420,7 +424,7 @@ static const Config_RobotParam_t param_sentry = {
|
||||
}, {
|
||||
/* GIMBAL_PID_PIT_ANGLE_IDX */
|
||||
.k = 2.0f,
|
||||
.p = 5.0f,
|
||||
.p = 4.0f,
|
||||
.i = 2.5f,
|
||||
.d = 0.0f,
|
||||
.i_limit = 0.0f,
|
||||
@ -490,11 +494,11 @@ static const Config_RobotParam_t param_sentry = {
|
||||
.shoot = BSP_CAN_2,
|
||||
.cap = BSP_CAN_1,
|
||||
}, /* can */
|
||||
}; /* param_sentry_left */
|
||||
}; /* param_sentry_left */
|
||||
|
||||
/* static const Config_RobotParam_t param_xxx; */
|
||||
/* static const Config_RobotParam_t param_xxx; */
|
||||
|
||||
static const Config_PilotCfg_t cfg_qs = {
|
||||
static const Config_PilotCfg_t cfg_qs = {
|
||||
.param = {
|
||||
.sens_mouse = 0.06f,
|
||||
.sens_rc = 10.0f,
|
||||
@ -522,9 +526,9 @@ static const Config_PilotCfg_t cfg_qs = {
|
||||
.width = 1920,
|
||||
},
|
||||
},
|
||||
};
|
||||
};
|
||||
|
||||
static const Config_PilotCfg_t cfg_zyma = {
|
||||
static const Config_PilotCfg_t cfg_zyma = {
|
||||
.param = {
|
||||
.sens_mouse = 0.06f,
|
||||
.sens_rc = 6.0f,
|
||||
@ -548,13 +552,13 @@ static const Config_PilotCfg_t cfg_zyma = {
|
||||
.move_slow_sense = 1.6f,
|
||||
},
|
||||
},
|
||||
};
|
||||
};
|
||||
|
||||
/* static const Config_PilotCfg_t cfg_xx; */
|
||||
/* static const Config_PilotCfg_t cfg_xx; */
|
||||
|
||||
/* clang-format on */
|
||||
/* clang-format on */
|
||||
|
||||
static const Config_RobotParamMap_t robot_param_map[] = {
|
||||
static const Config_RobotParamMap_t robot_param_map[] = {
|
||||
{"default", ¶m_default},
|
||||
{"infantry", ¶m_default},
|
||||
{"hero", ¶m_hero},
|
||||
@ -564,21 +568,21 @@ static const Config_RobotParamMap_t robot_param_map[] = {
|
||||
// {"sentry_right" ¶m_sentry_right},
|
||||
/* {"xxx", ¶m_xxx}, */
|
||||
{NULL, NULL},
|
||||
};
|
||||
};
|
||||
|
||||
static const Config_PilotCfgMap_t pilot_cfg_map[] = {
|
||||
static const Config_PilotCfgMap_t pilot_cfg_map[] = {
|
||||
{"qs", &cfg_qs},
|
||||
{"zyma", &cfg_zyma},
|
||||
/* {"xx", &cfg_xx}, */
|
||||
{NULL, NULL},
|
||||
};
|
||||
};
|
||||
|
||||
/**
|
||||
/**
|
||||
* \brief 从Flash读取配置信息
|
||||
*
|
||||
* \param cfg 配置信息
|
||||
*/
|
||||
void Config_Get(Config_t *cfg) {
|
||||
void Config_Get(Config_t *cfg) {
|
||||
BSP_Flash_ReadBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
|
||||
cfg->pilot_cfg = Config_GetPilotCfg(cfg->pilot_cfg_name);
|
||||
cfg->robot_param = Config_GetRobotParam(cfg->robot_param_name);
|
||||
@ -589,27 +593,27 @@ void Config_Get(Config_t *cfg) {
|
||||
if ((uint32_t)(cfg->robot_param) == UINT32_MAX)
|
||||
cfg->robot_param = ¶m_default;
|
||||
if ((uint32_t)(cfg->pilot_cfg) == UINT32_MAX) cfg->pilot_cfg = &cfg_qs;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
/**
|
||||
* \brief 将配置信息写入Flash
|
||||
*
|
||||
* \param cfg 配置信息
|
||||
*/
|
||||
void Config_Set(Config_t *cfg) {
|
||||
void Config_Set(Config_t *cfg) {
|
||||
osKernelLock();
|
||||
BSP_Flash_EraseSector(11);
|
||||
BSP_Flash_WriteBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
|
||||
osKernelUnlock();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
/**
|
||||
* @brief 通过机器人参数名称获取机器人参数的指针
|
||||
*
|
||||
* @param robot_param_name 机器人参数名称
|
||||
* @return const Config_RobotParam_t* 机器人参数的指针
|
||||
*/
|
||||
const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name) {
|
||||
const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name) {
|
||||
if (robot_param_name == NULL) return NULL;
|
||||
for (size_t j = 0; robot_param_map[j].name != NULL; j++) {
|
||||
if (strcmp(robot_param_map[j].name, robot_param_name) == 0) {
|
||||
@ -617,15 +621,15 @@ const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name) {
|
||||
}
|
||||
}
|
||||
return NULL; /* No match. */
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
/**
|
||||
* @brief 通过操作手配置名称获取操作手配置的指针
|
||||
*
|
||||
* @param pilot_cfg_name 操作手配置名称
|
||||
* @return const Config_PilotCfg_t* 操作手配置的指针
|
||||
*/
|
||||
const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name) {
|
||||
const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name) {
|
||||
if (pilot_cfg_name == NULL) return NULL;
|
||||
for (size_t j = 0; pilot_cfg_map[j].name != NULL; j++) {
|
||||
if (strcmp(pilot_cfg_map[j].name, pilot_cfg_name) == 0) {
|
||||
@ -633,12 +637,13 @@ const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name) {
|
||||
}
|
||||
}
|
||||
return NULL; /* No match. */
|
||||
}
|
||||
}
|
||||
|
||||
const Config_PilotCfgMap_t *Config_GetPilotNameMap(void) {
|
||||
const Config_PilotCfgMap_t *Config_GetPilotNameMap(void) {
|
||||
return pilot_cfg_map;
|
||||
}
|
||||
}
|
||||
|
||||
const Config_RobotParamMap_t *Config_GetRobotNameMap(void) {
|
||||
const Config_RobotParamMap_t *Config_GetRobotNameMap(void) {
|
||||
return robot_param_map;
|
||||
}
|
||||
}
|
||||
|
||||
@ -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;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -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)
|
||||
#define BULLET_SPEED_LIMIT_17MM (25.0)
|
||||
|
||||
/* Private macro ------------------------------------------------------------ */
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user