xm/shoot2
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err好了

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This commit is contained in:
yxming66 2025-10-02 23:27:27 +08:00
parent 67d9a10647
commit a5b600866b
10 changed files with 1928 additions and 1910 deletions
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8
MDK-ARM/shoot.uvguix.yxm23
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16
MDK-ARM/shoot.uvoptx
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@ -186,6 +186,22 @@
<ExecCommand></ExecCommand> <ExecCommand></ExecCommand>
<Expression></Expression> <Expression></Expression>
</Bp> </Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>132</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\User\module\shoot_control.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
</Breakpoint> </Breakpoint>
<WatchWindow1> <WatchWindow1>
<Ww> <Ww>

BIN
MDK-ARM/shoot/shoot.axf
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MDK-ARM/shoot/shoot.hex
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6
MDK-ARM/shoot/shoot.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [shoot\shoot.axf]</title></head> <title>Static Call Graph - [shoot\shoot.axf]</title></head>
<body><HR> <body><HR>
<H1>Static Call Graph for image shoot\shoot.axf</H1><HR> <H1>Static Call Graph for image shoot\shoot.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Thu Oct 2 22:48:54 2025 <BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Thu Oct 2 23:17:59 2025
<BR><P> <BR><P>
<H3>Maximum Stack Usage = 304 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3> <H3>Maximum Stack Usage = 304 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3> Call chain for Maximum Stack Depth:</H3>
@ -1523,8 +1523,8 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[63]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_shoot_ctrl <BR>[Called By]<UL><LI><a href="#[63]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_shoot_ctrl
</UL> </UL>
<P><STRONG><a name="[113]"></a>Shoot_Init</STRONG> (Thumb, 234 bytes, Stack size 40 bytes, shoot_control.o(.text.Shoot_Init)) <P><STRONG><a name="[113]"></a>Shoot_Init</STRONG> (Thumb, 260 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 280 + Unknown Stack Size <BR><BR>[Stack]<UL><LI>Max Depth = 288 + Unknown Stack Size
<LI>Call Chain = Shoot_Init &rArr; BSP_CAN_Init &rArr; osMutexNew &rArr; xQueueCreateMutexStatic &rArr; prvInitialiseMutex &rArr; xQueueGenericSend &rArr; xTaskResumeAll &rArr; xTaskIncrementTick <LI>Call Chain = Shoot_Init &rArr; BSP_CAN_Init &rArr; osMutexNew &rArr; xQueueCreateMutexStatic &rArr; prvInitialiseMutex &rArr; xQueueGenericSend &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL> </UL>
<BR>[Calls]<UL><LI><a href="#[10a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Init <BR>[Calls]<UL><LI><a href="#[10a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Init

1295
MDK-ARM/shoot/shoot.map
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MDK-ARM/shoot/shoot_control.o
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2
MDK-ARM/shoot/shoot_shoot.dep
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@ -1309,7 +1309,7 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\pid.h)(0x68DD0ECB)() F (..\User\component\pid.h)(0x68DD0ECB)()
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) F (..\User\module\shoot_control.c)(0x68DE97A5)(-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 (..\User\module\shoot_control.h)(0x68DE8F09)
I (..\Core\Inc\main.h)(0x68D1384A) I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)

1
Ozone/shoot.jdebug
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@ -32,6 +32,7 @@ void OnProjectLoad (void) {
// //
// User settings // User settings
// //
Edit.SysVar (VAR_HSS_SPEED, "100 Hz");
Project.SetOSPlugin ("FreeRTOSPlugin_Cortex-M"); Project.SetOSPlugin ("FreeRTOSPlugin_Cortex-M");
File.Open ("D:/CUBEMX/shoot/MDK-ARM/shoot/shoot.axf"); 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); Util.Error("==== 脚本已加载，路径请看标题栏", 0);

1
User/module/shoot_control.c
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@ -121,6 +121,7 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
for(int i=0;i<SHOOT_FRIC_NUM;i++){ for(int i=0;i<SHOOT_FRIC_NUM;i++){
MOTOR_RM_Register(&param->fric_motor_param[i]); MOTOR_RM_Register(&param->fric_motor_param[i]);
PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow); PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,&param->fric_err);
LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in); LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out); LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
} }