robofish/move_xrobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

修改了串口，裁判系统用3pin，ai用4pin

Browse Source
This commit is contained in:
Robofish 2025-01-14 20:01:02 +08:00
parent b7415fd2c9
commit 9923566a10
5 changed files with 15 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
MDK-ARM/DevC/DevC.axf
View File

Binary file not shown.

15
MDK-ARM/DevC/DevC.hex
View File

@ -827,8 +827,8 @@
:103390000700FFE79DF9070002B0704783B08DF882 :103390000700FFE79DF9070002B0704783B08DF882
:1033A00007009DF807000146009140B1FFE7009833 :1033A00007009DF807000146009140B1FFE7009833
:1033B00001280AD0FFE7009802280CD011E042F261 :1033B00001280AD0FFE7009802280CD011E042F261
:1033C000D850C2F2000002900EE042F29450C2F2D5 :1033C000D850C2F2000002900EE042F21C60C2F23D
:1033D0000000029008E042F21C60C2F2000002907D :1033D0000000029008E042F29450C2F20000029015
:1033E00002E000200290FFE7029803B0704700005F :1033E00002E000200290FFE7029803B0704700005F
:1033F00080B582B00190019800680068C00600287E :1033F00080B582B00190019800680068C00600287E
:103400002AD5FFE7FFE700200090019800680068D8 :103400002AD5FFE7FFE700200090019800680068D8
@ -6472,8 +6472,8 @@
:1094500082B000900098006844F60001C4F2000158 :1094500082B000900098006844F60001C4F2000158
:10946000884204D1FFE700208DF807001DE0009836 :10946000884204D1FFE700208DF807001DE0009836
:10947000006841F20001C4F20101884204D1FFE713 :10947000006841F20001C4F20101884204D1FFE713
:1094800001208DF8070010E00098006841F20041CB :1094800002208DF8070010E00098006841F20041CA
:10949000C4F20101884204D1FFE702208DF80700E1 :10949000C4F20101884204D1FFE701208DF80700E2
:1094A00003E004208DF80700FFE79DF8070002B0F5 :1094A00003E004208DF80700FFE79DF8070002B0F5
:1094B0007047000080B584B00290029890F83E009A :1094B0007047000080B584B00290029890F83E009A
:1094C00022287CD1FFE702988068B0F5805F15D133 :1094C00022287CD1FFE702988068B0F5805F15D133
@ -9706,7 +9706,7 @@
:105E6000686173736973006374726C5F73686F6FDA :105E6000686173736973006374726C5F73686F6FDA
:105E7000740000009B5302086B530208C5E9010837 :105E7000740000009B5302086B530208C5E9010837
:105E800000000000A85E020800000020A805000035 :105E800000000000A85E020800000020A805000035
:105E90005609000840600208A8050020D8AB0000A1 :105E90005609000848600208A8050020D8AB000099
:105EA000C03B020800000000520001100AF9AA01DC :105EA000C03B020800000000520001100AF9AA01DC
:105EB0000865AB0108810412A90422F90811141223 :105EB0000865AB0108810412A90422F90811141223
:105EC00015082015A00500200024F40011A50108E4 :105EC00015082015A00500200024F40011A50108E4
@ -9731,7 +9731,8 @@
:105FF000EC51383DDCA1C0800B10428FC2F53CCD86 :105FF000EC51383DDCA1C0800B10428FC2F53CCD86
:10600000CCCC3DC42404F04164590405D9010100FD :10600000CCCC3DC42404F04164590405D9010100FD
:10601000065814049A995958065101580615005803 :10601000065814049A995958065101580615005803
:1060200067C0405806FF05580554582D9C041210AF :1060200067C0405806FF0558054A585404C8413215
:106030001212AA013C086740533A745E025C0500E4 :10603000582D9C0416106A12AA013C086740533A76
:08604000745E025C0500000023
:040000050800018965 :040000050800018965
:00000001FF :00000001FF

1
Middlewares/Third_Party/Protocol/protocol.h vendored
View File

@ -21,6 +21,7 @@ extern "C" {
#define AI_TEAM_RED (0x01) #define AI_TEAM_RED (0x01)
#define AI_TEAM_BLUE (0x02) #define AI_TEAM_BLUE (0x02)
typedef uint8_t Protocol_ID_t; typedef uint8_t Protocol_ID_t;
/* 电控 -> 视觉 MCU数据结构体*/ /* 电控 -> 视觉 MCU数据结构体*/

8
User/bsp/c/uart.c
View File

@ -12,9 +12,9 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
if (huart->Instance == USART3) if (huart->Instance == USART3)
return BSP_UART_DR16; return BSP_UART_DR16;
else if (huart->Instance == USART1) else if (huart->Instance == USART1)
return BSP_UART_REF;
else if (huart->Instance == USART6)
return BSP_UART_AI; return BSP_UART_AI;
else if (huart->Instance == USART6)
return BSP_UART_REF;
/* /*
else if (huart->Instance == USARTX) else if (huart->Instance == USARTX)
return BSP_UART_XXX; return BSP_UART_XXX;
@ -110,9 +110,9 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
case BSP_UART_DR16: case BSP_UART_DR16:
return &huart3; return &huart3;
case BSP_UART_REF: case BSP_UART_REF:
return &huart1;
case BSP_UART_AI:
return &huart6; return &huart6;
case BSP_UART_AI:
return &huart1;
/* /*
case BSP_UART_XXX: case BSP_UART_XXX:
return &huartX; return &huartX;

4
User/module/config.c
View File

@ -717,8 +717,8 @@ static const Config_RobotParam_t param_sentry_gimbal = {
.cover_open_duty = 0.10f, .cover_open_duty = 0.10f,
.cover_close_duty = 0.050f, .cover_close_duty = 0.050f,
.model = SHOOT_MODEL_17MM, .model = SHOOT_MODEL_17MM,
.bullet_speed = 6.f, .bullet_speed = 25.f,
.min_shoot_delay = (uint32_t)(1000.0f / 10.0f), .min_shoot_delay = (uint32_t)(1000.0f / 20.0f),
}, /* shoot */ }, /* shoot */
.can = { .can = {