122

修复ai,关闭cap
Fix DR16 cache invalidation and UART IRQ hooking
2026-03-19 16:49:57 +08:00 · 2026-03-18 22:21:50 +08:00 · 2026-03-17 08:41:41 +08:00
19 changed files with 217 additions and 139 deletions
--- a/Core/Inc/stm32h7xx_it.h
+++ b/Core/Inc/stm32h7xx_it.h
@ -54,6 +54,7 @@ void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void DMA1_Stream0_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
+void DMA1_Stream3_IRQHandler(void);
 void FDCAN1_IT0_IRQHandler(void);
 void FDCAN2_IT0_IRQHandler(void);
 void FDCAN1_IT1_IRQHandler(void);
@ -64,7 +65,6 @@ void EXTI15_10_IRQHandler(void);
 void UART5_IRQHandler(void);
 void DMA2_Stream1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
-void DMA2_Stream5_IRQHandler(void);
 void USART10_IRQHandler(void);
 void FDCAN3_IT0_IRQHandler(void);
 void FDCAN3_IT1_IRQHandler(void);
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@ -50,15 +50,15 @@ void MX_DMA_Init(void)
  /* DMA1_Stream1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
+  /* DMA1_Stream3_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
  /* DMA2_Stream1_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
  /* DMA2_Stream2_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
-  /* DMA2_Stream5_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);

 }

--- a/Core/Src/stm32h7xx_it.c
+++ b/Core/Src/stm32h7xx_it.c
@ -198,6 +198,20 @@ void DMA1_Stream1_IRQHandler(void)
  /* USER CODE END DMA1_Stream1_IRQn 1 */
 }

+/**
+  * @brief This function handles DMA1 stream3 global interrupt.
+  */
+void DMA1_Stream3_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_uart5_rx);
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 1 */
+}
+
 /**
  * @brief This function handles FDCAN1 interrupt 0.
  */
@ -304,7 +318,8 @@ void EXTI15_10_IRQHandler(void)
 void UART5_IRQHandler(void)
 {
  /* USER CODE BEGIN UART5_IRQn 0 */
-
+#include "bsp/uart.h"
+  BSP_UART_IRQHandler(&huart5);
  /* USER CODE END UART5_IRQn 0 */
  HAL_UART_IRQHandler(&huart5);
  /* USER CODE BEGIN UART5_IRQn 1 */
@ -340,20 +355,6 @@ void DMA2_Stream2_IRQHandler(void)
  /* USER CODE END DMA2_Stream2_IRQn 1 */
 }

-/**
-  * @brief This function handles DMA2 stream5 global interrupt.
-  */
-void DMA2_Stream5_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream5_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_uart5_rx);
-  /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream5_IRQn 1 */
-}
-
 /**
  * @brief This function handles USART10 global interrupt.
  */
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@ -46,7 +46,7 @@ void MX_UART5_Init(void)
  huart5.Init.WordLength = UART_WORDLENGTH_9B;
  huart5.Init.StopBits = UART_STOPBITS_1;
  huart5.Init.Parity = UART_PARITY_EVEN;
-  huart5.Init.Mode = UART_MODE_TX_RX;
+  huart5.Init.Mode = UART_MODE_RX;
  huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart5.Init.OverSampling = UART_OVERSAMPLING_16;
  huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
@ -163,7 +163,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)

    /* UART5 DMA Init */
    /* UART5_RX Init */
-    hdma_uart5_rx.Instance = DMA2_Stream5;
+    hdma_uart5_rx.Instance = DMA1_Stream3;
    hdma_uart5_rx.Init.Request = DMA_REQUEST_UART5_RX;
    hdma_uart5_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
    hdma_uart5_rx.Init.PeriphInc = DMA_PINC_DISABLE;
--- a/User/device/buzzer.c
+++ b/User/device/buzzer.c
@ -38,6 +38,18 @@ const Tone_t NOKIA[] = {
    {NOTE_B, 4, 125}, {NOTE_A, 4, 125}, {NOTE_CS, 4, 250}, {NOTE_E, 4, 250},
    {NOTE_A, 4, 500}
 };
+
+// 蔡徐坤 - 只因你太美(副歌高潮段落)
+const Tone_t JNTM[] = {
+    {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
+    {NOTE_C, 5, 150}, {NOTE_A, 4, 300}, {NOTE_REST, 0, 150},                                  // ba by ~
+    {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
+    {NOTE_C, 5, 150}, {NOTE_A, 4, 300}, {NOTE_REST, 0, 150},                                  // ba by ~
+    {NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_C, 5, 150},                   // 只 因 你 实
+    {NOTE_D, 5, 150}, {NOTE_E, 5, 150}, {NOTE_D, 5, 150}, {NOTE_C, 5, 150}, {NOTE_D, 5, 300}, // 在 是 太 美
+    {NOTE_C, 5, 150}, {NOTE_A, 4, 300}, {NOTE_REST, 0, 150},                                  // ba by ~
+    {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 ~
+};
 /* USER MUSIC MENU END */

 static void BUZZER_Update(BUZZER_t *buzzer){
@ -149,6 +161,10 @@ int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music) {
            melody = NOKIA;
            melody_length = sizeof(NOKIA) / sizeof(Tone_t);
            break;
+        case MUSIC_JNTM:
+            melody = JNTM;
+            melody_length = sizeof(JNTM) / sizeof(Tone_t);
+            break;
        default:
            return DEVICE_ERR;
    }
--- a/User/device/buzzer.h
+++ b/User/device/buzzer.h
@ -68,6 +68,7 @@ typedef enum {
  /* USER MUSIC MENU BEGIN */
  MUSIC_RM,     ///< RM战队音乐
  MUSIC_NOKIA,  ///< 诺基亚经典铃声
+  MUSIC_JNTM,   ///< 只因你太美
  /* USER MUSIC MENU END */
 } MUSIC_t;

--- a/User/device/dr16.c
+++ b/User/device/dr16.c
@ -30,6 +30,7 @@
 #define DR16_CH_VALUE_MIN (364u)
 #define DR16_CH_VALUE_MID (1024u)
 #define DR16_CH_VALUE_MAX (1684u)
+//#define DR16_FRAME_SIZE   (18u)  // DR16数据帧固定18字节

 /* USER DEFINE BEGIN */

@ -41,25 +42,29 @@

 static osThreadId_t thread_alert;
 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  -------------------------------------------------------- */
 static void DR16_RxCpltCallback(void) {
  osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
 }

-/**
- * @brief 空闲中断回调 - 用于帧同步
- * 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。
- */
-static void DR16_IdleCallback(void) {
-  /* 停止当前DMA接收（无论收了多少字节） */
-  HAL_UART_AbortReceive(BSP_UART_GetHandle(BSP_UART_RC));
-  /* 通知任务：可以启动下一次对齐的接收了 */
-  osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY);
-}
+//static void DR16_ErrorCallback(void) {
+//  UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_RC);
+//  
+//  // 清除所有错误标志（包括FIFO错误）
+//  __HAL_UART_CLEAR_OREFLAG(huart);
+//  __HAL_UART_CLEAR_NEFLAG(huart);
+//  __HAL_UART_CLEAR_FEFLAG(huart);
+//  __HAL_UART_CLEAR_PEFLAG(huart);
+//  
+//  // 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) {
  if (dr16 == NULL) return DEVICE_ERR_NULL;
@ -93,57 +98,47 @@ int8_t DR16_Init(DR16_t *dr16) {
  if (inited) return DEVICE_ERR_INITED;
  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,
                            DR16_RxCpltCallback);
-
-  /* 注册空闲中断回调并使能空闲中断，用于帧同步 */
-  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);
+//  BSP_UART_RegisterCallback(BSP_UART_RC, BSP_UART_ERROR_CB,
+//                            DR16_ErrorCallback);

  inited = true;
  return DEVICE_OK;
 }

 int8_t DR16_Restart(void) {
-  UART_HandleTypeDef *huart = 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);
-
+  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_RC));
+  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_RC));
  return DEVICE_OK;
 }

 int8_t DR16_StartDmaRecv(DR16_t *dr16) {
-  if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_RC),
-                           (uint8_t *)&(dr16->raw_data),
+  UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_RC);
+  
+//  // 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)
-    return DEVICE_OK;
+    return DEVICE_OK;                 
  return DEVICE_ERR;
 }

@ -155,9 +150,17 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
 int8_t DR16_ParseData(DR16_t *dr16){
  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
+//  // D-Cache按32字节对齐，需要对齐处理
+//  uint32_t addr = (uint32_t)&(dr16->raw_data);
+//  uint32_t size = sizeof(dr16->raw_data);
+//  // 向下对齐到32字节边界
+//  uint32_t aligned_addr = addr & ~0x1FU;
+//  // 计算对齐后的大小
+//  uint32_t aligned_size = ((size + (addr - aligned_addr) + 31) & ~0x1FU);
+//  SCB_InvalidateDCache_by_Addr((uint32_t *)aligned_addr, aligned_size);
+
  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;
  }

--- a/User/module/aimbot.c
+++ b/User/module/aimbot.c
@ -91,9 +91,10 @@ int8_t Aimbot_Init(Aimbot_Param_t *param) {
  BSP_FDCAN_Init();

  /* 注册 AI 指令帧队列（下层板接收／上层板发送） */
-  BSP_FDCAN_RegisterId(param->can, param->cmd_id,
-                     BSP_FDCAN_DEFAULT_QUEUE_SIZE);
-
+  for (uint8_t i = 0; i < 3; i++) {
+    BSP_FDCAN_RegisterId(param->can, param->cmd_id + i,
+                       10);
+  }
  /* 注册反馈数据帧队列（上层板接收／下层板发送） */
  for (uint8_t i = 0; i < AIMBOT_FB_FRAME_NUM; i++) {
    BSP_FDCAN_RegisterId(param->can, param->fb_base_id + i,
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@ -41,7 +41,7 @@ void Task(void *argument) {
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 #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 */
 #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 -------------------------------------------------------- */
 static bool last_firecmd;

-float maxTrigrpm=4000.0f;
+
 /* Private function  -------------------------------------------------------- */

 /**
@ -183,8 +183,8 @@ 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=5000.0f;//6500
-		break;	
+		s->target_variable.fric_rpm=4000.0f;//6500
+		break;	 
 	}
    return SHOOT_OK;
 }
@ -201,6 +201,12 @@ static int8_t Shoot_UpdateHeatControl(Shoot_t *s)
    if (s == 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 */
    s->heatcontrol.Hres = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused;
@ -287,6 +293,10 @@ static int8_t Shoot_FuseHeatData(Shoot_t *s)
    if (s == 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） */
    if (s->heatcontrol.Hmax > 0.0f && s->heatcontrol.Hnow >= 0.0f) {
@ -319,6 +329,11 @@ static int8_t Shoot_CalcAvailableShots(Shoot_t *s)
    if (s == 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 */
    float heat_available = s->heatcontrol.Hmax - s->heatcontrol.Hnow_fused;
@ -346,6 +361,12 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
    if (s == 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) {
        case SHOOT_HEAT_DETECT_IDLE:
@ -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 */
-    if (!s->param->heatControl.enable) {
+    if (!s->param->heatControl.enable || !s->heatcontrol.ref_online) {
        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)
 {
-    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; 
    }
    
@ -513,16 +534,19 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
    float actual_freq = Shoot_CaluFreqByHeat(s);
    
    /* 检查可发射弹丸数是否满足安全余量 */
-    if (s->param->heatControl.enable && s->heatcontrol.shots_available <= s->param->heatControl.safe_shots) {
+    if (s->param->heatControl.enable  &&
+        s->heatcontrol.shots_available <= s->param->heatControl.safe_shots) {
        actual_freq = 0.0f; /* 禁止发弹 */
    }

    float dt = s->timer.now - s->var_trig.time_lastShoot;
 	  float dpos;
+    float dpos_abs;
    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 */
-    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;
        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.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;
    
@ -720,6 +744,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                else if(last_firecmd==false&&cmd->firecmd==true)
                    {
                        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 */
                        switch(s->mode)
                        {
@ -786,6 +811,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                    {
                      s->running_state=SHOOT_STATE_READY;
 						          pos=s->var_trig.trig_agl;
+                                            s->target_variable.trig_angle = pos;
                      s->var_trig.num_toShoot=0;
                    }
                break;
@ -849,7 +875,10 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                /* 清空待发射弹 */
                s->var_trig.num_toShoot=0;
                /* 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 */
                s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL;
                /* 记录处理开始时间 */
@ -900,7 +929,7 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
            KPID_MODE_CALC_D, 
            target_freq,
            &param->pid.fric_follow);
-	    PID_Init(&s->pid.fric_err[i], 
+	      PID_Init(&s->pid.fric_err[i], 
            KPID_MODE_CALC_D, 
            target_freq,
            &param->pid.fric_err);
--- a/User/module/shoot.h
+++ b/User/module/shoot.h
@ -102,6 +102,7 @@ typedef struct {
 }Shoot_JamDetection_t;

 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 */
  float Hmax;  // 热量上限
  float Hcd;   // 热量冷却速度
--- a/User/module/track.c
+++ b/User/module/track.c
@ -12,6 +12,7 @@
 #include "bsp/time.h"
 #include "component/filter/filter.h"
 #include "component/user_math.h"
+#include "device/motor_dm.h"
 #include "module/chassis.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
@ -102,6 +103,8 @@ uint8_t Track_UpdateFeedback(Track_t *t)
    if (t == NULL) {
        return TRACK_ERR_NULL; // 参数错误
    }
+    MOTOR_DM_Enable(&t->param->motor[0]);
+    MOTOR_DM_Enable(&t->param->motor[1]);
    for (int i=0; i<TRACK_MOTOR_NUM; i++) {
        MOTOR_DM_Update(&t->param->motor[i]);
        MOTOR_DM_t *rm_motor = MOTOR_DM_GetMotor(&t->param->motor[i]);
--- a/User/task/blink.c
+++ b/User/task/blink.c
@ -35,6 +35,8 @@ void Task_blink(void *argument) {
  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  /* USER CODE INIT BEGIN */
  BUZZER_Init(&buzzer, BSP_PWM_BUZZER);
+    BUZZER_PlayMusic(&buzzer, MUSIC_NOKIA);
+
  /* USER CODE INIT END */
  
  while (1) {
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@ -63,7 +63,7 @@ void Task_ctrl_chassis(void *argument) {
    /* 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 */
    float power_limit = (chassis_ref.ref_status == REF_STATUS_RUNNING)
                        ? chassis_ref.chassis_power_limit
-                        : 500.0f;
+                        : 80.0f;
    Chassis_Power_Control(&chassis, power_limit);
    
    Chassis_Output(&chassis);
--- a/User/task/ctrl_shoot.c
+++ b/User/task/ctrl_shoot.c
@ -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 */
    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.Hcd  = (float)shoot_ref.robot_status.shooter_barrel_cooling_value;
      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 */
+    } else {
+      shoot.heatcontrol.ref_online = false;
+      shoot.heatcontrol.Hmax = 0.0f;
+      shoot.heatcontrol.Hcd = 0.0f;
+      shoot.heatcontrol.Hnow = 0.0f;
    }

 	  Shoot_UpdateFeedback(&shoot);
--- a/User/task/rc.c
+++ b/User/task/rc.c
@ -28,7 +28,7 @@
 AT9S_t at9s;
 #endif
 #ifdef DR16
-// 将DR16变量放到RAM_D1 (0x24000000)，用于DMA传输
+// 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
 // __attribute__((section(".ram_d1"))) __attribute__((aligned(32))) 
 DR16_t dr16;
 static DR16_SwitchPos_t last_sw_l = DR16_SW_ERR;  /* 记录左拨杆上一次状态 */
@ -73,7 +73,7 @@ void Task_rc(void *argument) {
    #endif
    #ifdef DR16
    // 等待DMA接收完成
-    if (DR16_WaitDmaCplt(20)) {
+    if (DR16_WaitDmaCplt(100)) {
      DR16_ParseData(&dr16);
    } else {
      DR16_Offline(&dr16);
@ -87,7 +87,7 @@ void Task_rc(void *argument) {
      /* 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 */
      if (
         dr16.data.sw_l == DR16_SW_UP &&
-          last_sw_l != DR16_SW_UP) {
+          last_sw_l != DR16_SW_UP && last_sw_l != DR16_SW_ERR) {
          reset=!reset; 
      }
      last_sw_l = dr16.data.sw_l;  /* 更新拨杆状态 */
@ -95,6 +95,6 @@ void Task_rc(void *argument) {
    #endif
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
-  }
+  } 
  
 }
--- a/User/task/supercap.c
+++ b/User/task/supercap.c
@ -32,15 +32,15 @@ void Task_supercap(void *argument) {

  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  /* USER CODE INIT BEGIN */
-  SuperCap_Init();
+  // SuperCap_Init();

-  SuperCap_CanTX.Enable = 1 ;                 //超级电容使能。1使能，0失能
+  // SuperCap_CanTX.Enable = 1 ;                 //超级电容使能。1使能，0失能

-   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
+  //  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

-   SuperCap_CanTX.Powerlimit = 120 ;          //裁判系统功率限制
+  //  SuperCap_CanTX.Powerlimit = 120 ;          //裁判系统功率限制

-   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
+  //  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

  /* USER CODE INIT END */
  
@ -48,14 +48,14 @@ void Task_supercap(void *argument) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
    /* 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 */
-    osMessageQueueGet(task_runtime.msgq.cap.ref, &cap_ref, NULL, 0);
-    if (cap_ref.ref_status == REF_STATUS_RUNNING && cap_ref.chassis_power_limit > 0.0f) {
-        SuperCap_CanTX.Powerlimit = (uint8_t)cap_ref.chassis_power_limit;
-    }
+    // osMessageQueueGet(task_runtime.msgq.cap.ref, &cap_ref, NULL, 0);
+    // if (cap_ref.ref_status == REF_STATUS_RUNNING && cap_ref.chassis_power_limit > 0.0f) {
+    //     SuperCap_CanTX.Powerlimit = (uint8_t)cap_ref.chassis_power_limit;
+    // }

-        SuperCap_Update();
+    //     SuperCap_Update();

-        CAN_TX_SuperCapData(&SuperCap_CanTX);
+    //     CAN_TX_SuperCapData(&SuperCap_CanTX);

    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
--- a/hero_DM02.ioc
+++ b/hero_DM02.ioc
@ -49,7 +49,7 @@ Dma.SPI2_TX.1.SyncSignalID=NONE
 Dma.UART5_RX.2.Direction=DMA_PERIPH_TO_MEMORY
 Dma.UART5_RX.2.EventEnable=DISABLE
 Dma.UART5_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.UART5_RX.2.Instance=DMA2_Stream5
+Dma.UART5_RX.2.Instance=DMA1_Stream3
 Dma.UART5_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
 Dma.UART5_RX.2.MemInc=DMA_MINC_ENABLE
 Dma.UART5_RX.2.Mode=DMA_NORMAL
@ -231,9 +231,9 @@ MxDb.Version=DB.6.0.150
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream2_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
-NVIC.DMA2_Stream5_IRQn=true\:5\:0\:true\:false\:true\:false\:false\:true\:true
+NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@ -493,7 +493,7 @@ SPI6.Mode=SPI_MODE_MASTER
 SPI6.VirtualType=VM_MASTER
 TIM12.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM12.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period
-TIM12.Period=2500-1
+TIM12.Period=2000-1
 TIM12.Prescaler=24-1
 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period
@ -503,7 +503,7 @@ UART5.BaudRate=100000
 UART5.DMADisableonRxErrorParam=UART_ADVFEATURE_DMA_ENABLEONRXERROR
 UART5.FIFOMode=FIFOMODE_DISABLE
 UART5.IPParameters=Mode,BaudRate,Parity,StopBits,WordLength,DMADisableonRxErrorParam,OverrunDisableParam,FIFOMode
-UART5.Mode=MODE_TX_RX
+UART5.Mode=MODE_RX
 UART5.OverrunDisableParam=UART_ADVFEATURE_OVERRUN_ENABLE
 UART5.Parity=PARITY_EVEN
 UART5.StopBits=UART_STOPBITS_1
--- a/ozone/hero.jdebug.user
+++ b/ozone/hero.jdebug.user
@ -1,74 +1,87 @@


-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
+
+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, 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="((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="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="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="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/task/supercap.c", Line=15
+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=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="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=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="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;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="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"
-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";" ((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;100;100;100;100;110;126;126]
 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
 WatchedExpression="chassis", 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", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
@ -84,4 +97,6 @@ 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
+WatchedExpression="shoot_forai", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="dr16", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="  ", Window=Watched Data 1
--- a/tmp.txt
+++ b/tmp.txt
Author	SHA1	Message	Date
xxxxm	0e087f0112	122	2026-03-19 16:49:57 +08:00
xxxxm	3304c05382	修复ai,关闭cap	2026-03-18 22:21:50 +08:00
xxxxm	acecad0555	Fix DR16 cache invalidation and UART IRQ hooking	2026-03-17 08:41:41 +08:00