diff --git a/User/module/aimbot.c b/User/module/aimbot.c index 48409fe..d5745be 100644 --- a/User/module/aimbot.c +++ b/User/module/aimbot.c @@ -159,36 +159,45 @@ int8_t Aimbot_ParseCmdFromCAN(const Aimbot_Param_t *param, if (param == NULL || result == NULL) return DEVICE_ERR_NULL; BSP_FDCAN_Message_t msg; + int8_t ret = DEVICE_ERR; + if (BSP_FDCAN_GetMessage(param->can, param->cmd_id, &msg, - BSP_FDCAN_TIMEOUT_IMMEDIATE) != 0) { - return DEVICE_ERR; + BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) { + result->mode = msg.data[0]; + + /* 解析 yaw（高 28 位），符号扩展为 int32 */ + int32_t yaw_raw = (int32_t)(((uint32_t)msg.data[1] << 20u) | + ((uint32_t)msg.data[2] << 12u) | + ((uint32_t)msg.data[3] << 4u) | + ((uint32_t)(msg.data[4] >> 4u) & 0xFu)); + if (yaw_raw & 0x08000000) yaw_raw |= (int32_t)0xF0000000; + result->gimbal_t.setpoint.yaw = (float)yaw_raw / AIMBOT_ANGLE_SCALE; + + /* 解析 pit（低 28 位），符号扩展为 int32 */ + int32_t pit_raw = (int32_t)(((uint32_t)(msg.data[4] & 0xFu) << 24u) | + ((uint32_t)msg.data[5] << 16u) | + ((uint32_t)msg.data[6] << 8u) | + (uint32_t)msg.data[7]); + if (pit_raw & 0x08000000) pit_raw |= (int32_t)0xF0000000; + result->gimbal_t.setpoint.pit = (float)pit_raw / AIMBOT_ANGLE_SCALE; + ret = DEVICE_OK; } - result->mode = msg.data[0]; + if (BSP_FDCAN_GetMessage(param->can, param->cmd_id + 1, &msg, + BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) { + memcpy(&result->gimbal_t.vel.yaw, &msg.data[0], 4); + memcpy(&result->gimbal_t.vel.pit, &msg.data[4], 4); + ret = DEVICE_OK; + } - /* 解析 yaw（高 28 位），符号扩展为 int32 */ - int32_t yaw_raw = (int32_t)(((uint32_t)msg.data[1] << 20u) | - ((uint32_t)msg.data[2] << 12u) | - ((uint32_t)msg.data[3] << 4u) | - ((uint32_t)(msg.data[4] >> 4u) & 0xFu)); - if (yaw_raw & 0x08000000) yaw_raw |= (int32_t)0xF0000000; - result->gimbal_t.setpoint.yaw = (float)yaw_raw / AIMBOT_ANGLE_SCALE; + if (BSP_FDCAN_GetMessage(param->can, param->cmd_id + 2, &msg, + BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) { + memcpy(&result->gimbal_t.accl.yaw, &msg.data[0], 4); + memcpy(&result->gimbal_t.accl.pit, &msg.data[4], 4); + ret = DEVICE_OK; + } - /* 解析 pit（低 28 位），符号扩展为 int32 */ - int32_t pit_raw = (int32_t)(((uint32_t)(msg.data[4] & 0xFu) << 24u) | - ((uint32_t)msg.data[5] << 16u) | - ((uint32_t)msg.data[6] << 8u) | - (uint32_t)msg.data[7]); - if (pit_raw & 0x08000000) pit_raw |= (int32_t)0xF0000000; - result->gimbal_t.setpoint.pit = (float)pit_raw / AIMBOT_ANGLE_SCALE; - - /* 速度/加速度前馈由上层板另行扩展，此处置�?*/ - result->gimbal_t.vel.yaw = 0.0f; - result->gimbal_t.vel.pit = 0.0f; - result->gimbal_t.accl.yaw = 0.0f; - result->gimbal_t.accl.pit = 0.0f; - - return DEVICE_OK; + return ret; } /** @@ -217,6 +226,18 @@ void Aimbot_SendCmdOnCAN(const Aimbot_Param_t *param, frame.data[6] = (uint8_t)((pit >> 8) & 0xFF); frame.data[7] = (uint8_t)(pit & 0xFF); + BSP_FDCAN_TransmitStdDataFrame(param->can, &frame); + + /* 第二帧：发速度 */ + frame.id = param->cmd_id + 1; + memcpy(&frame.data[0], &cmd->gimbal_t.vel.yaw, 4); + memcpy(&frame.data[4], &cmd->gimbal_t.vel.pit, 4); + BSP_FDCAN_TransmitStdDataFrame(param->can, &frame); + + /* 第三帧：发加速度 */ + frame.id = param->cmd_id + 2; + memcpy(&frame.data[0], &cmd->gimbal_t.accl.yaw, 4); + memcpy(&frame.data[4], &cmd->gimbal_t.accl.pit, 4); BSP_FDCAN_TransmitStdDataFrame(param->can, &frame); } diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c index 5d77a24..f404a67 100644 --- a/User/module/cmd/cmd.c +++ b/User/module/cmd/cmd.c @@ -159,7 +159,7 @@ static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) { /* 鼠标控制云台 */ ctx->output.gimbal.cmd.delta_yaw = (float)-ctx->input.pc.mouse.x * ctx->timer.dt * sens->mouse_sens; - ctx->output.gimbal.cmd.delta_pit = (float)ctx->input.pc.mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f; + ctx->output.gimbal.cmd.delta_pit = (float)-ctx->input.pc.mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f; CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL); } #endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_GIMBAL */ @@ -232,9 +232,6 @@ static void CMD_NUC_BuildShootCmd(CMD_t *ctx) { /* 根据AI模式决定射击行为 */ switch (ctx->input.nuc.mode) { case 0: - ctx->output.shoot.cmd.ready = false; - ctx->output.shoot.cmd.firecmd = false; - break; case 1: ctx->output.shoot.cmd.ready = true; ctx->output.shoot.cmd.firecmd = false; diff --git a/User/module/config.c b/User/module/config.c index 7f095a8..1f96d6a 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -24,14 +24,10 @@ Config_RobotParam_t robot_config = { .width=1920, .height=1080, }, - .ai_param = { - .can = BSP_FDCAN_2, - .vision_id = 0x104, - }, .aimbot_param = { .can = BSP_FDCAN_2, - .cmd_id = 0x520u, - .fb_base_id = 0x521u, + .cmd_id = 0x520, /* 上层板→下层板 AI指令帧ID (共3帧: 0x520~0x522) */ + .fb_base_id = 0x524, /* 下层板→上层板 反馈起始ID */ }, .imu_param = { .can=BSP_FDCAN_2, @@ -202,6 +198,48 @@ Config_RobotParam_t robot_config = { .range = M_2PI, }, }, + .aimbot = { + .yaw_omega = { + .k = 1.0f,//1 + .p = 1.0f, + .i = 0.3f, + .d = 0.0f, + .i_limit = 1.0f, + .out_limit = 1.0f, + .d_cutoff_freq = -1.0f, + .range = -1.0f, + }, + .yaw_angle = { + .k = 2.0f, + .p = 5.0f, + .i = 0.0f, + .d = 0.0f, + .i_limit = 0.0f, + .out_limit = 10.0f, + .d_cutoff_freq = -1.0f, + .range = M_2PI, + }, + .pit_omega = { + .k = 1.0f,//0.4 + .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, + }, + .pit_angle = { + .k = 3.0f, + .p = 2.0f, + .i = 2.0f, + .d = 0.0f, + .i_limit = 2.0f, + .out_limit = 10.0f, + .d_cutoff_freq = -1.0f, + .range = M_2PI, + }, + }, }, .mech_zero = { .yaw = 0.0f, diff --git a/User/module/config.h b/User/module/config.h index f2f0723..39cb8c5 100644 --- a/User/module/config.h +++ b/User/module/config.h @@ -29,7 +29,6 @@ typedef struct { Track_Params_t track_param; CMD_Config_t cmd_param; GIMBAL_IMU_Param_t imu_param; - AI_Param_t ai_param; Aimbot_Param_t aimbot_param; /* 下层板 ↔ 上层板 CAN 通信参数 */ Referee_Screen_t ref_screen; } Config_RobotParam_t; diff --git a/User/module/gimbal.c b/User/module/gimbal.c index 95e16f9..cd1f200 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -16,7 +16,8 @@ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */ - +#define GIMBAL_YAW_INERTIA 0.05f +#define GIMBAL_PIT_INERTIA 0.03f /** * \brief 设置云台模式 * @@ -39,6 +40,10 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) { PID_Reset(&g->pid.relative.yaw_omega); PID_Reset(&g->pid.relative.pit_angle); PID_Reset(&g->pid.relative.pit_omega); + PID_Reset(&g->pid.aimbot.yaw_angle); + PID_Reset(&g->pid.aimbot.yaw_omega); + PID_Reset(&g->pid.aimbot.pit_angle); + PID_Reset(&g->pid.aimbot.pit_omega); LowPassFilter2p_Reset(&g->filter_out.yaw, 0.0f); LowPassFilter2p_Reset(&g->filter_out.pit, 0.0f); @@ -103,6 +108,15 @@ int8_t Gimbal_Init(Gimbal_t *g, Gimbal_Params_t *param, PID_Init(&(g->pid.relative.pit_omega), KPID_MODE_CALC_D, target_freq, &(g->param->pid.relative.pit_omega)); + PID_Init(&(g->pid.aimbot.yaw_angle), KPID_MODE_SET_D, target_freq, + &(g->param->pid.aimbot.yaw_angle)); + PID_Init(&(g->pid.aimbot.yaw_omega), KPID_MODE_SET_D, target_freq, + &(g->param->pid.aimbot.yaw_omega)); + PID_Init(&(g->pid.aimbot.pit_angle), KPID_MODE_SET_D, target_freq, + &(g->param->pid.aimbot.pit_angle)); + PID_Init(&(g->pid.aimbot.pit_omega), KPID_MODE_SET_D, target_freq, + &(g->param->pid.aimbot.pit_omega)); + LowPassFilter2p_Init(&g->filter_out.yaw, target_freq, g->param->low_pass_cutoff_freq.out); LowPassFilter2p_Init(&g->filter_out.pit, target_freq, @@ -287,30 +301,26 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { break; case GIMBAL_MODE_AI_CONTROL: - /* 位置环 → 速度设定值 + 速度前馈 */ - yaw_omega_set_point = PID_Calc(&(g->pid.absolute.yaw_angle), - g->setpoint.eulr.yaw, - g->feedback.motor.yaw.rotor_abs_angle, - 0.0f, g->dt) - + g_cmd->ff_vel_yaw; - - /* 速度环 + 加速度前馈 → yaw 输出 */ - g->out.yaw = PID_Calc(&(g->pid.absolute.yaw_omega), yaw_omega_set_point, - g->feedback.imu.gyro.z, 0.0f, g->dt) - + g_cmd->ff_accl_yaw; - - /* pit 位置环 → 速度设定值 + 速度前馈 */ - pit_omega_set_point = PID_Calc(&(g->pid.absolute.pit_angle), - g->setpoint.eulr.pit, - g->feedback.motor.pit.rotor_abs_angle, - 0.0f, g->dt) - + g_cmd->ff_vel_pit; - - /* 速度环 + 加速度前馈 → pit 输出 */ - g->out.pit = PID_Calc(&(g->pid.absolute.pit_omega), pit_omega_set_point, - g->feedback.imu.gyro.x, 0.0f, g->dt) - + g_cmd->ff_accl_pit; + /* --- YAW --- */ + // 位置环: Kp * (pos_ref - pos_fdb) + yaw_omega_set_point = PID_Calc(&(g->pid.aimbot.yaw_angle), + g->setpoint.eulr.yaw, + g->feedback.imu.eulr.yaw, 0.0f, g->dt); + // 速度环: Kd * (vel_ref - vel_fdb)，用上位机下发的 yaw_vel 作为前馈参考 + g->out.yaw = PID_Calc(&(g->pid.aimbot.yaw_omega), + yaw_omega_set_point + g_cmd->ff_vel_yaw, + g->feedback.imu.gyro.z, 0.0f, g->dt) + + g_cmd->ff_accl_yaw * GIMBAL_YAW_INERTIA; // 加速度前馈: J * acc + /* --- PITCH --- */ + pit_omega_set_point = PID_Calc(&(g->pid.aimbot.pit_angle), + g->setpoint.eulr.pit, + g->feedback.imu.eulr.pit, 0.0f, g->dt); + g->out.pit = PID_Calc(&(g->pid.aimbot.pit_omega), + pit_omega_set_point + g_cmd->ff_vel_pit, + g->feedback.imu.gyro.x, 0.0f, g->dt) + + g_cmd->ff_accl_pit * GIMBAL_PIT_INERTIA; // 加速度前馈: J * acc + break; /* 输出滤波 */ g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw); g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit); diff --git a/User/module/gimbal.h b/User/module/gimbal.h index cfede90..4754d2c 100644 --- a/User/module/gimbal.h +++ b/User/module/gimbal.h @@ -75,6 +75,13 @@ typedef struct { KPID_Params_t pit_omega; /* pitch轴角速度环PID参数 */ KPID_Params_t pit_angle; /* pitch轴角位置环PID参数 */ } relative; + + struct { + KPID_Params_t yaw_omega; /* yaw轴角速度环PID参数 */ + KPID_Params_t yaw_angle; /* yaw轴角位置环PID参数 */ + KPID_Params_t pit_omega; /* pitch轴角速度环PID参数 */ + KPID_Params_t pit_angle; /* pitch轴角位置环PID参数 */ + } aimbot; } pid; /* 低通滤波器截止频率 */ @@ -145,6 +152,12 @@ typedef struct { KPID_t pit_angle; /* pitch轴角位置环PID */ KPID_t pit_omega; /* pitch轴角速度环PID */ } relative; + struct { + KPID_t yaw_angle; /* yaw轴角位置环PID */ + KPID_t yaw_omega; /* yaw轴角速度环PID */ + KPID_t pit_angle; /* pitch轴角位置环PID */ + KPID_t pit_omega; /* pitch轴角速度环PID */ + } aimbot; } pid; struct { diff --git a/User/module/shoot.c b/User/module/shoot.c index e4de311..bff3e4f 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -183,7 +183,7 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed) s->target_variable.fric_rpm=5000.0f; break; case SHOOT_PROJECTILE_42MM: - s->target_variable.fric_rpm=6500.0f;//6500 + s->target_variable.fric_rpm=5000.0f;//6500 break; } return SHOOT_OK; @@ -966,7 +966,7 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd) s->timer.now = BSP_TIME_Get_us() / 1000000.0f; s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f; s->timer.lask_wakeup = BSP_TIME_Get_us(); - Shoot_CaluTargetRPM(s,233); + // Shoot_CaluTargetRPM(s,233); /* 运行热量检测状态机 */ // Shoot_HeatDetectionFSM(s); diff --git a/User/task/ai.c b/User/task/ai.c index e80e894..71efa0d 100644 --- a/User/task/ai.c +++ b/User/task/ai.c @@ -14,7 +14,6 @@ /* USER INCLUDE BEGIN */ #include "module/aimbot.h" #include "module/config.h" -#include "module/vision_bridge.h" #include "module/gimbal.h" #include "module/shoot.h" #include "device/referee_proto_types.h" @@ -29,7 +28,7 @@ static Aimbot_Param_t aimbot_can; /* CAN 通信参数（从 config 拷贝） */ static Aimbot_FeedbackData_t lower_board_fb; /* 打包好发给上层板的数据 */ static Aimbot_AIResult_t ai_cmd_from_can; /* 上层板下发并传到底板的指令 */ -static AI_cmd_t ai_cmd_for_nuc; /* 转换后发往 cmd.nuc 的指令 */ +static AI_cmd_t for_cmdnuc; /* 转换后发往 cmd.nuc 的指令 */ static Referee_ForAI_t ai_ref; /* 裁判系统转发给 AI 的数据 */ static Shoot_AI_t raw_shoot; /* 发射机构反馈 */ @@ -77,16 +76,16 @@ void Task_ai(void *argument) { /* 4. 解析上层板发来的 AI 指令（非阻塞提取） */ if (Aimbot_ParseCmdFromCAN(&aimbot_can, &ai_cmd_from_can) == DEVICE_OK) { /* 将 Aimbot_AIResult_t 转换为 AI_cmd_t 并推送到 cmd.nuc 队列 */ - ai_cmd_for_nuc.mode = ai_cmd_from_can.mode; - ai_cmd_for_nuc.gimbal.setpoint.yaw = ai_cmd_from_can.gimbal_t.setpoint.yaw; - ai_cmd_for_nuc.gimbal.setpoint.pit = ai_cmd_from_can.gimbal_t.setpoint.pit; - ai_cmd_for_nuc.gimbal.vel.yaw = ai_cmd_from_can.gimbal_t.vel.yaw; - ai_cmd_for_nuc.gimbal.vel.pit = ai_cmd_from_can.gimbal_t.vel.pit; - ai_cmd_for_nuc.gimbal.accl.yaw = ai_cmd_from_can.gimbal_t.accl.yaw; - ai_cmd_for_nuc.gimbal.accl.pit = ai_cmd_from_can.gimbal_t.accl.pit; + for_cmdnuc.mode = ai_cmd_from_can.mode; + for_cmdnuc.gimbal.setpoint.yaw = ai_cmd_from_can.gimbal_t.setpoint.yaw; + for_cmdnuc.gimbal.setpoint.pit = ai_cmd_from_can.gimbal_t.setpoint.pit; + for_cmdnuc.gimbal.vel.yaw = ai_cmd_from_can.gimbal_t.vel.yaw; + for_cmdnuc.gimbal.vel.pit = ai_cmd_from_can.gimbal_t.vel.pit; + for_cmdnuc.gimbal.accl.yaw = ai_cmd_from_can.gimbal_t.accl.yaw; + for_cmdnuc.gimbal.accl.pit = ai_cmd_from_can.gimbal_t.accl.pit; osMessageQueueReset(task_runtime.msgq.cmd.nuc); - osMessageQueuePut(task_runtime.msgq.cmd.nuc, &ai_cmd_for_nuc, 0, 0); + osMessageQueuePut(task_runtime.msgq.cmd.nuc, &for_cmdnuc, 0, 0); } /* USER CODE END */ diff --git a/User/task/cmd.c b/User/task/cmd.c index 8115728..8f469f1 100644 --- a/User/task/cmd.c +++ b/User/task/cmd.c @@ -15,7 +15,6 @@ #include "module/track.h" #include "module/cmd/cmd.h" #include "bsp/fdcan.h" -#include "module/vision_bridge.h" //#define DEAD_AREA 0.05f /* USER INCLUDE END */ @@ -59,7 +58,6 @@ void Task_cmd(void *argument) { uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ /* USER CODE INIT BEGIN */ CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param); - AI_Init(&ai, &Config_GetRobotParam()->ai_param); /* 注册CAN接收ID */ /* USER CODE INIT END */ @@ -71,9 +69,7 @@ void Task_cmd(void *argument) { #elif CMD_RCTypeTable_Index == 1 osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0); #endif - - /* 从CAN2接收AI命令 */ - AI_ParseCmdFromCan( &ai,&cmd_ai); + osMessageQueueGet(task_runtime.msgq.cmd.nuc, &cmd_ai, NULL, 0); #if CMD_ENABLE_SRC_REF /* 从裁判系统读取最新数据（非阻塞） */ diff --git a/User/task/init.c b/User/task/init.c index f423b3b..9835c39 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -73,7 +73,7 @@ void Task_Init(void *argument) { /* AI */ task_runtime.msgq.ai.rawdata_FromGimbal = osMessageQueueNew(2u, sizeof(Gimbal_Feedback_t), NULL); task_runtime.msgq.ai.rawdata_FromIMU = osMessageQueueNew(2u, sizeof(AHRS_Quaternion_t), NULL); - // task_runtime.msgq.ai.rawdata_FromShoot = osMessageQueueNew(2u, sizeof(), NULL); + task_runtime.msgq.ai.rawdata_FromShoot = osMessageQueueNew(2u, sizeof(Shoot_AI_t), NULL); /* cmd.nuc: AI task -> cmd task 的指令队列 */ task_runtime.msgq.cmd.nuc = osMessageQueueNew(2u, sizeof(AI_cmd_t), NULL); /* 裁判系统 */ diff --git a/User/task/user_task.h b/User/task/user_task.h index a872350..022dfd3 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -78,7 +78,6 @@ typedef struct { }track; struct{ osMessageQueueId_t rc; - osMessageQueueId_t pc; osMessageQueueId_t nuc; osMessageQueueId_t ref; }cmd; diff --git a/ozone/hero.jdebug.user b/ozone/hero.jdebug.user index 29f8293..6466f97 100644 --- a/ozone/hero.jdebug.user +++ b/ozone/hero.jdebug.user @@ -1,22 +1,29 @@ -OpenDocument="referee_proto_types.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/referee_proto_types.h", Line=15 +GraphedExpression="((((gimbal).feedback).imu).eulr).pit", Color=#e56a6f +GraphedExpression="((((gimbal).feedback).imu).eulr).yaw", Color=#35792b +GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).yaw", Color=#769dda +GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).pit", Color=#b14f0d +OpenDocument="gimbal.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/gimbal.h", Line=57 +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="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=0 +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="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="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="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_shoot.c", Line=0 +OpenDocument="ai.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ai.c", Line=30 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="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60 +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 @@ -38,14 +45,14 @@ 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="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=589, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 +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=340, 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=589, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +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="1157;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1164;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 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;464] @@ -54,8 +61,8 @@ TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols 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"], ColWidths=[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;100;100;100;100;110;126;126] +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="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 @@ -73,4 +80,8 @@ WatchedExpression="imu_to_can", RefreshRate=5, Window=Watched Data 1 WatchedExpression="ref", RefreshRate=5, Window=Watched Data 1 WatchedExpression="rxbuf", RefreshRate=5, Window=Watched Data 1 WatchedExpression="shoot_ref", RefreshRate=5, Window=Watched Data 1 -WatchedExpression="gimbal_cmd", RefreshRate=5, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="gimbal_cmd", RefreshRate=5, Window=Watched Data 1 +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 \ No newline at end of file