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xxxxm 2026-03-19 16:49:57 +08:00
parent 3304c05382
commit 0e087f0112
5 changed files with 111 additions and 80 deletions
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113
User/device/dr16.c
View File

@ -30,6 +30,7 @@
#define DR16_CH_VALUE_MIN (364u) #define DR16_CH_VALUE_MIN (364u)
#define DR16_CH_VALUE_MID (1024u) #define DR16_CH_VALUE_MID (1024u)
#define DR16_CH_VALUE_MAX (1684u) #define DR16_CH_VALUE_MAX (1684u)
//#define DR16_FRAME_SIZE (18u) // DR16数据帧固定18字节
/* USER DEFINE BEGIN */ /* USER DEFINE BEGIN */
@ -41,25 +42,29 @@
static osThreadId_t thread_alert; static osThreadId_t thread_alert;
static bool inited = false; static bool inited = false;
static DR16_t *dr16_instance = NULL; /* 用于空闲中断回调中访问实例 */
static uint8_t sync_buf[32]; /* 帧同步时的丢弃缓冲区 */
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
static void DR16_RxCpltCallback(void) { static void DR16_RxCpltCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
} }
/** //static void DR16_ErrorCallback(void) {
* @brief 空闲中断回调 - 用于帧同步 // UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_RC);
* 空闲中断表示一帧传输结束（总线空闲），此时停止当前DMA接收， //
* 丢弃不完整的数据，这样下一次 StartDmaRecv 就能从帧头开始。 // // 清除所有错误标志（包括FIFO错误）
*/ // __HAL_UART_CLEAR_OREFLAG(huart);
static void DR16_IdleCallback(void) { // __HAL_UART_CLEAR_NEFLAG(huart);
/* 停止当前DMA接收（无论收了多少字节） */ // __HAL_UART_CLEAR_FEFLAG(huart);
HAL_UART_AbortReceive(BSP_UART_GetHandle(BSP_UART_RC)); // __HAL_UART_CLEAR_PEFLAG(huart);
/* 通知任务：可以启动下一次对齐的接收了 */ //
osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); // // 清除FIFO超时标志（STM32H7特有）
} // if (__HAL_UART_GET_FLAG(huart, UART_FLAG_RTOF)) {
// __HAL_UART_CLEAR_FLAG(huart, UART_CLEAR_RTOF);
// }
//
// // 中止并清除当前DMA传输
// HAL_UART_AbortReceive(huart);
//}
static bool DR16_DataCorrupted(const DR16_t *dr16) { static bool DR16_DataCorrupted(const DR16_t *dr16) {
if (dr16 == NULL) return DEVICE_ERR_NULL; if (dr16 == NULL) return DEVICE_ERR_NULL;
@ -93,55 +98,45 @@ int8_t DR16_Init(DR16_t *dr16) {
if (inited) return DEVICE_ERR_INITED; if (inited) return DEVICE_ERR_INITED;
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
dr16_instance = dr16; // // 清零结构体
// memset(dr16, 0, sizeof(DR16_t));
/* 注册 DMA 接收完成回调 */
BSP_UART_RegisterCallback(BSP_UART_RC, BSP_UART_RX_CPLT_CB, BSP_UART_RegisterCallback(BSP_UART_RC, BSP_UART_RX_CPLT_CB,
DR16_RxCpltCallback); DR16_RxCpltCallback);
// BSP_UART_RegisterCallback(BSP_UART_RC, BSP_UART_ERROR_CB,
/* 注册空闲中断回调并使能空闲中断，用于帧同步 */ // DR16_ErrorCallback);
BSP_UART_RegisterCallback(BSP_UART_RC, BSP_UART_IDLE_LINE_CB,
DR16_IdleCallback);
__HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_RC), UART_IT_IDLE);
/*
* 首次帧同步：启动一次丢弃式DMA接收。
* 如果遥控器已经在发送，DMA会从帧中间开始收，空闲中断到来时
* IdleCallback 会 Abort 这次接收并通知任务，下一次 StartDmaRecv
* 就能从完整帧头开始。
*/
HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_RC),
sync_buf, sizeof(sync_buf));
/* 等待空闲中断完成首次同步（最多50ms，足够等一帧） */
osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50);
inited = true; inited = true;
return DEVICE_OK; return DEVICE_OK;
} }
int8_t DR16_Restart(void) { int8_t DR16_Restart(void) {
UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_RC); __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_RC));
__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_RC));
/* 先终止当前DMA接收 */
HAL_UART_AbortReceive(huart);
/* 重置串口 */
__HAL_UART_DISABLE(huart);
__HAL_UART_ENABLE(huart);
/* 重新使能空闲中断 */
__HAL_UART_ENABLE_IT(huart, UART_IT_IDLE);
/* 重新做帧同步：丢弃式接收，等空闲中断对齐 */
HAL_UART_Receive_DMA(huart, sync_buf, sizeof(sync_buf));
osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, 50);
return DEVICE_OK; return DEVICE_OK;
} }
int8_t DR16_StartDmaRecv(DR16_t *dr16) { int8_t DR16_StartDmaRecv(DR16_t *dr16) {
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_RC), UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_RC);
(uint8_t *)&(dr16->raw_data),
// // 确保之前的DMA接收已停止
// if (huart->RxState != HAL_UART_STATE_READY) {
// HAL_UART_AbortReceive(huart);
// }
//
// // 清除所有可能的错误标志和IDLE标志
// __HAL_UART_CLEAR_OREFLAG(huart);
// __HAL_UART_CLEAR_NEFLAG(huart);
// __HAL_UART_CLEAR_FEFLAG(huart);
// __HAL_UART_CLEAR_PEFLAG(huart);
// __HAL_UART_CLEAR_IDLEFLAG(huart);
//
// // 清除FIFO超时标志
// if (__HAL_UART_GET_FLAG(huart, UART_FLAG_RTOF)) {
// __HAL_UART_CLEAR_FLAG(huart, UART_CLEAR_RTOF);
// }
if (HAL_UART_Receive_DMA(huart, (uint8_t *)&(dr16->raw_data),
sizeof(dr16->raw_data)) == HAL_OK) sizeof(dr16->raw_data)) == HAL_OK)
return DEVICE_OK; return DEVICE_OK;
return DEVICE_ERR; return DEVICE_ERR;
@ -155,19 +150,17 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
int8_t DR16_ParseData(DR16_t *dr16){ int8_t DR16_ParseData(DR16_t *dr16){
if (dr16 == NULL) return DEVICE_ERR_NULL; if (dr16 == NULL) return DEVICE_ERR_NULL;
// STM32H7 D-Cache一致性处理：使DMA接收的数据对CPU可见 // // STM32H7 D-Cache一致性处理：使DMA接收的数据对CPU可见
// D-Cache按32字节对齐，需要对齐处理 // // D-Cache按32字节对齐，需要对齐处理
uint32_t addr = (uint32_t)&(dr16->raw_data); // uint32_t addr = (uint32_t)&(dr16->raw_data);
uint32_t size = sizeof(dr16->raw_data); // uint32_t size = sizeof(dr16->raw_data);
// 向下对齐到32字节边界 // // 向下对齐到32字节边界
uint32_t aligned_addr = addr & ~0x1FU; // uint32_t aligned_addr = addr & ~0x1FU;
// 计算对齐后的大小 // // 计算对齐后的大小
uint32_t aligned_size = ((size + (addr - aligned_addr) + 31) & ~0x1FU); // uint32_t aligned_size = ((size + (addr - aligned_addr) + 31) & ~0x1FU);
SCB_InvalidateDCache_by_Addr((uint32_t *)aligned_addr, aligned_size); // SCB_InvalidateDCache_by_Addr((uint32_t *)aligned_addr, aligned_size);
if (DR16_DataCorrupted(dr16)) { if (DR16_DataCorrupted(dr16)) {
/* 数据损坏说明帧错位了，重启串口并重新同步 */
DR16_Restart();
return DEVICE_ERR; return DEVICE_ERR;
} }

45
User/module/shoot.c
View File

@ -41,7 +41,7 @@ void Task(void *argument) {
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
#define MAX_FRIC_RPM 7000.0f #define MAX_FRIC_RPM 7000.0f
#define MAX_TRIG_RPM 4000.0f//这里可能也会影响最高发射频率，待测试 #define MAX_TRIG_RPM 2500.0f//这里可能也会影响最高发射频率，待测试
/* 发射检测参数 */ /* 发射检测参数 */
#define SHOT_DETECT_RPM_DROP_THRESHOLD 100.0f /* 摩擦轮转速下降阈值，单位rpm */ #define SHOT_DETECT_RPM_DROP_THRESHOLD 100.0f /* 摩擦轮转速下降阈值，单位rpm */
@ -52,7 +52,7 @@ void Task(void *argument) {
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
static bool last_firecmd; static bool last_firecmd;
float maxTrigrpm=4000.0f;
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
/** /**
@ -202,6 +202,12 @@ static int8_t Shoot_UpdateHeatControl(Shoot_t *s)
return SHOOT_ERR_NULL; return SHOOT_ERR_NULL;
} }
if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
s->heatcontrol.Hres = 0.0f;
s->heatcontrol.ncd = s->param->basic.shot_freq;
return SHOOT_OK;
}
/* 使用融合后的热量值计算剩余热量 */ /* 使用融合后的热量值计算剩余热量 */
s->heatcontrol.Hres = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused; s->heatcontrol.Hres = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused;
@ -288,6 +294,10 @@ static int8_t Shoot_FuseHeatData(Shoot_t *s)
return SHOOT_ERR_NULL; return SHOOT_ERR_NULL;
} }
if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
return SHOOT_OK;
}
/* 如果裁判系统数据有效（Hmax > 0） */ /* 如果裁判系统数据有效（Hmax > 0） */
if (s->heatcontrol.Hmax > 0.0f && s->heatcontrol.Hnow >= 0.0f) { if (s->heatcontrol.Hmax > 0.0f && s->heatcontrol.Hnow >= 0.0f) {
/* 检测裁判系统数据是否有更新 */ /* 检测裁判系统数据是否有更新 */
@ -320,6 +330,11 @@ static int8_t Shoot_CalcAvailableShots(Shoot_t *s)
return SHOOT_ERR_NULL; return SHOOT_ERR_NULL;
} }
if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
s->heatcontrol.shots_available = UINT16_MAX;
return SHOOT_OK;
}
/* 计算剩余热量 */ /* 计算剩余热量 */
float heat_available = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused; float heat_available = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused;
@ -347,6 +362,12 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
return SHOOT_ERR_NULL; return SHOOT_ERR_NULL;
} }
if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE;
s->heatcontrol.shotDetected = false;
return SHOOT_OK;
}
switch (s->heatcontrol.detectState) { switch (s->heatcontrol.detectState) {
case SHOOT_HEAT_DETECT_IDLE: case SHOOT_HEAT_DETECT_IDLE:
/* 停机状态：等待摩擦轮启动并加速到目标速度附近 */ /* 停机状态：等待摩擦轮启动并加速到目标速度附近 */
@ -456,7 +477,7 @@ static float Shoot_CaluFreqByHeat(Shoot_t *s)
} }
/* 如果热量控制未启用，返回配置的射频 */ /* 如果热量控制未启用，返回配置的射频 */
if (!s->param->heatControl.enable) { if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
return s->param->basic.shot_freq; return s->param->basic.shot_freq;
} }
@ -502,7 +523,7 @@ static float Shoot_CaluFreqByHeat(Shoot_t *s)
*/ */
int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
{ {
if (s == NULL || s->var_trig.num_toShoot == 0) { if (s == NULL || cmd == NULL || s->var_trig.num_toShoot == 0 || s->param->basic.num_trig_tooth == 0) {
return SHOOT_ERR_NULL; return SHOOT_ERR_NULL;
} }
@ -513,16 +534,19 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
float actual_freq = Shoot_CaluFreqByHeat(s); float actual_freq = Shoot_CaluFreqByHeat(s);
/* 检查可发射弹丸数是否满足安全余量 */ /* 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) { if (s->param->heatControl.enable &&
s->heatcontrol.shots_available <= s->param->heatControl.safe_shots) {
actual_freq = 0.0f; /* 禁止发弹 */ actual_freq = 0.0f; /* 禁止发弹 */
} }
float dt = s->timer.now - s->var_trig.time_lastShoot; float dt = s->timer.now - s->var_trig.time_lastShoot;
float dpos; float dpos;
float dpos_abs;
dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI); dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);
dpos_abs = fabsf(dpos);
/* 使用热量控制计算出的射频，而不是配置的固定射频 */ /* 使用热量控制计算出的射频，而不是配置的固定射频 */
if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos<=1.0f) if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos_abs <= 1.0f)
{ {
s->var_trig.time_lastShoot=s->timer.now; s->var_trig.time_lastShoot=s->timer.now;
CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI); CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
@ -610,7 +634,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s)
s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl; s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl;
} }
s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed); s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / maxTrigrpm; s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM;
if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f; if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f;
if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f; if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f;
@ -720,6 +744,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
else if(last_firecmd==false&&cmd->firecmd==true) else if(last_firecmd==false&&cmd->firecmd==true)
{ {
s->running_state=SHOOT_STATE_FIRE; s->running_state=SHOOT_STATE_FIRE;
s->target_variable.trig_angle = s->var_trig.trig_agl;
/* 根据模式设置待发射弹数 */ /* 根据模式设置待发射弹数 */
switch(s->mode) switch(s->mode)
{ {
@ -786,6 +811,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{ {
s->running_state=SHOOT_STATE_READY; s->running_state=SHOOT_STATE_READY;
pos=s->var_trig.trig_agl; pos=s->var_trig.trig_agl;
s->target_variable.trig_angle = pos;
s->var_trig.num_toShoot=0; s->var_trig.num_toShoot=0;
} }
break; break;
@ -849,7 +875,10 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
/* 清空待发射弹 */ /* 清空待发射弹 */
s->var_trig.num_toShoot=0; s->var_trig.num_toShoot=0;
/* 修改拨弹盘目标角度 */ /* 修改拨弹盘目标角度 */
s->target_variable.trig_angle = s->var_trig.trig_agl-(M_2PI/s->param->basic.num_trig_tooth); s->target_variable.trig_angle = s->var_trig.trig_agl;
CircleAdd(&s->target_variable.trig_angle,
-(M_2PI / s->param->basic.num_trig_tooth),
M_2PI);
/* 切换状态 */ /* 切换状态 */
s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL; s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL;
/* 记录处理开始时间 */ /* 记录处理开始时间 */

1
User/module/shoot.h
View File

@ -102,6 +102,7 @@ typedef struct {
}Shoot_JamDetection_t; }Shoot_JamDetection_t;
typedef struct { typedef struct {
bool ref_online; /* 裁判系统在线标志：在线才启用热量限制 */
/* 从裁判系统读取的常量 */ /* 从裁判系统读取的常量 */
float Hmax; // 热量上限 float Hmax; // 热量上限
float Hcd; // 热量冷却速度 float Hcd; // 热量冷却速度

6
User/task/ctrl_shoot.c
View File

@ -51,10 +51,16 @@ void Task_ctrl_shoot(void *argument) {
/* 消费裁判系统发射数据：在线时更新热量控制参数 */ /* 消费裁判系统发射数据：在线时更新热量控制参数 */
if (shoot_ref.ref_status == REF_STATUS_RUNNING) { if (shoot_ref.ref_status == REF_STATUS_RUNNING) {
shoot.heatcontrol.ref_online = true;
shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit; shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit;
shoot.heatcontrol.Hcd = (float)shoot_ref.robot_status.shooter_barrel_cooling_value; shoot.heatcontrol.Hcd = (float)shoot_ref.robot_status.shooter_barrel_cooling_value;
shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat; shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat;
shoot.heatcontrol.Hgen = 100.0f; /* 42mm弹丸每发产生热量 */ shoot.heatcontrol.Hgen = 100.0f; /* 42mm弹丸每发产生热量 */
} else {
shoot.heatcontrol.ref_online = false;
shoot.heatcontrol.Hmax = 0.0f;
shoot.heatcontrol.Hcd = 0.0f;
shoot.heatcontrol.Hnow = 0.0f;
} }
Shoot_UpdateFeedback(&shoot); Shoot_UpdateFeedback(&shoot);

22
ozone/hero.jdebug.user
View File

@ -6,9 +6,11 @@ GraphedExpression="((((gimbal).feedback).imu).eulr).pit", Color=#e56a6f, Show=0
GraphedExpression="((((gimbal).feedback).imu).eulr).yaw", Color=#35792b, Show=0 GraphedExpression="((((gimbal).feedback).imu).eulr).yaw", Color=#35792b, Show=0
GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).yaw", Color=#769dda, Show=0 GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).yaw", Color=#769dda, Show=0
GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).pit", Color=#b14f0d, Show=0 GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).pit", Color=#b14f0d, Show=0
GraphedExpression="((dr16).raw_data).ch_r_x", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#b3c38e GraphedExpression="((dr16).raw_data).ch_r_x", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#b3c38e, Show=0
GraphedExpression="((dr16).data).ch_r_x", Color=#ab7b05, Show=0 GraphedExpression="((dr16).data).ch_r_x", Color=#ab7b05, Show=0
GraphedExpression="((((gimbal).feedback).motor).pit).rotor_abs_angle", Color=#7fd3b7, Show=0 GraphedExpression="((((gimbal).feedback).motor).pit).rotor_abs_angle", Color=#7fd3b7, Show=0
GraphedExpression="((shoot).heatcontrol).Hnow", Color=#50328f
GraphedExpression="((shoot).heatcontrol).shots_available", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#c587a5, Show=0
OpenDocument="startup_stm32h723xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32h723xx.s", Line=47 OpenDocument="startup_stm32h723xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32h723xx.s", Line=47
OpenDocument="port.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c", Line=716 OpenDocument="port.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c", Line=716
OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=4104 OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=4104
@ -24,7 +26,7 @@ OpenDocument="shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot
OpenDocument="ref_main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ref_main.c", Line=12 OpenDocument="ref_main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ref_main.c", Line=12
OpenDocument="referee.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee.h", Line=542 OpenDocument="referee.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee.h", Line=542
OpenDocument="uart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/uart.c", Line=108 OpenDocument="uart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/uart.c", Line=108
OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/supercap.c", Line=0 OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/supercap.c", Line=15
OpenDocument="stm32h7xx_it.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32h7xx_it.c", Line=83 OpenDocument="stm32h7xx_it.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32h7xx_it.c", Line=83
OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=515 OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=515
OpenDocument="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=455 OpenDocument="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=455
@ -55,16 +57,16 @@ OpenDocument="atti_esti.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/att
OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/fdcan.c", Line=0 OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/fdcan.c", Line=0
OpenDocument="time.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/time.c", Line=17 OpenDocument="time.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/time.c", Line=17
OpenToolbar="Debug", Floating=0, x=0, y=0 OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=2, w=695, h=338, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=2, w=695, h=337, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=312, h=983, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=312, h=983, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=1, w=695, h=322, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=1, w=695, h=322, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Memory 1", DockArea=BOTTOM, x=0, y=0, w=462, h=491, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0xFFFF5088 OpenWindow="Memory 1", DockArea=BOTTOM, x=0, y=0, w=462, h=491, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0xFFFF5088
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=2, w=695, h=338, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=2, w=695, h=337, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=312, h=983, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=312, h=983, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=752, h=472, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=752, h=472, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1344, h=491, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="22;138", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1122;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1138;0" OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1344, h=491, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="22;108", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1431;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1447;0"
OpenWindow="Console", DockArea=BOTTOM, x=2, y=0, w=752, h=472, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Console", DockArea=BOTTOM, x=2, y=0, w=752, h=472, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="RTOS", DockArea=RIGHT, x=0, y=0, w=695, h=321, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing="" OpenWindow="RTOS", DockArea=RIGHT, x=0, y=0, w=695, h=322, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing=""
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;405] TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;405]
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100] TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100]
@ -72,14 +74,14 @@ TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1022] TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1022]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[298;229;145;100] TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[298;229;145;100]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((((gimbal).feedback).imu).eulr).pit";" ((((gimbal).feedback).imu).eulr).yaw";" (((ai_cmd_from_can).gimbal_t).setpoint).yaw";" (((ai_cmd_from_can).gimbal_t).setpoint).pit";" ((dr16).raw_data).ch_r_x";" ((dr16).data).ch_r_x";" ((((gimbal).feedback).motor).pit).rotor_abs_angle"], ColWidths=[100;100;100;100;100;100;100;100;100] TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((((gimbal).feedback).imu).eulr).pit";" ((((gimbal).feedback).imu).eulr).yaw";" (((ai_cmd_from_can).gimbal_t).setpoint).yaw";" (((ai_cmd_from_can).gimbal_t).setpoint).pit";" ((dr16).raw_data).ch_r_x";" ((dr16).data).ch_r_x";" ((((gimbal).feedback).motor).pit).rotor_abs_angle";" ((shoot).heatcontrol).Hnow";" ((shoot).heatcontrol).shots_available"], ColWidths=[100;100;100;100;100;100;100;100;100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;214;134;134;124;134;110;154;144] TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;214;100;100;100;100;110;126;126]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1 WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="bmi088", RefreshRate=5, Window=Watched Data 1 WatchedExpression="bmi088", RefreshRate=5, Window=Watched Data 1
WatchedExpression="chassis", RefreshRate=5, Window=Watched Data 1 WatchedExpression="chassis", RefreshRate=5, Window=Watched Data 1
WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 1 WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1 WatchedExpression="shoot ", Window=Watched Data 1
WatchedExpression="track_cmd", RefreshRate=5, Window=Watched Data 1 WatchedExpression="track_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="track", RefreshRate=5, Window=Watched Data 1 WatchedExpression="track", RefreshRate=5, Window=Watched Data 1
WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1 WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
@ -97,4 +99,4 @@ WatchedExpression="ai_cmd_from_can", RefreshRate=5, Window=Watched Data 1
WatchedExpression="raw_shoot", RefreshRate=5, Window=Watched Data 1 WatchedExpression="raw_shoot", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot_forai", RefreshRate=5, Window=Watched Data 1 WatchedExpression="shoot_forai", RefreshRate=5, Window=Watched Data 1
WatchedExpression="dr16", RefreshRate=5, Window=Watched Data 1 WatchedExpression="dr16", RefreshRate=5, Window=Watched Data 1
WatchedExpression="ai_cmd_from_can", RefreshRate=5, Window=Watched Data 1 WatchedExpression=" ", Window=Watched Data 1