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可以测自瞄，发射杨云台，没问题

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yunhai8432 2026-01-09 16:04:28 +08:00
parent 6019116451
commit 9f712e74ab
12 changed files with 2539 additions and 2543 deletions
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40
MDK-ARM/Infantry.uvguix.yunha
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MDK-ARM/Infantry.uvoptx
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@ -135,7 +135,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>

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MDK-ARM/Infantry/Infantry.axf
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MDK-ARM/Infantry/Infantry.build_log.htm
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@ -33,10 +33,6 @@ Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Infantry\i2c.o
Note: source file '..\User\bsp\spi.c' - object file renamed from 'Infantry\spi.o' to 'Infantry\spi_1.o'.
Note: source file '..\User\task\dr16.c' - object file renamed from 'Infantry\dr16.o' to 'Infantry\dr16_1.o'.
Note: source file '..\User\task\ai.c' - object file renamed from 'Infantry\ai.o' to 'Infantry\ai_1.o'.
compiling config.c...
linking...
Program Size: Code=54672 RO-data=1680 RW-data=832 ZI-data=126624
FromELF: creating hex file...
"Infantry\Infantry.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -61,7 +57,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:03
Build Time Elapsed: 00:00:01
</pre>
</body>
</html>

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MDK-ARM/Infantry/Infantry.hex
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MDK-ARM/Infantry/Infantry.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [Infantry\Infantry.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image Infantry\Infantry.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Fri Jan 9 14:24:31 2026
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Fri Jan 9 15:52:04 2026
<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>
@ -2485,7 +2485,7 @@ Global Symbols
<BR><BR>[Called By]<UL><LI><a href="#[1ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_RunningFSM
</UL>
<P><STRONG><a name="[1ac]"></a>Shoot_RunningFSM</STRONG> (Thumb, 1236 bytes, Stack size 88 bytes, shoot.o(.text.Shoot_RunningFSM))
<P><STRONG><a name="[1ac]"></a>Shoot_RunningFSM</STRONG> (Thumb, 1212 bytes, Stack size 88 bytes, shoot.o(.text.Shoot_RunningFSM))
<BR><BR>[Stack]<UL><LI>Max Depth = 232<LI>Call Chain = Shoot_RunningFSM &rArr; MOTOR_RM_Ctrl &rArr; BSP_CAN_TransmitStdDataFrame &rArr; BSP_CAN_Transmit &rArr; BSP_CAN_TxQueuePush
</UL>
<BR>[Calls]<UL><LI><a href="#[1b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ScaleSumTo1

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MDK-ARM/Infantry/Infantry.map
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4
MDK-ARM/Infantry/Infantry_Infantry.dep
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@ -2689,7 +2689,7 @@ I (..\User\component\mixer.h)(0x69606C91)
I (..\User\module\remote_cmd.h)(0x69606160)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\device\dr16.h)(0x69606C91)
F (..\User\module\config.c)(0x69609F1D)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device -I./RTE/_Infantry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o infantry/config.o -MD)
F (..\User\module\config.c)(0x6960B3A1)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device -I./RTE/_Infantry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o infantry/config.o -MD)
I (..\User\component\user_math.h)(0x69606C91)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@ -2955,7 +2955,7 @@ I (..\User\component\ahrs.h)(0x69606C91)
I (..\User\module\gimbal.h)(0x696061CE)
I (..\User\bsp\time.h)(0x69606C90)
I (..\User\device\motor_dm.h)(0x69606C91)
F (..\User\module\shoot.c)(0x6960841C)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device -I./RTE/_Infantry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o infantry/shoot.o -MD)
F (..\User\module\shoot.c)(0x6960B01D)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device -I./RTE/_Infantry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o infantry/shoot.o -MD)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\module\shoot.h)(0x69588E9B)

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MDK-ARM/Infantry/config.o
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MDK-ARM/Infantry/shoot.o
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User/module/config.c
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@ -128,9 +128,9 @@ Config_RobotParam_t robot_config = {
.basic={
.projectileType=SHOOT_PROJECTILE_17MM,
.fric_num=2,
.extra_deceleration_ratio=36.0f,
.extra_deceleration_ratio=1.0f,
.num_trig_tooth=10,
.shot_freq=10.0f,
.shot_freq=20.0f,
.shot_burst_num=5,
.ratio_multilevel = {1.0f},
},
@ -145,8 +145,8 @@ Config_RobotParam_t robot_config = {
.param = {
.can = BSP_CAN_2,
.id = 0x205,
.module = MOTOR_M2006,
.reverse = false,
.module = MOTOR_M3508,
.reverse = true,
.gear = false,
},
.level=1,
@ -155,8 +155,8 @@ Config_RobotParam_t robot_config = {
.param = {
.can = BSP_CAN_2,
.id = 0x206,
.module = MOTOR_M2006,
.reverse = true,
.module = MOTOR_M3508,
.reverse = false,
.gear = false,
},
.level=1,
@ -167,7 +167,7 @@ Config_RobotParam_t robot_config = {
.can = BSP_CAN_2,
.id = 0x207,
.module = MOTOR_M2006,
.reverse = false,
.reverse = true,
.gear=true,
},
},
@ -193,7 +193,7 @@ Config_RobotParam_t robot_config = {
.range=-1.0f,
},
.trig_2006 = {
.k = 12.0f,
.k = 1.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0450000018f,
@ -202,16 +202,16 @@ Config_RobotParam_t robot_config = {
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.trig_omg_2006 = {
.k=0.f,
.p=1.0f,
.i=0.3f,
.d=0.5f,
.i_limit=0.2f,
.out_limit=1.0f,
.d_cutoff_freq=-1.0f,
.range=-1.0f,
},
// .trig_omg_2006 = {
// .k=0.0f,
// .p=1.0f,
// .i=0.3f,
// .d=0.5f,
// .i_limit=0.2f,
// .out_limit=1.0f,
// .d_cutoff_freq=-1.0f,
// .range=-1.0f,
// },
},
.filter={

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User/module/shoot.c
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@ -382,6 +382,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
// 0,
// s->timer.dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out,s->output.outagl_trig);
MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);
/* 检查状态机 */
@ -447,11 +448,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
s->var_trig.trig_agl,
0,
s->timer.dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,
s->output.outagl_trig,
s->var_trig.trig_rpm,
0,
s->timer.dt);
s->output.outomg_trig=s->output.outagl_trig;
// s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,
// s->output.outagl_trig,
// s->var_trig.trig_rpm,
// 0,
// s->timer.dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);