xm/god-yuan-hero
xm/god-yuan-hero
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This commit is contained in:
yxming66 2026-01-04 02:02:46 +08:00
parent beb8d5a0cc
commit 579857c898
4 changed files with 35 additions and 24 deletions
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2
User/module/cmd_v2/cmd.c
View File

@ -199,7 +199,7 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
}
/* 自动仲裁：优先级 PC > RC > NUC */
CMD_InputSource_t candidates[] = {CMD_SRC_PC, CMD_SRC_RC, CMD_SRC_NUC};
CMD_InputSource_t candidates[] = {CMD_SRC_RC, CMD_SRC_PC, CMD_SRC_NUC};
const int num_candidates = sizeof(candidates) / sizeof(candidates[0]);
/* 如果当前输入源仍然在线且有效，保持使用 */

10
User/task/ctrl_chassis.c
View File

@ -20,7 +20,7 @@
Chassis_t chassis;
Chassis_CMD_t chassis_cmd;
Chassis_IMU_t chassis_imu;
float max =50;
float max =400;
Track_t track;
/* USER STRUCT END */
@ -43,6 +43,11 @@ void Task_ctrl_chassis(void *argument) {
Chassis_Init(&chassis, &cfg->chassis_param, (float)CTRL_CHASSIS_FREQ);
Track_Init(&track, &cfg->track_param, (float)CTRL_CHASSIS_FREQ);
chassis.mech_zero=0.57f;
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_15, GPIO_PIN_SET);
/* USER CODE INIT END */
while (1) {
@ -55,11 +60,12 @@ void Task_ctrl_chassis(void *argument) {
Chassis_UpdateFeedback(&chassis);
Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
Chassis_Power_Control(&chassis,max);
// Chassis_Power_Control(&chassis,max);
Chassis_Output(&chassis);
Track_UpdateFeedback(&track);
// Track_Control(&track, NULL );
Track_AutoControl(&track,&chassis);
Track_Output(&track);

41
ozone/hero.jdebug.user
View File

@ -4,12 +4,12 @@
Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd_adapter.c:32, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd.c:249:16, State=BP_STATE_DISABLED
GraphedExpression="(cmd).active_source", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#e56a6f
GraphedExpression="(((cmd).output).chassis).source", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#35792b
GraphedExpression="((((cmd).input).pc).keyboard).bitmap", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#769dda, Show=0
GraphedExpression="((dr16).raw_data).key", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#b14f0d, Show=0
OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1614
GraphedExpression="(((cmd).output).chassis).source", Color=#35792b
GraphedExpression="((((cmd).input).pc).keyboard).bitmap", Color=#769dda, Show=0
GraphedExpression="((dr16).raw_data).key", Color=#b14f0d, Show=0
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=22
OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32f407xx.s", Line=48
OpenDocument="memcpy.c", FilePath="/build/gnu-tools-for-stm32_13.3.rel1.20250523-0900/src/newlib/newlib/libc/string/memcpy.c", Line=0
OpenDocument="dma.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/dma.c", Line=21
OpenDocument="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_shoot.c", Line=2
OpenDocument="pid.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/pid.h", Line=60
@ -19,29 +19,29 @@ OpenDocument="time.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/time.c",
OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419
OpenDocument="queue.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=1425
OpenDocument="cmd_adapter.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd_adapter.c", Line=88
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd.c", Line=81
OpenDocument="ctrl_chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_chassis.c", Line=23
OpenDocument="cmd_behavior.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd_behavior.c", Line=43
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=28
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd_v2/cmd.c", Line=70
OpenDocument="rc.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/rc.c", Line=0
OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1614
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=509, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=506, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=409, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=509, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=412, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=506, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=984, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=1575, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="91;96", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1630;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="1581;0"
OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=1575, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="91;96", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1368;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1384;0"
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=984, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;294]
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;798]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1014]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (cmd).active_source";" (((cmd).output).chassis).source";" ((((cmd).input).pc).keyboard).bitmap";" ((dr16).raw_data).key"], 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;234;100;100;100;124;110;144;126]
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;462]
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="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;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;1014]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (cmd).active_source";" (((cmd).output).chassis).source";" ((((cmd).input).pc).keyboard).bitmap";" ((dr16).raw_data).key"], 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;234;100;100;100;134;110;126;126]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;366]
WatchedExpression="dr16", RefreshRate=5, Window=Watched Data 1
WatchedExpression="cmd_dr16", RefreshRate=5, Window=Watched Data 1
@ -54,3 +54,8 @@ WatchedExpression="last_shift", Window=Watched Data 1
WatchedExpression="now_shift", Window=Watched Data 1
WatchedExpression="last_v", Window=Watched Data 1
WatchedExpression="now_v", Window=Watched Data 1
WatchedExpression="track", RefreshRate=5, Window=Watched Data 1
WatchedExpression="chassis", RefreshRate=5, Window=Watched Data 1
WatchedExpression="chassis_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="cmd_for_chassis", RefreshRate=5, Window=Watched Data 1
WatchedExpression="cmd", Window=Watched Data 1