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xm:hero
xm:会航参数保存
xm:动态分配版
xm:单环控摩擦轮
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pull from: xm:单环控摩擦轮
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xm:main
xm:hero
xm:会航参数保存
xm:动态分配版
xm:单环控摩擦轮

1 Commits
main ... 单环控摩擦轮

Author SHA1 Message Date
yxming66
94af2651d6 50误差 2025-10-02 01:41:22 +08:00
12 changed files with 7063 additions and 6025 deletions
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MDK-ARM/JLinkLog.txt
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MDK-ARM/shoot.uvguix.yxm23
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@ -3606,9 +3606,9 @@
<ActiveTab>0</ActiveTab>
<Doc>
<Name>..\User\module\shoot_control.c</Name>
<ColumnNumber>59</ColumnNumber>
<TopLine>218</TopLine>
<CurrentLine>219</CurrentLine>
<ColumnNumber>56</ColumnNumber>
<TopLine>221</TopLine>
<CurrentLine>237</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@ -3661,7 +3661,7 @@
<Doc>
<Name>..\User\module\config.c</Name>
<ColumnNumber>29</ColumnNumber>
<TopLine>63</TopLine>
<TopLine>53</TopLine>
<CurrentLine>84</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>

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MDK-ARM/shoot/config.o
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MDK-ARM/shoot/shoot.axf
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4
MDK-ARM/shoot/shoot.build_log.htm
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@ -28,9 +28,9 @@ Project File Date: 09/30/2025
*** 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...
compiling config.c...
linking...
Program Size: Code=32304 RO-data=660 RW-data=196 ZI-data=22068
Program Size: Code=32288 RO-data=660 RW-data=196 ZI-data=22068
FromELF: creating hex file...
"shoot\shoot.axf" - 0 Error(s), 0 Warning(s).

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MDK-ARM/shoot/shoot.hex
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MDK-ARM/shoot/shoot.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [shoot\shoot.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image shoot\shoot.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Oct 1 23:46:15 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Thu Oct 2 01:25:44 2025
<BR><P>
<H3>Maximum Stack Usage = 304 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -1511,7 +1511,7 @@ Global Symbols
<BR><BR>[Called By]<UL><LI><a href="#[10f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control
</UL>
<P><STRONG><a name="[10f]"></a>Shoot_Control</STRONG> (Thumb, 1056 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_Control))
<P><STRONG><a name="[10f]"></a>Shoot_Control</STRONG> (Thumb, 1040 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_Control))
<BR><BR>[Stack]<UL><LI>Max Depth = 224<LI>Call Chain = Shoot_Control &rArr; MOTOR_RM_Ctrl &rArr; BSP_CAN_WaitTxMailboxEmpty &rArr; osDelay &rArr; vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[112]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ScaleSumTo1

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MDK-ARM/shoot/shoot.map
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MDK-ARM/shoot/shoot_control.o
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4
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\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)
F (..\User\module\shoot_control.c)(0x68DD5DA2)(-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)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@ -1368,7 +1368,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8
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\config.c)(0x68DD640E)(-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)

8
User/module/config.c
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@ -46,10 +46,10 @@ Config_RobotParam_t robot_config = {
},
.fric_follow = {
.k=1.0f,
.p=1.8f,
.i=0.0f,
.d=0.0f,
.i_limit=0.0f,
.p=0.8f,
.i=0.05f,
.d=0.1f,
.i_limit=0.1f,
.out_limit=0.9f,
.d_cutoff_freq=30.0f,
.range=-1.0f,

4
User/module/shoot_control.c
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@ -234,7 +234,7 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
/* 按比例缩放并加和输出 */
ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
s->output.out_fric[i]=s->output.out_follow[i];
/* 滤波 */
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
/* 输出 */
@ -269,7 +269,7 @@ int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
s->output.out_fric[i]=s->output.out_follow[i];
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]);
}