From 9923566a108eff5b127d76feda82491dd8688516 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Tue, 14 Jan 2025 20:01:02 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=BA=86=E4=B8=B2=E5=8F=A3?=
 =?UTF-8?q?=EF=BC=8C=E8=A3=81=E5=88=A4=E7=B3=BB=E7=BB=9F=E7=94=A83pin?=
 =?UTF-8?q?=EF=BC=8Cai=E7=94=A84pin?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/DevC/DevC.axf                       | Bin 890696 -> 890704 bytes
 MDK-ARM/DevC/DevC.hex                       |  15 ++++++++-------
 Middlewares/Third_Party/Protocol/protocol.h |   1 +
 User/bsp/c/uart.c                           |   8 ++++----
 User/module/config.c                        |   4 ++--
 5 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/MDK-ARM/DevC/DevC.axf b/MDK-ARM/DevC/DevC.axf
index d0d6b51cb655536bec58ea7cf2f91eb30ed8906c..54e893f5b37ee8f0fce9e4a4623051c2a547792b 100644
GIT binary patch
delta 245
zcmX@H&g{ZEvk5Y+H>U71{Me}Y+L%u!;m{`r2Brxd51c+t322rw*)C<mxGaH@Y5Kt_
zjFOCu+iy={{CSemWBb)OrYVeaUJ)TICmf9;bmy>$31kVaVzl8%cL=sBiDQakWngHp
zPhbLKW*}w(Vpbq#17da{<^W<&Am##MZXo8_UZ235Xu{|*{oxeeV#Wp2L#Og8Gj>d`
zoXV>Xq!xmx%IPOT)X(W3K~&as$!S2UZ@MFpVq%#zJ!=}T8snMi6G5Um(|3X>lj#pZ
PRKRr3>0rumI<GhYC#6*V

delta 255
zcmcbx&g{fGvk5Y+7pCwseAuY?+L&)jz@bkJ3``R^9yooHNobZb*)C<mxGaH@ar(h2
zjFOB@+iy={{CSemVf)oMrYVeKArZQBScC+GgjO-yaHKl~Tb0By#jv)wColmqGZ3=?
zF^JCw#Oy%K0mPg@%mu{UK+LnfJ%KmTgwbL8%PG9Yj5DUkPUTf*Y?$6Sl~)}|tprhp
z(=URkkJEpGsHEwN(|}albWb3~^k?GqqG`Npj7O%=1c|0hKM109roRMH9@7P<^QudD
N0DafNfB=k8CIIXjQ?&p9

diff --git a/MDK-ARM/DevC/DevC.hex b/MDK-ARM/DevC/DevC.hex
index f702f8a..7f8d19a 100644
--- a/MDK-ARM/DevC/DevC.hex
+++ b/MDK-ARM/DevC/DevC.hex
@@ -827,8 +827,8 @@
 :103390000700FFE79DF9070002B0704783B08DF882
 :1033A00007009DF807000146009140B1FFE7009833
 :1033B00001280AD0FFE7009802280CD011E042F261
-:1033C000D850C2F2000002900EE042F29450C2F2D5
-:1033D0000000029008E042F21C60C2F2000002907D
+:1033C000D850C2F2000002900EE042F21C60C2F23D
+:1033D0000000029008E042F29450C2F20000029015
 :1033E00002E000200290FFE7029803B0704700005F
 :1033F00080B582B00190019800680068C00600287E
 :103400002AD5FFE7FFE700200090019800680068D8
@@ -6472,8 +6472,8 @@
 :1094500082B000900098006844F60001C4F2000158
 :10946000884204D1FFE700208DF807001DE0009836
 :10947000006841F20001C4F20101884204D1FFE713
-:1094800001208DF8070010E00098006841F20041CB
-:10949000C4F20101884204D1FFE702208DF80700E1
+:1094800002208DF8070010E00098006841F20041CA
+:10949000C4F20101884204D1FFE701208DF80700E2
 :1094A00003E004208DF80700FFE79DF8070002B0F5
 :1094B0007047000080B584B00290029890F83E009A
 :1094C00022287CD1FFE702988068B0F5805F15D133
@@ -9706,7 +9706,7 @@
 :105E6000686173736973006374726C5F73686F6FDA
 :105E7000740000009B5302086B530208C5E9010837
 :105E800000000000A85E020800000020A805000035
-:105E90005609000840600208A8050020D8AB0000A1
+:105E90005609000848600208A8050020D8AB000099
 :105EA000C03B020800000000520001100AF9AA01DC
 :105EB0000865AB0108810412A90422F90811141223
 :105EC00015082015A00500200024F40011A50108E4
@@ -9731,7 +9731,8 @@
 :105FF000EC51383DDCA1C0800B10428FC2F53CCD86
 :10600000CCCC3DC42404F04164590405D9010100FD
 :10601000065814049A995958065101580615005803
-:1060200067C0405806FF05580554582D9C041210AF
-:106030001212AA013C086740533A745E025C0500E4
+:1060200067C0405806FF0558054A585404C8413215
+:10603000582D9C0416106A12AA013C086740533A76
+:08604000745E025C0500000023
 :040000050800018965
 :00000001FF
diff --git a/Middlewares/Third_Party/Protocol/protocol.h b/Middlewares/Third_Party/Protocol/protocol.h
index b03c4c7..886aeac 100644
--- a/Middlewares/Third_Party/Protocol/protocol.h
+++ b/Middlewares/Third_Party/Protocol/protocol.h
@@ -21,6 +21,7 @@ extern "C" {
 #define AI_TEAM_RED (0x01)
 #define AI_TEAM_BLUE (0x02)
 
+
 typedef uint8_t Protocol_ID_t;
 
 /* 电控 -> 视觉 MCU数据结构体*/
diff --git a/User/bsp/c/uart.c b/User/bsp/c/uart.c
index 31cb204..a23bb8a 100644
--- a/User/bsp/c/uart.c
+++ b/User/bsp/c/uart.c
@@ -12,9 +12,9 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
   if (huart->Instance == USART3)
     return BSP_UART_DR16;
   else if (huart->Instance == USART1)
-    return BSP_UART_REF;
-  else if (huart->Instance == USART6)
     return BSP_UART_AI;
+  else if (huart->Instance == USART6)
+    return BSP_UART_REF;
   /*
   else if (huart->Instance == USARTX)
                   return BSP_UART_XXX;
@@ -110,9 +110,9 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
     case BSP_UART_DR16:
       return &huart3;
     case BSP_UART_REF:
-      return &huart1;
-    case BSP_UART_AI:
       return &huart6;
+    case BSP_UART_AI:
+      return &huart1;
     /*
     case BSP_UART_XXX:
             return &huartX;
diff --git a/User/module/config.c b/User/module/config.c
index caac72d..4bc20c7 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -717,8 +717,8 @@ static const Config_RobotParam_t param_sentry_gimbal = {
     .cover_open_duty = 0.10f,
     .cover_close_duty = 0.050f,
     .model = SHOOT_MODEL_17MM,
-    .bullet_speed = 6.f,
-    .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
+    .bullet_speed = 25.f,
+    .min_shoot_delay = (uint32_t)(1000.0f / 20.0f),
   }, /* shoot */
 
   .can = {