修复ai,关闭cap
This commit is contained in:
parent
acecad0555
commit
3304c05382
@ -54,6 +54,7 @@ void UsageFault_Handler(void);
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void DebugMon_Handler(void);
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void DMA1_Stream0_IRQHandler(void);
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void DMA1_Stream1_IRQHandler(void);
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void DMA1_Stream3_IRQHandler(void);
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void FDCAN1_IT0_IRQHandler(void);
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void FDCAN2_IT0_IRQHandler(void);
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void FDCAN1_IT1_IRQHandler(void);
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@ -64,7 +65,6 @@ void EXTI15_10_IRQHandler(void);
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void UART5_IRQHandler(void);
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void DMA2_Stream1_IRQHandler(void);
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void DMA2_Stream2_IRQHandler(void);
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void DMA2_Stream5_IRQHandler(void);
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void USART10_IRQHandler(void);
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void FDCAN3_IT0_IRQHandler(void);
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void FDCAN3_IT1_IRQHandler(void);
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@ -50,15 +50,15 @@ void MX_DMA_Init(void)
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/* DMA1_Stream1_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
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/* DMA1_Stream3_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
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/* DMA2_Stream1_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
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/* DMA2_Stream2_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
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HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
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/* DMA2_Stream5_IRQn interrupt configuration */
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HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
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}
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@ -198,6 +198,20 @@ void DMA1_Stream1_IRQHandler(void)
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/* USER CODE END DMA1_Stream1_IRQn 1 */
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}
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/**
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* @brief This function handles DMA1 stream3 global interrupt.
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*/
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void DMA1_Stream3_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
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/* USER CODE END DMA1_Stream3_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_uart5_rx);
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/* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
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/* USER CODE END DMA1_Stream3_IRQn 1 */
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}
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/**
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* @brief This function handles FDCAN1 interrupt 0.
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*/
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@ -341,28 +355,13 @@ void DMA2_Stream2_IRQHandler(void)
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/* USER CODE END DMA2_Stream2_IRQn 1 */
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}
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/**
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* @brief This function handles DMA2 stream5 global interrupt.
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*/
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void DMA2_Stream5_IRQHandler(void)
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{
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/* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
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/* USER CODE END DMA2_Stream5_IRQn 0 */
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HAL_DMA_IRQHandler(&hdma_uart5_rx);
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/* USER CODE BEGIN DMA2_Stream5_IRQn 1 */
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/* USER CODE END DMA2_Stream5_IRQn 1 */
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}
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/**
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* @brief This function handles USART10 global interrupt.
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*/
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void USART10_IRQHandler(void)
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{
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/* USER CODE BEGIN USART10_IRQn 0 */
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#include "bsp/uart.h"
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BSP_UART_IRQHandler(&huart10);
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/* USER CODE END USART10_IRQn 0 */
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HAL_UART_IRQHandler(&huart10);
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/* USER CODE BEGIN USART10_IRQn 1 */
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@ -46,7 +46,7 @@ void MX_UART5_Init(void)
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huart5.Init.WordLength = UART_WORDLENGTH_9B;
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huart5.Init.StopBits = UART_STOPBITS_1;
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huart5.Init.Parity = UART_PARITY_EVEN;
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huart5.Init.Mode = UART_MODE_TX_RX;
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huart5.Init.Mode = UART_MODE_RX;
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huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
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huart5.Init.OverSampling = UART_OVERSAMPLING_16;
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huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
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@ -163,7 +163,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
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/* UART5 DMA Init */
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/* UART5_RX Init */
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hdma_uart5_rx.Instance = DMA2_Stream5;
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hdma_uart5_rx.Instance = DMA1_Stream3;
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hdma_uart5_rx.Init.Request = DMA_REQUEST_UART5_RX;
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hdma_uart5_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
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hdma_uart5_rx.Init.PeriphInc = DMA_PINC_DISABLE;
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@ -38,6 +38,18 @@ const Tone_t NOKIA[] = {
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{NOTE_B, 4, 125}, {NOTE_A, 4, 125}, {NOTE_CS, 4, 250}, {NOTE_E, 4, 250},
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{NOTE_A, 4, 500}
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};
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// 蔡徐坤 - 只因你太美(副歌高潮段落)
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const Tone_t JNTM[] = {
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{NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_C, 5, 150}, {NOTE_D, 5, 300}, // 只 因 你 太 美
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{NOTE_C, 5, 150}, {NOTE_A, 4, 300}, {NOTE_REST, 0, 150}, // ba by ~
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{NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_C, 5, 150}, {NOTE_D, 5, 300}, // 只 因 你 太 美
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{NOTE_C, 5, 150}, {NOTE_A, 4, 300}, {NOTE_REST, 0, 150}, // ba by ~
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{NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_C, 5, 150}, // 只 因 你 实
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{NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_C, 5, 150}, {NOTE_D, 5, 300}, // 在 是 太 美
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{NOTE_C, 5, 150}, {NOTE_A, 4, 300}, {NOTE_REST, 0, 150}, // ba by ~
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{NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_C, 5, 150}, {NOTE_D, 5, 500} // 只 因 你 太 美 ~
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};
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/* USER MUSIC MENU END */
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static void BUZZER_Update(BUZZER_t *buzzer){
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@ -149,6 +161,10 @@ int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music) {
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melody = NOKIA;
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melody_length = sizeof(NOKIA) / sizeof(Tone_t);
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break;
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case MUSIC_JNTM:
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melody = JNTM;
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melody_length = sizeof(JNTM) / sizeof(Tone_t);
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break;
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default:
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return DEVICE_ERR;
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}
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@ -68,6 +68,7 @@ typedef enum {
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/* USER MUSIC MENU BEGIN */
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MUSIC_RM, ///< RM战队音乐
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MUSIC_NOKIA, ///< 诺基亚经典铃声
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MUSIC_JNTM, ///< 只因你太美
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/* USER MUSIC MENU END */
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} MUSIC_t;
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@ -91,9 +91,10 @@ int8_t Aimbot_Init(Aimbot_Param_t *param) {
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BSP_FDCAN_Init();
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/* 注册 AI 指令帧队列（下层板接收／上层板发送） */
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BSP_FDCAN_RegisterId(param->can, param->cmd_id,
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BSP_FDCAN_DEFAULT_QUEUE_SIZE);
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for (uint8_t i = 0; i < 3; i++) {
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BSP_FDCAN_RegisterId(param->can, param->cmd_id + i,
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10);
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}
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/* 注册反馈数据帧队列（上层板接收／下层板发送） */
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for (uint8_t i = 0; i < AIMBOT_FB_FRAME_NUM; i++) {
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BSP_FDCAN_RegisterId(param->can, param->fb_base_id + i,
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@ -183,7 +183,7 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
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s->target_variable.fric_rpm=5000.0f;
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break;
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case SHOOT_PROJECTILE_42MM:
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s->target_variable.fric_rpm=5000.0f;//6500
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s->target_variable.fric_rpm=4000.0f;//6500
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break;
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}
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return SHOOT_OK;
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@ -12,6 +12,7 @@
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#include "bsp/time.h"
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#include "component/filter/filter.h"
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#include "component/user_math.h"
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#include "device/motor_dm.h"
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#include "module/chassis.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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@ -102,6 +103,8 @@ uint8_t Track_UpdateFeedback(Track_t *t)
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if (t == NULL) {
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return TRACK_ERR_NULL; // 参数错误
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}
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MOTOR_DM_Enable(&t->param->motor[0]);
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MOTOR_DM_Enable(&t->param->motor[1]);
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for (int i=0; i<TRACK_MOTOR_NUM; i++) {
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MOTOR_DM_Update(&t->param->motor[i]);
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MOTOR_DM_t *rm_motor = MOTOR_DM_GetMotor(&t->param->motor[i]);
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@ -35,6 +35,8 @@ void Task_blink(void *argument) {
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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BUZZER_Init(&buzzer, BSP_PWM_BUZZER);
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BUZZER_PlayMusic(&buzzer, MUSIC_NOKIA);
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/* USER CODE INIT END */
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while (1) {
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@ -63,7 +63,7 @@ void Task_ctrl_chassis(void *argument) {
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/* 功率限制：裁判系统在线时使用下发上限，否则使用保守默认值 */
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float power_limit = (chassis_ref.ref_status == REF_STATUS_RUNNING)
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? chassis_ref.chassis_power_limit
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: 500.0f;
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: 80.0f;
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Chassis_Power_Control(&chassis, power_limit);
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Chassis_Output(&chassis);
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@ -28,7 +28,7 @@
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AT9S_t at9s;
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#endif
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#ifdef DR16
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// 将DR16变量放到RAM_D1 (0x24000000)，用于DMA传输
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// 将DR16变量放到RAM_D1，用于DMA传输并保证32字节对齐以支持Cache操作
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// __attribute__((section(".ram_d1"))) __attribute__((aligned(32)))
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DR16_t dr16;
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static DR16_SwitchPos_t last_sw_l = DR16_SW_ERR; /* 记录左拨杆上一次状态 */
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@ -73,7 +73,7 @@ void Task_rc(void *argument) {
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#endif
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#ifdef DR16
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// 等待DMA接收完成
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if (DR16_WaitDmaCplt(20)) {
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if (DR16_WaitDmaCplt(100)) {
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DR16_ParseData(&dr16);
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} else {
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DR16_Offline(&dr16);
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@ -87,7 +87,7 @@ void Task_rc(void *argument) {
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/* 拨杆从非UP状态切换到UP状态，且复位功能已使能，触发系统复位 */
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if (
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dr16.data.sw_l == DR16_SW_UP &&
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last_sw_l != DR16_SW_UP) {
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last_sw_l != DR16_SW_UP && last_sw_l != DR16_SW_ERR) {
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reset=!reset;
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}
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last_sw_l = dr16.data.sw_l; /* 更新拨杆状态 */
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@ -32,15 +32,15 @@ void Task_supercap(void *argument) {
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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SuperCap_Init();
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// SuperCap_Init();
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SuperCap_CanTX.Enable = 1 ; //超级电容使能。1使能，0失能
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// SuperCap_CanTX.Enable = 1 ; //超级电容使能。1使能，0失能
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SuperCap_CanTX.Charge = 1 ; //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的
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// SuperCap_CanTX.Charge = 1 ; //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的
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SuperCap_CanTX.Powerlimit = 120 ; //裁判系统功率限制
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// SuperCap_CanTX.Powerlimit = 120 ; //裁判系统功率限制
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SuperCap_CanTX.ChargePower = 1 ; //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化
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// SuperCap_CanTX.ChargePower = 1 ; //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化
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/* USER CODE INIT END */
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@ -48,14 +48,14 @@ void Task_supercap(void *argument) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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/* 动态更新功率上限：裁判系统在线时使用下发值，否则回退到初始化值120W */
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osMessageQueueGet(task_runtime.msgq.cap.ref, &cap_ref, NULL, 0);
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if (cap_ref.ref_status == REF_STATUS_RUNNING && cap_ref.chassis_power_limit > 0.0f) {
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SuperCap_CanTX.Powerlimit = (uint8_t)cap_ref.chassis_power_limit;
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}
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// osMessageQueueGet(task_runtime.msgq.cap.ref, &cap_ref, NULL, 0);
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// if (cap_ref.ref_status == REF_STATUS_RUNNING && cap_ref.chassis_power_limit > 0.0f) {
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// SuperCap_CanTX.Powerlimit = (uint8_t)cap_ref.chassis_power_limit;
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// }
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SuperCap_Update();
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// SuperCap_Update();
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CAN_TX_SuperCapData(&SuperCap_CanTX);
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// CAN_TX_SuperCapData(&SuperCap_CanTX);
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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@ -25,7 +25,7 @@ extern "C" {
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#define REFEREE_FREQ (500.0)
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/* 任务初始化延时ms */
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#define TASK_INIT_DELAY (100u)
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#define RC_INIT_DELAY (500)
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#define RC_INIT_DELAY (0)
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#define ATTI_ESTI_INIT_DELAY (0)
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#define BLINK_INIT_DELAY (0)
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#define CTRL_CHASSIS_INIT_DELAY (0)
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@ -49,7 +49,7 @@ Dma.SPI2_TX.1.SyncSignalID=NONE
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Dma.UART5_RX.2.Direction=DMA_PERIPH_TO_MEMORY
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Dma.UART5_RX.2.EventEnable=DISABLE
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Dma.UART5_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
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Dma.UART5_RX.2.Instance=DMA2_Stream5
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Dma.UART5_RX.2.Instance=DMA1_Stream3
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Dma.UART5_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
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Dma.UART5_RX.2.MemInc=DMA_MINC_ENABLE
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Dma.UART5_RX.2.Mode=DMA_NORMAL
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@ -231,9 +231,9 @@ MxDb.Version=DB.6.0.150
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NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
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NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
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NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
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NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
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NVIC.DMA2_Stream2_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
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NVIC.DMA2_Stream5_IRQn=true\:5\:0\:true\:false\:true\:false\:false\:true\:true
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NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
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NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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@ -493,7 +493,7 @@ SPI6.Mode=SPI_MODE_MASTER
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SPI6.VirtualType=VM_MASTER
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TIM12.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
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TIM12.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period
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TIM12.Period=2500-1
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TIM12.Period=2000-1
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TIM12.Prescaler=24-1
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TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
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TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period
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@ -503,7 +503,7 @@ UART5.BaudRate=100000
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UART5.DMADisableonRxErrorParam=UART_ADVFEATURE_DMA_ENABLEONRXERROR
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UART5.FIFOMode=FIFOMODE_DISABLE
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UART5.IPParameters=Mode,BaudRate,Parity,StopBits,WordLength,DMADisableonRxErrorParam,OverrunDisableParam,FIFOMode
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UART5.Mode=MODE_TX_RX
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UART5.Mode=MODE_RX
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UART5.OverrunDisableParam=UART_ADVFEATURE_OVERRUN_ENABLE
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UART5.Parity=PARITY_EVEN
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UART5.StopBits=UART_STOPBITS_1
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@ -1,68 +1,79 @@
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GraphedExpression="((((gimbal).feedback).imu).eulr).pit", Color=#e56a6f
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GraphedExpression="((((gimbal).feedback).imu).eulr).yaw", Color=#35792b
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GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).yaw", Color=#769dda
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GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).pit", Color=#b14f0d
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OpenDocument="gimbal.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/gimbal.h", Line=57
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||||
|
||||
Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/device/dr16.c:69:52, State=BP_STATE_DISABLED
|
||||
GraphedExpression="((((gimbal).feedback).imu).eulr).pit", Color=#e56a6f, 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).pit", Color=#b14f0d, Show=0
|
||||
GraphedExpression="((dr16).raw_data).ch_r_x", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#b3c38e
|
||||
GraphedExpression="((dr16).data).ch_r_x", Color=#ab7b05, Show=0
|
||||
GraphedExpression="((((gimbal).feedback).motor).pit).rotor_abs_angle", Color=#7fd3b7, Show=0
|
||||
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="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=4104
|
||||
OpenDocument="buzzer.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/buzzer.c", Line=79
|
||||
OpenDocument="blink.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/blink.c", Line=11
|
||||
OpenDocument="motor_dm.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor_dm.c", Line=40
|
||||
OpenDocument="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_shoot.c", Line=12
|
||||
OpenDocument="ahrs.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/ahrs/ahrs.h", Line=0
|
||||
OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
|
||||
OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=0
|
||||
OpenDocument="startup_stm32h723xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32h723xx.s", Line=48
|
||||
OpenDocument="gimbal.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/gimbal.h", Line=57
|
||||
OpenDocument="shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c", Line=33
|
||||
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="uart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/uart.c", Line=111
|
||||
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="stm32h7xx_it.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32h7xx_it.c", Line=351
|
||||
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="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=455
|
||||
OpenDocument="ai.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ai.c", Line=30
|
||||
OpenDocument="ai.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ai.c", Line=42
|
||||
OpenDocument="referee.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee.c", Line=21
|
||||
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=51
|
||||
OpenDocument="stm32h7xx_hal_fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c", Line=5367
|
||||
OpenDocument="track.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/track.c", Line=87
|
||||
OpenDocument="rc.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/rc.c", Line=48
|
||||
OpenDocument="track.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/track.c", Line=86
|
||||
OpenDocument="referee_proto_types.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee_proto_types.h", Line=10
|
||||
OpenDocument="cmsis_gcc.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/CMSIS/Include/cmsis_gcc.h", Line=1193
|
||||
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd/cmd.c", Line=192
|
||||
OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/fdcan.c", Line=98
|
||||
OpenDocument="cmd.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd/cmd.h", Line=0
|
||||
OpenDocument="vision_bridge.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/vision_bridge.c", Line=78
|
||||
OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=36
|
||||
OpenDocument="motor.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor.h", Line=20
|
||||
OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=33
|
||||
OpenDocument="motor.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor.h", Line=19
|
||||
OpenDocument="filter.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/filter/filter.c", Line=54
|
||||
OpenDocument="user_math.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/user_math.c", Line=45
|
||||
OpenDocument="pid.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/pid.c", Line=61
|
||||
OpenDocument="gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/gimbal.c", Line=220
|
||||
OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3655
|
||||
OpenDocument="stm32h7xx_hal_fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c", Line=6179
|
||||
OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor_rm.c", Line=129
|
||||
OpenDocument="stm32h7xx_hal_uart_ex.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c", Line=964
|
||||
OpenDocument="queue.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=1275
|
||||
OpenDocument="chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/chassis.c", Line=213
|
||||
OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/supercap.c", Line=18
|
||||
OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/supercap.c", Line=15
|
||||
OpenDocument="atti_esti.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/atti_esti.c", Line=121
|
||||
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
|
||||
OpenToolbar="Debug", Floating=0, x=0, y=0
|
||||
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=728, h=584, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
|
||||
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=328, h=930, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=728, h=345, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Memory 1", DockArea=BOTTOM, x=0, y=0, w=239, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0xFFFF5088
|
||||
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=728, h=584, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=328, h=930, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=866, h=525, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
|
||||
OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1453, h=544, 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="21;187", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1238;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="1254;0"
|
||||
OpenWindow="Console", DockArea=BOTTOM, x=2, y=0, w=866, h=525, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=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="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="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="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="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="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=""
|
||||
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
|
||||
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;464]
|
||||
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="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
|
||||
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="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"], ColWidths=[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;100;134;134;134;144;110;144;134]
|
||||
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 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="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
|
||||
WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
|
||||
WatchedExpression="bmi088", RefreshRate=5, Window=Watched Data 1
|
||||
@ -85,3 +96,5 @@ WatchedExpression="for_cmdnuc", RefreshRate=5, Window=Watched Data 1
|
||||
WatchedExpression="ai_cmd_from_can", 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="dr16", RefreshRate=5, Window=Watched Data 1
|
||||
WatchedExpression="ai_cmd_from_can", RefreshRate=5, Window=Watched Data 1
|
||||
Loading…
Reference in New Issue
Block a user