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modified: MDK-ARM/DevC.uvoptx

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modified:   MDK-ARM/DevC/DevC.axf
	modified:   MDK-ARM/DevC/DevC.hex
	modified:   User/module/shoot.c
This commit is contained in:
zzzhkgs@gmail.com 2026-03-13 12:38:18 +08:00
parent 3ec16b82bc
commit a998d90e0e
4 changed files with 2919 additions and 2871 deletions
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60
MDK-ARM/DevC.uvoptx
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@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>6</nTsel>
<nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -114,9 +114,34 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"" -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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
<Name>-L70 -Z18 -C0 -M0 -T1</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMDBGFLAGS</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
@ -125,10 +150,37 @@
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal_imu</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal_ahrs</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>dr16</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
@ -173,7 +225,7 @@
<pMultCmdsp></pMultCmdsp>
<DebugDescription>
<Enable>1</Enable>
<EnableFlashSeq>1</EnableFlashSeq>
<EnableFlashSeq>0</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>10000000</DbgClock>

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MDK-ARM/DevC/DevC.axf
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MDK-ARM/DevC/DevC.hex
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12
User/module/shoot.c
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@ -289,12 +289,12 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
break;
}
}
if (!g_debug_motor_enable) {
for(int i=0;i<SHOOT_FRIC_NUM;i++) {
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], 0.0f); // 摩擦轮强制 0 电流
}
MOTOR_RM_SetOutput(&s->param->trig_motor_param, 0.0f); // 拨弹电机强制 0 电流
}
// if (!g_debug_motor_enable) {
// for(int i=0;i<SHOOT_FRIC_NUM;i++) {
// MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], 0.0f); // 摩擦轮强制 0 电流
// }
// MOTOR_RM_SetOutput(&s->param->trig_motor_param, 0.0f); // 拨弹电机强制 0 电流
// }
MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
last_firecmd = cmd->firecmd;