xm/shoot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

添加了卡弹检测，测试了六摩擦轮同时转但err环输出0

Browse Source
This commit is contained in:
yxming66 2025-10-02 23:15:02 +08:00
parent c38f98faac
commit 67d9a10647
18 changed files with 3443 additions and 3273 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

428
MDK-ARM/shoot.uvguix.yxm23
View File

File diff suppressed because one or more lines are too long

BIN
MDK-ARM/shoot/config.o
View File

Binary file not shown.

BIN
MDK-ARM/shoot/shoot.axf
View File

Binary file not shown.

6
MDK-ARM/shoot/shoot.build_log.htm
View File

@ -22,16 +22,12 @@ Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\CUBEMX\shoot\MDK-ARM\shoot.uvprojx
Project File Date: 09/30/2025
Project File Date: 10/02/2025
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
Build target 'shoot'
Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'.
compiling shoot_control.c...
linking...
Program Size: Code=32304 RO-data=660 RW-data=196 ZI-data=22068
FromELF: creating hex file...
"shoot\shoot.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>

2661
MDK-ARM/shoot/shoot.hex
View File

File diff suppressed because it is too large Load Diff

1473
MDK-ARM/shoot/shoot.htm
View File

File diff suppressed because it is too large Load Diff

1897
MDK-ARM/shoot/shoot.map
View File

File diff suppressed because it is too large Load Diff

BIN
MDK-ARM/shoot/shoot_control.o
View File

Binary file not shown.

BIN
MDK-ARM/shoot/shoot_ctrl.o
View File

Binary file not shown.

16
MDK-ARM/shoot/shoot_shoot.dep
View File

@ -1268,7 +1268,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\User\bsp\bsp.h)(0x68D3FFDB)
F (..\User\device\AT9S_Pro.h)(0x68CE6AC0)()
F (..\User\component\user_math.c)(0x68DD1413)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_math.o -MD)
F (..\User\component\user_math.c)(0x68DE7D66)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_math.o -MD)
I (..\User\component\user_math.h)(0x68D3FFDB)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@ -1309,8 +1309,8 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\pid.h)(0x68DD0ECB)()
F (..\User\module\shoot_control.c)(0x68DD4CBD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD)
I (..\User\module\shoot_control.h)(0x68DD29DA)
F (..\User\module\shoot_control.c)(0x68DE9081)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD)
I (..\User\module\shoot_control.h)(0x68DE8F09)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1367,8 +1367,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68D3FFDB)
F (..\User\module\shoot_control.h)(0x68DD29DA)()
F (..\User\module\config.c)(0x68DD4776)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD)
F (..\User\module\shoot_control.h)(0x68DE8F09)()
F (..\User\module\config.c)(0x68DE90D3)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD)
I (..\User\module\config.h)(0x68DABE70)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68DD0ECB)
@ -1424,7 +1424,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\User\module\shoot_control.h)(0x68DD29DA)
I (..\User\module\shoot_control.h)(0x68DE8F09)
F (..\User\module\config.h)(0x68DABE70)()
F (..\User\task\init.c)(0x68D4AE2D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/init.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9)
@ -1468,7 +1468,7 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68D400B4)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
F (..\User\task\shoot_ctrl.c)(0x68DC9C9B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_ctrl.o -MD)
F (..\User\task\shoot_ctrl.c)(0x68DE6A16)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_ctrl.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -1489,7 +1489,7 @@ I (..\User\component\user_math.h)(0x68D3FFDB)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68D400B4)
I (..\User\module\shoot_control.h)(0x68DD29DA)
I (..\User\module\shoot_control.h)(0x68DE8F09)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)

BIN
MDK-ARM/shoot/user_math.o
View File

Binary file not shown.

1
Ozone/shoot.jdebug
View File

@ -32,7 +32,6 @@ void OnProjectLoad (void) {
//
// User settings
//
Edit.SysVar (VAR_HSS_SPEED, "100 Hz");
Project.SetOSPlugin ("FreeRTOSPlugin_Cortex-M");
File.Open ("D:/CUBEMX/shoot/MDK-ARM/shoot/shoot.axf");
Util.Error("==== 脚本已加载，路径请看标题栏", 0);

29
Ozone/shoot.jdebug.user
View File

@ -4,23 +4,24 @@
Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:145:32, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:148:22, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:114, State=BP_STATE_DISABLED
GraphedExpression="((shoot).output).outomg_trig", Color=#e56a6f, Show=0
GraphedExpression="((shoot).target_variable).target_angle", Color=#e56a6f
GraphedExpression="((shoot).output).outagl_trig", Color=#35792b, Show=0
GraphedExpression="((shoot).target_variable).target_angle", Color=#769dda
GraphedExpression="((shoot).feedback).trig_angle_cicle", Color=#b14f0d
GraphedExpression="((shoot).output).outomg_trig", Color=#769dda, Show=0
GraphedExpression="((shoot).output).outlpf_trig", Color=#b14f0d, Show=0
GraphedExpression="(((shoot).feedback).trig).torque_current", Color=#b3c38e, Show=0
OpenDocument="motor.h", FilePath="D:/CUBEMX/shoot/User/device/motor.h", Line=0
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3652
GraphedExpression="((shoot).feedback).trig_angle_cicle", Color=#ab7b05
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3617
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161
OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=66
OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/shoot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1558
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=42
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=111
OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=39
OpenDocument="queue.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=854
OpenDocument="filter.c", FilePath="D:/CUBEMX/shoot/User/component/filter.c", Line=49
OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=1
OpenDocument="rc.c", FilePath="D:/CUBEMX/shoot/User/task/rc.c", Line=0
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=44
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=191
OpenDocument="motor.h", FilePath="D:/CUBEMX/shoot/User/device/motor.h", Line=0
OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=120
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=0, w=726, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
@ -28,20 +29,20 @@ OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopO
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=0, w=726, h=919, 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=0, y=0, w=1007, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="100 ms / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="927;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1328;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1344;0"
OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="200 ms / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="668;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1328;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1344;0"
OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=1007, 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=[100;144;456]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;294]
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;286]
TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
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;734]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((shoot).output).outomg_trig";" ((shoot).output).outagl_trig";" ((shoot).target_variable).target_angle";" ((shoot).feedback).trig_angle_cicle";" (((shoot).feedback).trig).torque_current"], ColWidths=[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;100;134;134;124;144;110;126;126]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;103]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((shoot).target_variable).target_angle";" ((shoot).output).outagl_trig";" ((shoot).output).outomg_trig";" ((shoot).output).outlpf_trig";" (((shoot).feedback).trig).torque_current";" ((shoot).feedback).trig_angle_cicle"], ColWidths=[100;100;100;100;100;100;100;307]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;144;134;144;144;110;154;144]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1
WatchedExpression="a", Window=Watched Data 1
WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1

15
User/component/user_math.c
View File

@ -48,11 +48,11 @@ inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); }
/**
* \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值
* 例如编码器：相差1.5PI其实等于相差-0.5PI
* \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
*例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
*
* \param sp 被操作的值
* \param fb 变化量
* \param sp 设定值
* \param fb 反馈值
* \param range 被操作的值变化范围，正数时起效
*
* \return 函数运行结果
@ -70,9 +70,12 @@ inline float CircleError(float sp, float fb, float range) {
return error;
}
/**
* \brief 循环加法，用于没有负数值，并在一定范围内变化的值
* 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI
* \brief 循环加法，适用于被操作的值在（x,y）范围内循环的情况，range应设定为y-x
* 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
*
* \param origin 被操作的值
* \param delta 变化量

43
User/module/config.c
View File

@ -22,12 +22,13 @@ Config_RobotParam_t robot_config = {
.trig_step_angle=M_2PI/8,
.shot_delay_time=0.2f,
.shot_burst_num=4,
.jam_threshold=120.0f,
.jam_suspected_time=0.5f,
.fric_motor_param[0] = {
.can = BSP_CAN_2,
.id = 0x201,
.module = MOTOR_M3508,
.reverse = false,
.reverse = true,
.gear=false,
},
.fric_motor_param[1] = {
@ -37,9 +38,37 @@ Config_RobotParam_t robot_config = {
.reverse = true,
.gear=false,
},
.trig_motor_param = {
.fric_motor_param[2] = {
.can = BSP_CAN_2,
.id = 0x203,
.module = MOTOR_M3508,
.reverse = true,
.gear=false,
},
.fric_motor_param[3] = {
.can = BSP_CAN_2,
.id = 0x204,
.module = MOTOR_M3508,
.reverse = true,
.gear=false,
},
.fric_motor_param[4] = {
.can = BSP_CAN_2,
.id = 0x205,
.module = MOTOR_M3508,
.reverse = false,
.gear=false,
},
.fric_motor_param[5] = {
.can = BSP_CAN_2,
.id = 0x206,
.module = MOTOR_M3508,
.reverse = false,
.gear=false,
},
.trig_motor_param = {
.can = BSP_CAN_1,
.id = 0x203,
.module = MOTOR_M2006,
.reverse = false,
.gear=true,
@ -65,12 +94,12 @@ Config_RobotParam_t robot_config = {
.range=-1.0f,
},
.trig = {
.k=1.0f,
.k=2.0f,
.p=1.0f,
.i=0.1f,
.d=0.05f,
.d=0.04f,
.i_limit=0.8f,
.out_limit=0.5f,
.out_limit=1.0f,
.d_cutoff_freq=-1.0f,
.range=M_2PI,
},
@ -80,7 +109,7 @@ Config_RobotParam_t robot_config = {
.i=0.3f,
.d=0.5f,
.i_limit=0.2f,
.out_limit=0.9f,
.out_limit=0.8f,
.d_cutoff_freq=-1.0f,
.range=-1.0f,
},

111
User/module/shoot_control.c
View File

@ -19,7 +19,7 @@ static inline void ScaleSumTo1(float *a, float *b) {
}
int8_t Shoot_SetMode(shoot_t *s, Shoot_Mode_t mode)
int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode)
{
if (s == NULL) {
return -1; // 参数错误
@ -28,7 +28,7 @@ int8_t Shoot_SetMode(shoot_t *s, Shoot_Mode_t mode)
return 0;
}
int8_t Shoot_ResetIntegral(shoot_t *s)
int8_t Shoot_ResetIntegral(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
@ -43,7 +43,7 @@ int8_t Shoot_ResetIntegral(shoot_t *s)
return 0;
}
int8_t Shoot_ResetCalu(shoot_t *s)
int8_t Shoot_ResetCalu(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
@ -62,7 +62,7 @@ int8_t Shoot_ResetCalu(shoot_t *s)
return 0;
}
int8_t Shoot_ResetOutput(shoot_t *s)
int8_t Shoot_ResetOutput(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
@ -80,7 +80,7 @@ int8_t Shoot_ResetOutput(shoot_t *s)
return 0;
}
int8_t Shoot_CaluTargetRPM(shoot_t *s, float target_speed)
int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
{
if (s == NULL) {
return -1; // 参数错误
@ -94,23 +94,23 @@ int8_t Shoot_CaluTargetRPM(shoot_t *s, float target_speed)
* \param s 包含发射数据的结构体
* \param num 需要发射的弹丸数量
*/
int8_t Shoot_CaluTargetAngle(shoot_t *s, Shoot_CMD_t *cmd)
int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || s->shoot_Anglecalu.num_to_shoot == 0) {
if (s == NULL || s->anglecalu.num_to_shoot == 0) {
return -1;
}
if(s->now - s->shoot_Anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd)
if(s->now - s->anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd)
{
s->shoot_Anglecalu.time_last_shoot=s->now;
s->anglecalu.time_last_shoot=s->now;
s->target_variable.target_angle += s->param->trig_step_angle;
if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI;
else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI;
s->shoot_Anglecalu.num_to_shoot--;
s->anglecalu.num_to_shoot--;
}
return 0;
}
int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq)
int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
{
if (s == NULL || param == NULL || target_freq <= 0.0f) {
return -1; // 参数错误
@ -131,13 +131,13 @@ int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq)
LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu));
memset(&s->anglecalu,0,sizeof(s->anglecalu));
memset(&s->output,0,sizeof(s->output));
return 0;
}
int8_t Chassis_UpdateFeedback(shoot_t *s)
int8_t Chassis_UpdateFeedback(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
@ -186,15 +186,11 @@ int8_t Chassis_UpdateFeedback(shoot_t *s)
return 0;
}
int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || cmd == NULL) {
return -1; // 参数错误
}
s->now = BSP_TIME_Get_us() / 1000000.0f;
s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
s->lask_wakeup = BSP_TIME_Get_us();
s->online = cmd->online;
if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
@ -203,8 +199,10 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
MOTOR_RM_Relax(&s->param->trig_motor_param);
}
else{
static float pos;
switch(s->running_state)
{
case SHOOT_STATE_IDLE:/*熄火等待*/
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
@ -214,7 +212,8 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
@ -241,7 +240,7 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
/* 拨弹电机输出 */
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
@ -255,10 +254,8 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
}
else if(last_firecmd==false&&cmd->firecmd==true)
{
Shoot_ResetCalu(s);
Shoot_ResetOutput(s);
s->running_state=SHOOT_STATE_FIRE;
s->shoot_Anglecalu.num_to_shoot+=s->param->shot_burst_num;
s->anglecalu.num_to_shoot+=s->param->shot_burst_num;
}
break;
@ -279,9 +276,8 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
if(!cmd->firecmd)
{
Shoot_ResetCalu(s);
Shoot_ResetOutput(s);
s->running_state=SHOOT_STATE_READY;
pos=s->feedback.trig_angle_cicle;
}
break;
default:
@ -290,11 +286,76 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
}
}
MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
MOTOR_RM_Ctrl(&s->param->fric_motor_param[4]);
last_firecmd = cmd->firecmd;
return 0;
}
int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL) {
return -1; // 参数错误
}
switch (s->jamdetection.jamfsm_state) {
case SHOOT_JAMFSM_STATE_NORMAL:
if (s->feedback.trig.torque_current/1000.0f > s->param->jam_threshold) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
s->jamdetection.jam_last_time = s->now; // 记录怀疑开始时间
}
Shoot_RunningFSM(s, cmd); // 正常运行状态下继续执行射击状态机
break;
case SHOOT_JAMFSM_STATE_SUSPECTED:
if (s->feedback.trig.torque_current/1000.0f < s->param->jam_threshold) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
break;
} else {
if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) {
s->jamdetection.jam_detected =true;
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED;
break;
}
}
Shoot_RunningFSM(s, cmd);
break;
case SHOOT_JAMFSM_STATE_CONFIRMED:
// 进入处理状态，修改拨弹盘目标角度
s->target_variable.target_angle = s->feedback.trig_angle_cicle-0.5f*s->param->trig_step_angle;
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL;
s->jamdetection.jam_last_time = s->now; // 记录处理开始时间
case SHOOT_JAMFSM_STATE_DEAL:
Shoot_RunningFSM(s, cmd);
if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->output.outlpf_trig < 0.1f) { /* 给予0.3秒响应时间并检测输出，认为堵塞已解除 */
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
}
break;
default:
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
break;
}
return 0;
}
int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || cmd == NULL) {
return -1; // 参数错误
}
s->now = BSP_TIME_Get_us() / 1000000.0f;
s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
s->lask_wakeup = BSP_TIME_Get_us();
s->online = cmd->online;//改成检测电机是否在线
//电机在线检测函数
Shoot_JamDetectionFSM(s, cmd);
return 0;
}

34
User/module/shoot_control.h
View File

@ -21,17 +21,22 @@ extern "C" {
#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */
#define SHOOT_ERR_TYPE (-4) /* 运行时配置了错误的Chassis_Type_t */
#define SHOOT_FRIC_NUM (2) /* 摩擦轮数量 */
#define SHOOT_FRIC_NUM (6) /* 摩擦轮数量 */
#define MAX_FRIC_RPM 7000.0f
#define MAX_TRIG_RPM 5000.0f
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
typedef enum {
SHOOT_JAMFSM_STATE_NORMAL = 0, // 常规状态
SHOOT_JAMFSM_STATE_SUSPECTED, // 怀疑状态
SHOOT_JAMFSM_STATE_CONFIRMED, // 确认状态
SHOOT_JAMFSM_STATE_DEAL // 处理状态
} Shoot_JamDetectionFSM_State_t;
typedef enum {
SHOOT_STATE_IDLE = 0, // 熄火
SHOOT_STATE_READY, // 准备射击
SHOOT_STATE_FIRE // 射击
} Shoot_State_t;
} Shoot_Running_State_t;
typedef enum {
SHOOT_MODE_SAFE = 0, // 安全模式
@ -67,6 +72,11 @@ typedef struct{
uint8_t num_shooted;
}Shoot_AngleCalu_t;
typedef struct {
bool jam_detected; /* 卡弹检测结果 */
float jam_last_time;/* 用于记录怀疑状态或处理状态的开始时间 */
Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态机 */
}Shoot_JamDetection_t;
typedef struct {
float out_follow[SHOOT_FRIC_NUM];
float out_err[SHOOT_FRIC_NUM];
@ -86,6 +96,9 @@ typedef struct {
float shot_delay_time; /* 射击间隔时间，单位秒 */
uint8_t shot_burst_num; /* 多发模式下一次射击的发数 */
float jam_threshold; /* 卡弹检测阈值，单位A */
float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */
MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM];
MOTOR_RM_Param_t trig_motor_param;
@ -119,14 +132,15 @@ typedef struct {
uint64_t lask_wakeup;
float dt;
Shoot_Params_t *param; /* */
Shoot_Params_t *param; /* 发射参数 */
/* 模块通用 */
Shoot_State_t running_state; /* 运行状态机 */
Shoot_Running_State_t running_state; /* 运行状态机 */
Shoot_Mode_t mode;
/* 反馈信息 */
Shoot_Feedback_t feedback;
/* 控制信息*/
Shoot_AngleCalu_t shoot_Anglecalu;
Shoot_JamDetection_t jamdetection;
Shoot_AngleCalu_t anglecalu;
Shoot_Output_t output;
/* 目标控制量 */
struct {
@ -156,7 +170,7 @@ typedef struct {
float errtosee; /*调试用*/
} shoot_t;
} Shoot_t;
/* Exported functions prototypes -------------------------------------------- */
@ -169,7 +183,7 @@ typedef struct {
*
* \return 函数运行结果
*/
int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq);
int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq);
/**
* \brief 更新反馈
@ -178,7 +192,7 @@ int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq);
*
* \return 函数运行结果
*/
int8_t Chassis_UpdateFeedback(shoot_t *s);
int8_t Chassis_UpdateFeedback(Shoot_t *s);
/**
* \brief 初始化发射
@ -188,7 +202,7 @@ int8_t Chassis_UpdateFeedback(shoot_t *s);
*
* \return 函数运行结果
*/
int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd);
int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);

2
User/task/shoot_ctrl.c
View File

@ -17,7 +17,7 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
shoot_t shoot;
Shoot_t shoot;
Shoot_CMD_t shoot_cmd;
/* USER STRUCT BEGIN */