From 8ab6208ff1fa775408f0284b992a8551f8c08d41 Mon Sep 17 00:00:00 2001
From: xxxxm <2389287465@qq.com>
Date: Mon, 16 Mar 2026 11:36:31 +0800
Subject: [PATCH] =?UTF-8?q?fix-module/shoot-heatControl,,,=E7=83=AD?=
 =?UTF-8?q?=E9=87=8F=E5=8F=82=E6=95=B0=E5=BE=85=E8=AE=BEconfig.c-129-134?=
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---
 User/module/config.c | 1 +
 User/module/shoot.c  | 5 +++++
 User/module/shoot.h  | 1 +
 3 files changed, 7 insertions(+)

diff --git a/User/module/config.c b/User/module/config.c
index 2bc1baa..5a58db8 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -127,6 +127,7 @@ Config_RobotParam_t robot_config = {
         },
         .heatControl={
             .enable=true,
+            .safe_shots=5,    // 安全出弹余量
             .nmax=18.0f,      // 最大射频 Hz
             .Hwarn=200.0f,    // 热量预警值
             .Hsatu=100.0f,    // 热量饱和值
diff --git a/User/module/shoot.c b/User/module/shoot.c
index 847efa6..c9bdee0 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -512,6 +512,11 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
     /* 根据热量控制计算实际射频 */
     float actual_freq = Shoot_CaluFreqByHeat(s);
     
+    /* 检查可发射弹丸数是否满足安全余量 */
+    if (s->param->heatControl.enable && s->heatcontrol.shots_available <= s->param->heatControl.safe_shots) {
+        actual_freq = 0.0f; /* 禁止发弹 */
+    }
+    
     float dt = s->timer.now - s->var_trig.time_lastShoot;
 	float dpos;
     dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);
diff --git a/User/module/shoot.h b/User/module/shoot.h
index 0f14916..13972ed 100644
--- a/User/module/shoot.h
+++ b/User/module/shoot.h
@@ -164,6 +164,7 @@ typedef struct {
   }jamDetection;/* 卡弹检测参数 */
   struct {
     bool enable; /* 是否启用热量控制 */
+    uint16_t safe_shots;/* 安全余量，当shots_available小于等于该值时禁止发弹 */
     float nmax;//最大射频
     float Hwarn;//热量预警值
     float Hsatu;//热量饱和值