正常的英雄

MDK-ARM/DevC.uvoptx

@@ -10,7 +10,7 @@
     <aExt>*.s*; *.src; *.a*</aExt>
     <oExt>*.obj; *.o</oExt>
     <lExt>*.lib</lExt>
-    <tExt>*.txt; *.h; *.inc</tExt>
+    <tExt>*.txt; *.h; *.inc; *.md</tExt>
     <pExt>*.plm</pExt>
     <CppX>*.cpp</CppX>
     <nMigrate>0</nMigrate>
@@ -347,7 +347,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -387,6 +387,31 @@
           <WinNumber>1</WinNumber>
           <ItemText>ref</ItemText>
         </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ai</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rc</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_host</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -638,7 +663,7 @@
 
   <Group>
     <GroupName>Application/User/USB_DEVICE/App</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1194,7 +1219,7 @@
 
   <Group>
     <GroupName>Middlewares/USB_Device_Library</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1250,7 +1275,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1474,7 +1499,7 @@
 
   <Group>
     <GroupName>User/component</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1650,7 +1675,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1730,7 +1755,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1786,7 +1811,7 @@
       <GroupNumber>12</GroupNumber>
       <FileNumber>105</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\User\module\shoot.c</PathWithFileName>

MDK-ARM/DevC.uvprojx

@@ -16,7 +16,7 @@
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF)  CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -1726,13 +1726,13 @@
       <TargetName>Debug</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>6140000::V6.14::ARMCLANG</pCCUsed>
+      <pCCUsed>6160000::V6.16::ARMCLANG</pCCUsed>
       <uAC6>1</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF)  CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -3443,11 +3443,6 @@
     <Layers>
       <Layer>
         <LayName>DevC</LayName>
-        <LayDesc></LayDesc>
-        <LayUrl></LayUrl>
-        <LayKeys></LayKeys>
-        <LayCat></LayCat>
-        <LayLic></LayLic>
         <LayTarg>0</LayTarg>
         <LayPrjMark>1</LayPrjMark>
       </Layer>

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*/

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;

User/component/cmd.c

@@ -6,6 +6,7 @@
 
 #include <string.h>
 
+#include <device\ai.h>
 /**
  * @brief 行为转换为对应按键
  *
@@ -189,19 +190,27 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
       /* 左拨杆相应行为选择和解析 */
     case CMD_SW_UP:
       cmd->chassis.mode = CHASSIS_MODE_BREAK;
+      // cmd->host_overwrite = false;
+      // cmd->shoot.ai_fire = false;
       break;
 
     case CMD_SW_MID:
       cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+      // cmd->host_overwrite = true;
+      // cmd->shoot.ai_fire = false;
       break;
 
     case CMD_SW_DOWN:
       cmd->chassis.mode = CHASSIS_MODE_ROTOR;
       cmd->chassis.mode_rotor = ROTOR_MODE_CW;
+      // cmd->host_overwrite = true;
+      // cmd->shoot.ai_fire = true;
       break;
 
     case CMD_SW_ERR:
       cmd->chassis.mode = CHASSIS_MODE_RELAX;
+      // cmd->host_overwrite = false;
+      // cmd->shoot.ai_fire = false;
       break;
   }
   switch (rc->sw_r) {
@@ -245,6 +254,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
     case CMD_SW_ERR:
       cmd->gimbal.mode = GIMBAL_MODE_RELAX;
       cmd->shoot.mode = SHOOT_MODE_RELAX;
+      // cmd->host_overwrite = false;
   }
   /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
   cmd->chassis.ctrl_vec.vx = rc->ch_l_x;

User/component/cmd.h

@@ -22,6 +22,8 @@ typedef enum {
   ROBOT_MODEL_ENGINEER,     /* 工程机器人 */
   ROBOT_MODEL_DRONE,        /* 空中机器人 */
   ROBOT_MODEL_SENTRY,       /* 哨兵机器人 */
+  ROBOT_MODEL_SENTRY_GIMBAL, /* 哨兵云台 */
+  ROBOT_MODEL_SENTRY_CHASSIS, /* 哨兵底盘 */
   ROBOT_MODEL_NUM,          /* 型号数量 */
 } CMD_RobotModel_t;
 
@@ -82,6 +84,7 @@ typedef struct {
   CMD_ShootMode_t mode;     /* 射击运行模式 */
   CMD_FireMode_t fire_mode; /* 开火模式 */
   bool fire;                /*开火*/
+  bool ai_fire; /* AI开火状态 */
   bool cover_open;          /* 弹舱盖开关 */
   bool reverse_trig;        /* 拨弹电机状态 */
 } CMD_ShootCmd_t;
@@ -210,7 +213,6 @@ typedef struct {
   } mouse_last;   /* 鼠标值 */
 
   CMD_AI_Status_t ai_status; /* AI状态 */
-
   const CMD_Params_t *param; /* 命令参数 */
 
   CMD_ChassisCmd_t chassis; /* 底盘控制命令 */

User/device/ai.c

@@ -38,6 +38,8 @@ int8_t AI_Init(AI_t *ai) {
   BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
                             Ai_RxCpltCallback);
   inited = true;
+
+  ai->ai_online = false;
   return 0;
 }
 
@@ -49,8 +51,8 @@ int8_t AI_Restart(void) {
 
 int8_t AI_StartReceiving(AI_t *ai) {
   if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
-                           (uint8_t *)&(ai->form_host),
+                           ai->form_host.rx_buffer,
-                           sizeof(ai->form_host)) == HAL_OK)
+                           sizeof(ai->form_host.rx_buffer)) == HAL_OK)
     return DEVICE_OK;
   return DEVICE_ERR;
 }
@@ -62,15 +64,25 @@ bool AI_WaitDmaCplt(void) {
 
 int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
   (void)cmd_host;
-  if (!CRC16_Verify((const uint8_t *)&(ai->form_host), sizeof(ai->form_host)))
+  ai->ai_online = true;
+  if (!CRC16_Verify(ai->form_host.rx_buffer, sizeof(ai->form_host.rx_buffer)))
     goto error;
-  cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
+  memcpy(&(ai->form_host.data), ai->form_host.rx_buffer, sizeof(ai->form_host.data));
-  cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
+  // cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
-  cmd_host->gimbal_delta.rol = ai->form_host.data.gimbal.rol;
+  // cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
-  cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
+  // cmd_host->gimbal_delta.rol = ai->form_host.data.gimbal.rol;
-  cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
+  // cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
-  cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
+  // cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
-  cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
+  // cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
+  // cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
+  cmd_host->gimbal_delta.pit = ai->form_host.data.data.gimbal.pit;
+  cmd_host->gimbal_delta.yaw = ai->form_host.data.data.gimbal.yaw;
+  cmd_host->gimbal_delta.rol = ai->form_host.data.data.gimbal.rol;
+  cmd_host->fire = (ai->form_host.data.data.notice & AI_NOTICE_FIRE);
+  cmd_host->chassis_move_vec.vx = ai->form_host.data.data.chassis_move_vec.vx;
+  cmd_host->chassis_move_vec.vy = ai->form_host.data.data.chassis_move_vec.vy;
+  cmd_host->chassis_move_vec.wz = ai->form_host.data.data.chassis_move_vec.wz;
+
   return DEVICE_OK;
 
 error:
@@ -81,8 +93,9 @@ error:
 int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
   if (ai == NULL) return DEVICE_ERR_NULL;
   if (cmd_host == NULL) return DEVICE_ERR_NULL;
-
+  ai->ai_online = false;
-  memset(&(ai->form_host), 0, sizeof(ai->form_host));
+  memset(ai->form_host.rx_buffer, 0, sizeof(ai->form_host.rx_buffer));
+  memset(&(ai->form_host.data), 0, sizeof(ai->form_host.data));
   memset(cmd_host, 0, sizeof(*cmd_host));
   return 0;
 }

User/device/ai.h

@@ -36,8 +36,10 @@ typedef struct __packed {
 
 typedef struct __packed {
   osThreadId_t thread_alert;
-
+  struct {
-  Protocol_DownPackage_t form_host;
+    uint8_t rx_buffer[sizeof(Protocol_DownPackage_t)]; 
+    Protocol_DownPackage_t data;
+  }form_host;
 
   struct {
     AI_UpPackageReferee_t ref;
@@ -45,6 +47,8 @@ typedef struct __packed {
   } to_host;
 
   CMD_AI_Status_t status;
+
+  bool ai_online;
 } AI_t;
 
 /* Exported functions prototypes -------------------------------------------- */

User/device/can.c

@@ -155,7 +155,7 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
 
   int16_t motor1, motor2, motor3, motor4;
   int16_t yaw_motor, pit_motor;
-  int16_t fric1_motor, fric2_motor, trig_motor;
+  int16_t fric1_motor, fric2_motor, fric3_motor, trig_motor;
   switch (group) {
     case CAN_MOTOR_GROUT_CHASSIS:
       motor1 =
@@ -219,6 +219,8 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
           (int16_t)(output->shoot.named.fric1 * (float)CAN_M3508_MAX_ABS_LSB);
       fric2_motor =
           (int16_t)(output->shoot.named.fric2 * (float)CAN_M3508_MAX_ABS_LSB);
+      fric3_motor =
+          (int16_t)(output->shoot.named.fric3 * (float)CAN_M3508_MAX_ABS_LSB);
       trig_motor =
           (int16_t)(output->shoot.named.trig * (float)CAN_M2006_MAX_ABS_LSB);
 
@@ -231,10 +233,10 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
       raw_tx.tx_data[1] = (uint8_t)(fric1_motor & 0xFF);
       raw_tx.tx_data[2] = (uint8_t)((fric2_motor >> 8) & 0xFF);
       raw_tx.tx_data[3] = (uint8_t)(fric2_motor & 0xFF);
-      raw_tx.tx_data[4] = (uint8_t)((trig_motor >> 8) & 0xFF);
+      raw_tx.tx_data[4] = (uint8_t)((fric3_motor >> 8) & 0xFF);
-      raw_tx.tx_data[5] = (uint8_t)(trig_motor & 0xFF);
+      raw_tx.tx_data[5] = (uint8_t)(fric3_motor & 0xFF);      
-      raw_tx.tx_data[6] = 0;
+      raw_tx.tx_data[6] = (uint8_t)((trig_motor >> 8) & 0xFF);
-      raw_tx.tx_data[7] = 0;
+      raw_tx.tx_data[7] = (uint8_t)(trig_motor & 0xFF);
 
       HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
                            &raw_tx.tx_header, raw_tx.tx_data,
@@ -264,6 +266,7 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
 
     case CAN_M3508_FRIC1_ID:
     case CAN_M3508_FRIC2_ID:
+    case CAN_M3508_FRIC3_ID:
     case CAN_M2006_TRIG_ID:
       index = can_rx->rx_header.StdId - CAN_M3508_FRIC1_ID;
       can->recive_flag |= 1 << (index + 6);

User/device/can.h

@@ -22,9 +22,10 @@ extern "C" {
 #define CAN_MOTOR_GIMBAL_PIT_RECV (1 << 5)
 #define CAN_MOTOR_SHOOT_FRIC1_RECV (1 << 6)
 #define CAN_MOTOR_SHOOT_FRIC2_RECV (1 << 7)
-#define CAN_MOTOR_SHOOT_TRIG_RECV (1 << 8)
+#define CAN_MOTOR_SHOOT_FRIC3_RECV (1 << 8)
-#define CAN_MOTOR_CAP_RECV (1 << 9)
+#define CAN_MOTOR_SHOOT_TRIG_RECV (1 << 9)
-#define CAN_TOF_RECV (1 << 10)
+#define CAN_MOTOR_CAP_RECV (1 << 10)
+#define CAN_TOF_RECV (1 << 11)
 
 #define CAN_REC_CHASSIS_FINISHED                         \
   (CAN_MOTOR_CHASSIS_1_RECV | CAN_MOTOR_CHASSIS_2_RECV | \
@@ -33,7 +34,7 @@ extern "C" {
   (CAN_MOTOR_GIMBAL_YAW_RECV | CAN_MOTOR_GIMBAL_PIT_RECV)
 #define CAN_REC_SHOOT_FINISHED                               \
   (CAN_MOTOR_SHOOT_FRIC1_RECV | CAN_MOTOR_SHOOT_FRIC2_RECV | \
-   CAN_MOTOR_SHOOT_TRIG_RECV)
+   CAN_MOTOR_SHOOT_FRIC3_RECV |CAN_MOTOR_SHOOT_TRIG_RECV)
 #define CAN_REC_CAP_FINISHED CAN_MOTOR_CAP_RECV
 #define CAN_REC_TOF_FINISHED CAN_TOF_RECV
 
@@ -72,7 +73,8 @@ typedef enum {
 
   CAN_M3508_FRIC1_ID = 0x205, /* 5 */
   CAN_M3508_FRIC2_ID = 0x206, /* 6 */
-  CAN_M2006_TRIG_ID = 0x207,  /* 7 */
+  CAN_M3508_FRIC3_ID = 0x207, /* 7 */
+  CAN_M2006_TRIG_ID = 0x208,  /* 8 */
 
   CAN_GM6020_YAW_ID = 0x209, /* 5 */
   CAN_GM6020_PIT_ID = 0x20A, /* 6 */
@@ -110,6 +112,7 @@ enum CAN_MotorGimbal_e {
 enum CAN_MotorShoot_e {
   CAN_MOTOR_SHOOT_FRIC1 = 0,
   CAN_MOTOR_SHOOT_FRIC2,
+  CAN_MOTOR_SHOOT_FRIC3,
   CAN_MOTOR_SHOOT_TRIG,
   CAN_MOTORSHOOT_NUM,
 };
@@ -147,6 +150,7 @@ typedef union {
   struct {
     float fric1;
     float fric2;
+    float fric3;
     float trig;
   } named;
 } CAN_ShootOutput_t;
@@ -200,6 +204,7 @@ typedef union {
   struct {
     CAN_MotorFeedback_t fric1;
     CAN_MotorFeedback_t fric2;
+    CAN_MotorFeedback_t fric3;
     CAN_MotorFeedback_t trig;
   } named;
 } CAN_ShootMotor_t;

User/module/config.c

@@ -149,6 +149,8 @@ static const Config_RobotParam_t param_default = {
       .yaw = false,
       .pit = true,
     },
+
+    .pit_ctrl_reverse = false,
   }, /* gimbal */
 
   .shoot = { /* 射击模块参数 */
@@ -200,7 +202,11 @@ static const Config_RobotParam_t param_default = {
     }, /* can */
 }; /* param_default */
 
+#ifdef DEBUG
+Config_RobotParam_t param_hero = {
+#else
 static const Config_RobotParam_t param_hero = {
+#endif
   .model = ROBOT_MODEL_HERO,
 
   .chassis = { /* 底盘模块参数 */
@@ -234,7 +240,7 @@ static const Config_RobotParam_t param_hero = {
     },
 		
 		.reverse = {
-			.yaw = true,
+			.yaw = false,
 		},
   }, /* chassis */
 
@@ -283,7 +289,7 @@ static const Config_RobotParam_t param_hero = {
       },
     }, /* pid */
 
-		.pitch_travel_rad = 1.07685447f,
+		.pitch_travel_rad = 0.9685447f,
     
     .low_pass_cutoff_freq = {
       .out = -1.0f,
@@ -291,9 +297,11 @@ static const Config_RobotParam_t param_hero = {
     },
 
     .reverse = {
-      .yaw = true,
+      .yaw = false,
-      .pit = true,
+      .pit = false,
     },
+
+    .pit_ctrl_reverse = false,
   }, /* gimbal */
 
   .shoot = { /* 射击模块参数 */
@@ -327,8 +335,8 @@ static const Config_RobotParam_t param_hero = {
         .trig = -1.0f,
       },
     },
-    .num_trig_tooth = 6.0f,
+    .num_trig_tooth = 5.0f,
-    .trig_gear_ratio = 3591.0f / 187.0f,
+    .trig_gear_ratio = 19.0f,
     .fric_radius = 0.03f,
     .cover_open_duty = 0.125f,
     .cover_close_duty = 0.075f,
@@ -345,6 +353,386 @@ static const Config_RobotParam_t param_hero = {
     }, /* can */
 }; /* param_hero */      
 
+#ifdef DEBUG
+Config_RobotParam_t param_sentry_chassis = {
+#else
+static const Config_RobotParam_t param_sentry_chassis = {
+#endif
+  .model = ROBOT_MODEL_SENTRY_CHASSIS,
+
+  .chassis = { /* 底盘模块参数 */
+    .type = CHASSIS_TYPE_MECANUM,
+
+    .motor_pid_param = {
+      .k = 0.001f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = -1.0f,
+    },
+
+    .follow_pid_param = {
+      .k = 0.5f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = M_2PI,
+    },
+
+    .low_pass_cutoff_freq = {
+      .in = -1.0f,
+      .out = -1.0f,
+    },
+		
+		.reverse = {
+			.yaw = false,
+		},
+		
+  }, /* chassis */
+
+  .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 = 0.24f,
+        .p = 1.0f,
+        .i = 0.5f,
+        .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 = 10.0f,
+        .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_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,
+        .i = 0.0f,
+        .d = 0.0f,
+        .i_limit = 1.0f,
+        .out_limit = 1.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = -1.0f,
+      }, {
+        /* GIMBAL_PID_PIT_ANGLE_IDX */
+        .k = 2.0f,
+        .p = 5.0f,
+        .i = 2.5f,
+        .d = 0.0f,
+        .i_limit = 0.0f,
+        .out_limit = 10.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = M_2PI,
+      },
+    }, /* pid */
+
+    .pitch_travel_rad = 0.85f,
+    
+    .low_pass_cutoff_freq = {
+      .out = -1.0f,
+      .gyro = 1000.0f,
+    },
+
+    .reverse = {
+      .yaw = false,
+      .pit = true,
+    },
+
+    .pit_ctrl_reverse = true,
+  }, /* gimbal */
+
+  .shoot = { /* 射击模块参数 */
+            
+    .fric_pid_param = {
+      .k = 0.001f,
+      .p = 1.0f,
+      .i = 0.2f,
+      .d = 0.01f,
+      .i_limit = 0.5f,
+      .out_limit = 0.5f,
+      .d_cutoff_freq = -1.0f,
+    },
+    .trig_pid_param = {
+      .k = 12.0f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0450000018f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = M_2PI,
+    },
+    .low_pass_cutoff_freq = {
+      .in = {
+        .fric = -1.0f,
+        .trig = -1.0f,
+      },
+      .out = {
+        .fric = -1.0f,
+        .trig = -1.0f,
+      },
+    },
+    .num_trig_tooth = 8.0f,
+    .trig_gear_ratio = 36.0f,
+    .fric_radius = 0.03f,
+    .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),
+  }, /* shoot */
+
+  .can = {
+    .chassis = BSP_CAN_1,
+    .gimbal = BSP_CAN_2,
+    .shoot = BSP_CAN_2,      
+    .cap = BSP_CAN_1,
+    }, /* can */
+}; /* param_sentry_chassis */
+
+#ifdef DEBUG
+Config_RobotParam_t param_sentry_gimbal = {
+#else
+static const Config_RobotParam_t param_sentry_gimbal = {
+#endif
+  .model = ROBOT_MODEL_SENTRY_GIMBAL,
+
+  .chassis = { /* 底盘模块参数 */
+    .type = CHASSIS_TYPE_MECANUM,
+
+    .motor_pid_param = {
+      .k = 0.001f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = -1.0f,
+    },
+
+    .follow_pid_param = {
+      .k = 0.5f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = M_2PI,
+    },
+
+    .low_pass_cutoff_freq = {
+      .in = -1.0f,
+      .out = -1.0f,
+    },
+		
+		.reverse = {
+			.yaw = false,
+		},
+		
+  }, /* chassis */
+
+  .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 = 0.24f,
+        .p = 1.0f,
+        .i = 0.5f,
+        .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 = 10.0f,
+        .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_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,
+        .i = 0.0f,
+        .d = 0.0f,
+        .i_limit = 1.0f,
+        .out_limit = 1.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = -1.0f,
+      }, {
+        /* GIMBAL_PID_PIT_ANGLE_IDX */
+        .k = 2.0f,
+        .p = 5.0f,
+        .i = 2.5f,
+        .d = 0.0f,
+        .i_limit = 0.0f,
+        .out_limit = 10.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = M_2PI,
+      },
+    }, /* pid */
+
+    .pitch_travel_rad = 0.85f,
+    
+    .low_pass_cutoff_freq = {
+      .out = -1.0f,
+      .gyro = 1000.0f,
+    },
+
+    .reverse = {
+      .yaw = false,
+      .pit = true,
+    },
+
+    .pit_ctrl_reverse = true,
+  }, /* gimbal */
+
+  .shoot = { /* 射击模块参数 */
+            
+    .fric_pid_param = {
+      .k = 0.001f,
+      .p = 1.0f,
+      .i = 0.2f,
+      .d = 0.01f,
+      .i_limit = 0.5f,
+      .out_limit = 0.5f,
+      .d_cutoff_freq = -1.0f,
+    },
+    .trig_pid_param = {
+      .k = 12.0f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0450000018f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = M_2PI,
+    },
+    .low_pass_cutoff_freq = {
+      .in = {
+        .fric = -1.0f,
+        .trig = -1.0f,
+      },
+      .out = {
+        .fric = -1.0f,
+        .trig = -1.0f,
+      },
+    },
+    .num_trig_tooth = 8.0f,
+    .trig_gear_ratio = 36.0f,
+    .fric_radius = 0.03f,
+    .cover_open_duty = 0.10f,
+    .cover_close_duty = 0.050f,
+    .model = SHOOT_MODEL_17MM,
+    .bullet_speed = 25.f,
+    .min_shoot_delay = (uint32_t)(1000.0f / 20.0f),
+  }, /* shoot */
+
+  .can = {
+    .chassis = BSP_CAN_1,
+    .gimbal = BSP_CAN_2,
+    .shoot = BSP_CAN_2,      
+    .cap = BSP_CAN_1,
+    }, /* can */
+}; /* param_sentry_gimbal */
+
 /* static const Config_RobotParam_t param_xxx; */
 
 static const Config_PilotCfg_t cfg_qs = {
@@ -411,6 +799,8 @@ static const Config_RobotParamMap_t robot_param_map[] = {
     {"default", &param_default},
     {"infantry", &param_default},
     {"hero", &param_hero},
+    {"sentry_chassis", &param_sentry_chassis},
+    {"sentry_gimbal", &param_sentry_gimbal},
     // {"engineer", &param_engineer},
     // {"drone", &param_drone},
     // {"sentry", &param_sentry},

User/module/gimbal.c

@@ -130,8 +130,12 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
   Gimbal_SetMode(g, g_cmd->mode);
 
   /* yaw坐标正方向与遥控器操作逻辑相反 */
-  g_cmd->delta_eulr.pit = -g_cmd->delta_eulr.pit;
+  g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit;
-  g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
+  if (g->param->pit_ctrl_reverse){
+    g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
+  }else{
+    g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
+  }
 
   /* 处理yaw控制命令 */
   CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
@@ -147,6 +151,16 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
                   (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
                    g->feedback.eulr.imu.pit),
                   M_2PI);
+  // const float delta_max =
+  //     CircleError(g->limit.max,
+  //                 (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
+  //                  g->feedback.eulr.encoder.pit),
+  //                 M_2PI);
+  // const float delta_min =
+  //     CircleError(g->limit.min,
+  //                 (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
+  //                  g->feedback.eulr.encoder.pit),
+  //                 M_2PI);
   Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
   g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
 
@@ -171,9 +185,17 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
       pit_omega_set_point =
           PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
                    g->feedback.eulr.imu.pit, 0.0f, g->dt);
+      // pit_omega_set_point =
+      //     PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
+      //              g->feedback.eulr.encoder.pit, 0.0f, g->dt);
+           
       g->out[GIMBAL_ACTR_PIT_IDX] =
           PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
                    g->feedback.gyro.x, 0.f, g->dt);
+      
+      // g->out[GIMBAL_ACTR_PIT_IDX] =
+      //     PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
+      //              0.0, 0.f, g->dt);
       break;
 
     case GIMBAL_MODE_RELATIVE:

User/module/gimbal.h

@@ -60,6 +60,8 @@ typedef struct {
     bool pit;
   } reverse;
 
+  bool pit_ctrl_reverse; /* 云台pitch遥控方向 */
+  
 } Gimbal_Params_t;
 
 /* 软件限位 */

User/module/shoot.c

@@ -35,7 +35,7 @@ static int8_t Shoot_SetMode(Shoot_t *s, CMD_ShootMode_t mode) {
   if (mode == s->mode) return SHOOT_OK;
 
   /* 切换模式后重置PID和滤波器 */
-  for (uint8_t i = 0; i < 2; i++) {
+  for (uint8_t i = 0; i < 3; i++) {
     PID_Reset(s->pid.fric + i);
     LowPassFilter2p_Reset(s->filter.in.fric + i, 0.0f);
     LowPassFilter2p_Reset(s->filter.out.fric + i, 0.0f);
@@ -117,7 +117,7 @@ int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq) {
   s->param = param;           /* 初始化参数 */
   s->mode = SHOOT_MODE_RELAX; /* 设置默认模式 */
 
-  for (uint8_t i = 0; i < 2; i++) {
+  for (uint8_t i = 0; i < 3; i++) {
     /* PI控制器初始化PID */
     PID_Init(s->pid.fric + i, KPID_MODE_NO_D, target_freq,
              &(param->fric_pid_param));
@@ -154,7 +154,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s, const CAN_t *can) {
   if (s == NULL) return -1;
   if (can == NULL) return -1;
 
-  for (uint8_t i = 0; i < 2; i++) {
+  for (uint8_t i = 0; i < 3; i++) {
     s->feedback.fric_rpm[i] = can->motor.shoot.as_array[i].rotor_speed;
   }
 
@@ -245,20 +245,26 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
   }
 
   /* 计算摩擦轮转速的目标值 */
-  s->setpoint.fric_rpm[1] =
+  // s->setpoint.fric_rpm[1] =
-      CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
+  //     CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
-                   (s->param->model == SHOOT_MODEL_17MM));
+  //                  (s->param->model == SHOOT_MODEL_17MM));
-  s->setpoint.fric_rpm[0] = -s->setpoint.fric_rpm[1];
+  // s->setpoint.fric_rpm[0] = -s->setpoint.fric_rpm[1];
+
+  float fric_rpm = CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
+                                (s->param->model == SHOOT_MODEL_17MM));
+  s->setpoint.fric_rpm[0] = -fric_rpm;
+  s->setpoint.fric_rpm[1] = fric_rpm;
+  s->setpoint.fric_rpm[2] = -fric_rpm;
 
   /* 计算拨弹电机位置的目标值 */
   if (((now - s->fire_ctrl.last_shoot) >= s->fire_ctrl.period_ms) &&
       (s_cmd->fire)) {
     /* 将拨弹电机角度进行循环加法，每次加(减)射出一颗弹丸的弧度变化 */
     if (s_cmd->reverse_trig) { /* 反转拨弹 */
-      CircleAdd(&(s->setpoint.trig_angle), M_2PI / s->param->num_trig_tooth,
+      CircleAdd(&(s->setpoint.trig_angle), -M_2PI / s->param->num_trig_tooth,
                 M_2PI);
     } else {
-      CircleAdd(&(s->setpoint.trig_angle), -M_2PI / s->param->num_trig_tooth,
+      CircleAdd(&(s->setpoint.trig_angle), M_2PI / s->param->num_trig_tooth,
                 M_2PI);
       s->fire_ctrl.shooted++;
       s->fire_ctrl.last_shoot = now;
@@ -285,7 +291,7 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
       s->out[SHOOT_ACTR_TRIG_IDX] = LowPassFilter2p_Apply(
           &(s->filter.out.trig), s->out[SHOOT_ACTR_TRIG_IDX]);
 
-      for (uint8_t i = 0; i < 2; i++) {
+      for (uint8_t i = 0; i < 3; i++) {
         /* 控制摩擦轮 */
         s->feedback.fric_rpm[i] = LowPassFilter2p_Apply(
             &(s->filter.in.fric[i]), s->feedback.fric_rpm[i]);

User/module/shoot.h

@@ -29,6 +29,7 @@ extern "C" {
 enum Shoot_Acuator_e {
   SHOOT_ACTR_FRIC1_IDX = 0, /* 1号摩擦轮相关的索引值 */
   SHOOT_ACTR_FRIC2_IDX,     /* 2号摩擦轮相关的索引值 */
+  SHOOT_ACTR_FRIC3_IDX,     /* 3号摩擦轮相关的索引值 */
   SHOOT_ACTR_TRIG_IDX,      /* 扳机电机相关的索引值 */
   SHOOT_ACTR_NUM,           /* 总共的动作器数量 */
 };
@@ -106,20 +107,20 @@ typedef struct {
 
   /* 反馈信息 */
   struct {
-    float fric_rpm[2];      /* 摩擦轮电机转速，单位：RPM */
+    float fric_rpm[3];      /* 摩擦轮电机转速，单位：RPM */
     float trig_motor_angle; /* 拨弹电机角度，单位：弧度 */
     float trig_angle;       /* 拨弹转盘角度，单位：弧度 */
   } feedback;
 
   /* PID计算的目标值 */
   struct {
-    float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */
+    float fric_rpm[3]; /* 摩擦轮电机转速，单位：RPM */
     float trig_angle;  /* 拨弹电机角度，单位：弧度 */
   } setpoint;
 
   /* 反馈控制用的PID */
   struct {
-    KPID_t fric[2]; /* 控制摩擦轮 */
+    KPID_t fric[3]; /* 控制摩擦轮 */
     KPID_t trig;    /* 控制拨弹电机 */
   } pid;
 
@@ -127,13 +128,13 @@ typedef struct {
   struct {
     /* 反馈值滤波器 */
     struct {
-      LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
+      LowPassFilter2p_t fric[3]; /* 过滤摩擦轮 */
       LowPassFilter2p_t trig;    /* 过滤拨弹电机 */
     } in;
 
     /* 输出值滤波器 */
     struct {
-      LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
+      LowPassFilter2p_t fric[3]; /* 过滤摩擦轮 */
       LowPassFilter2p_t trig;    /* 过滤拨弹电机 */
     } out;
   } filter;

User/task/ai.c

@@ -42,6 +42,9 @@ void Task_Ai(void *argument) {
   AI_Init(&ai);
 
   uint32_t tick = osKernelGetTickCount();
+
+  uint32_t last_online_tick = tick;
+
   while (1) {
 #ifdef DEBUG
     task_runtime.stack_water_mark.ai = osThreadGetStackSpace(osThreadGetId());
@@ -52,8 +55,9 @@ void Task_Ai(void *argument) {
     AI_StartReceiving(&ai);
     if (AI_WaitDmaCplt()) {
       AI_ParseHost(&ai, &cmd_host);
+      last_online_tick = tick;
     } else {
-      AI_HandleOffline(&ai, &cmd_host);
+      if (tick - last_online_tick > 300) AI_HandleOffline(&ai, &cmd_host);
     }
     osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
     osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);

User/task/cli.c

@@ -32,10 +32,10 @@ typedef struct {
 
 static const char *const CLI_WELCOME_MESSAGE =
     "\r\n"
-//    "  ______         __           _______               __              \r\n"
+   "  ______         __           _______               __              \r\n"
-//    " |   __ \\.-----.|  |--.-----.|   |   |.---.-.-----.|  |_.-----.----.\r\n"
+   " |   __ \\.-----.|  |--.-----.|   |   |.---.-.-----.|  |_.-----.----.\r\n"
-//    " |      <|  _  ||  _  |  _  ||       ||  _  |__ --||   _|  -__|   _|\r\n"
+   " |      <|  _  ||  _  |  _  ||       ||  _  |__ --||   _|  -__|   _|\r\n"
-//    " |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__|  \r\n"
+   " |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__|  \r\n"
     " -------------------------------------------------------------------\r\n"
     " FreeRTOS CLI. Type 'help' to view a list of registered commands.   \r\n"
     "\r\n";