Compare commits
No commits in common. "7b0a5cf63cf4287c7c6149c8c1a508c1933a27a8" and "b729cecc0e1fe47b058d294111fec1647d0e8926" have entirely different histories.
7b0a5cf63c
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b729cecc0e
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@ -417,6 +417,11 @@
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<WinNumber>1</WinNumber>
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<WinNumber>1</WinNumber>
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<ItemText>host</ItemText>
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<ItemText>host</ItemText>
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</Ww>
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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</ItemText>
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</Ww>
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</WatchWindow1>
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</WatchWindow1>
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<Tracepoint>
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<Tracepoint>
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<THDelay>0</THDelay>
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<THDelay>0</THDelay>
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@ -1224,7 +1229,7 @@
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<Group>
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<Group>
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<GroupName>Middlewares/USB_Device_Library</GroupName>
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<GroupName>Middlewares/USB_Device_Library</GroupName>
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<tvExp>1</tvExp>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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<RteFlg>0</RteFlg>
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@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
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<h2>Project:</h2>
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<h2>Project:</h2>
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C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
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C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
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Project File Date: 03/14/2025
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Project File Date: 03/11/2025
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<h2>Output:</h2>
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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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*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
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@ -37,9 +37,70 @@ 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\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\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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Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
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compiling freertos.c...
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compiling stm32f4xx_it.c...
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compiling usb_device.c...
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compiling adc.c...
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compiling usbd_cdc_if.c...
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compiling buzzer.c...
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compiling can.c...
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compiling crc32.c...
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compiling delay.c...
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compiling flash.c...
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compiling fric.c...
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compiling gpio.c...
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compiling laser.c...
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compiling i2c.c...
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compiling led.c...
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compiling mm.c...
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compiling pwm.c...
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compiling rand.c...
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compiling servo.c...
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compiling spi.c...
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compiling uart.c...
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compiling usb.c...
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compiling ballistics.c...
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compiling capacity.c...
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compiling ahrs.c...
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compiling crc8.c...
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compiling crc16.c...
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compiling cmd.c...
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compiling error_detect.c...
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compiling limiter.c...
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compiling filter.c...
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compiling mixer.c...
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compiling pid.c...
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compiling user_math.c...
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compiling FreeRTOS_CLI.c...
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compiling ui.c...
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compiling bmi088.c...
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compiling can.c...
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compiling ist8310.c...
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compiling dr16.c...
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compiling referee.c...
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compiling cap.c...
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compiling ai.c...
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compiling ai.c...
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compiling chassis.c...
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compiling config.c...
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compiling gimbal.c...
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compiling shoot.c...
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compiling atti_esti.c...
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compiling ai.c...
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compiling can.c...
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compiling cap.c...
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compiling cli.c...
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compiling command.c...
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compiling ctrl_chassis.c...
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compiling ctrl_gimbal.c...
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compiling ctrl_shoot.c...
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compiling info.c...
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compiling init.c...
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compiling monitor.c...
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compiling rc.c...
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compiling referee.c...
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compiling user_task.c...
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linking...
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linking...
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Program Size: Code=149520 RO-data=7272 RW-data=760 ZI-data=43832
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Program Size: Code=149536 RO-data=7272 RW-data=760 ZI-data=43832
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FromELF: creating hex file...
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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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"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
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@ -55,7 +116,7 @@ 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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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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<h2>Collection of Component Files used:</h2>
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Build Time Elapsed: 00:00:01
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Build Time Elapsed: 00:00:12
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</pre>
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</pre>
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</body>
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</body>
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</html>
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</html>
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17751
MDK-ARM/DevC/DevC.hex
17751
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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<title>Static Call Graph - [DevC\DevC.axf]</title></head>
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<body><HR>
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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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<H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Mar 15 00:25:56 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Mar 12 15:54:11 2025
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<BR><P>
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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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<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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Call chain for Maximum Stack Depth:</H3>
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@ -1295,7 +1295,7 @@ Global Symbols
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<BR>[Called By]<UL><LI><a href="#[8f]">>></a> Task_Command
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<BR>[Called By]<UL><LI><a href="#[8f]">>></a> Task_Command
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</UL>
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</UL>
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<P><STRONG><a name="[29a]"></a>CMD_ParseHost</STRONG> (Thumb, 100 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
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<P><STRONG><a name="[29a]"></a>CMD_ParseHost</STRONG> (Thumb, 120 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
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<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CMD_ParseHost
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<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CMD_ParseHost
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</UL>
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</UL>
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<BR>[Called By]<UL><LI><a href="#[8f]">>></a> Task_Command
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<BR>[Called By]<UL><LI><a href="#[8f]">>></a> Task_Command
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File diff suppressed because it is too large
Load Diff
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Load Diff
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@ -399,14 +399,19 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec)
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/* 云台欧拉角设置为host相应的变化的欧拉角 */
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/* 云台欧拉角设置为host相应的变化的欧拉角 */
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cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
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cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
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cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
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cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
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// cmd->shoot.mode = SHOOT_MODE_LOADED;
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/* host射击命令,设置不同的射击频率和弹丸初速度 */
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if (cmd->fire && host->fire)
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/* host射击命令,设置不同的射击频率和弹丸初速度 */
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if(cmd->fire){
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if (host->fire)
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{
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{
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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cmd->shoot.fire = true;
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cmd->shoot.fire = true;
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}
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}
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else
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{
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cmd->shoot.mode = SHOOT_MODE_SAFE;
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}
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}
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return 0;
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return 0;
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}
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}
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@ -51,8 +51,8 @@ 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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BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
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Ai_IdleLineCallback);
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Ai_IdleLineCallback);
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ai->search_velocity.yaw = 0.0025f;
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ai->search_velocity.yaw = 0.0015f;
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ai->search_velocity.pit = 0.0015f;
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ai->search_velocity.pit = 0.003f;
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inited = true;
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inited = true;
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return 0;
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return 0;
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}
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}
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@ -99,9 +99,9 @@ void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
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}
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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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void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
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if (gimbal_ai->pit > 1.95){
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if (gimbal_ai->pit > 2.0){
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ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
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ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
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} else if (gimbal_ai->pit < 1.75) {
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} else if (gimbal_ai->pit < 1.4) {
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ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
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ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
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}
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}
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@ -481,7 +481,7 @@ static const Config_RobotParam_t param_sentry = {
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.cover_close_duty = 0.050f,
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.cover_close_duty = 0.050f,
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.model = SHOOT_MODEL_17MM,
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.model = SHOOT_MODEL_17MM,
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.bullet_speed = 25.f,
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.bullet_speed = 25.f,
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.min_shoot_delay = (uint32_t)(1000.0f / 8.0f),
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.min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
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}, /* shoot */
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}, /* shoot */
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.can = {
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.can = {
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Loading…
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