From 4adc78553c8d48ff122506195fa33641134bd7b1 Mon Sep 17 00:00:00 2001 From: yincheng.zhong <634916154@qq.com> Date: 星期六, 13 十二月 2025 18:55:14 +0800 Subject: [PATCH] 路径点不重复的控制算法测试通了，但是好像不如之前路径点重复的版本好。增加了蓝牙接口部分。准备移植外包的MQTT。 --- 新建文本文档.txt | 111 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 files changed, 111 insertions(+), 0 deletions(-) diff --git "a/\346\226\260\345\273\272\346\226\207\346\234\254\346\226\207\346\241\243.txt" "b/\346\226\260\345\273\272\346\226\207\346\234\254\346\226\207\346\241\243.txt" index e69de29..9b97953 100644 --- "a/\346\226\260\345\273\272\346\226\207\346\234\254\346\226\207\346\241\243.txt" +++ "b/\346\226\260\345\273\272\346\226\207\346\234\254\346\226\207\346\241\243.txt" @@ -0,0 +1,111 @@ + +[13:58:36.316]鏀垛啇鈼哰PythonLink] Init success (UART5, 921600 bps, DMA) +[MC_INIT] Path loaded: count=7, first_point=(1.77,0.16) +[MotionCtrl] Task started (75.0 Hz) +[BT] Poll: IntCnt=3, Flag=1, DMA_CNDTR=1024, RecvLen=0 +[BT] Empty IDLE interrupt (Len=0), restarting DMA +[MC_CTRL] CH8 failsafe detected (1024), keeping previous value=1000 +[MC_CTRL] SBUS valid changed: 0 -> 1 +$STATE,idle,0.000,0.00,0*53 + +[13:58:37.317]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=1005, RecvLen=0 +$STATE,idle,0.000,0.00,0*53 + +[13:58:37.352]鏀垛啇鈼哰MC_CTRL] CH8 state confirmed: MANUAL -> AUTO (ch8=1800) + +[13:58:38.319]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=986, RecvLen=0 +$STATE,idle,0.000,0.00,0*53 + +[13:58:39.320]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=967, RecvLen=0 +$STATE,idle,0.000,0.00,0*53 + +[13:58:40.320]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 +[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=948, RecvLen=0 + +[13:58:41.318]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 +[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=929, RecvLen=0 + +[13:58:42.315]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 +[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=910, RecvLen=0 + +[13:58:43.312]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 +[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=891, RecvLen=0 + +[13:58:44.309]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 +[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=872, RecvLen=0 + +[13:58:45.073]鏀垛啇鈼�$STACK,Motion,1729,2624,2624*7D +$STACK,App,1737,2624,2624*0D + +[13:58:45.306]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 +[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=853, RecvLen=0 + +[13:58:46.304]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 +[BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=834, RecvLen=0 + +[13:58:47.301]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:47.330]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=815, RecvLen=0 + +[13:58:48.299]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:48.333]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=796, RecvLen=0 + +[13:58:49.296]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:49.333]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=777, RecvLen=0 + +[13:58:50.293]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:50.335]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=758, RecvLen=0 + +[13:58:51.291]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:51.336]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=739, RecvLen=0 + +[13:58:52.287]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:52.337]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=720, RecvLen=0 + +[13:58:53.285]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:53.338]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=701, RecvLen=0 + +[13:58:54.282]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:54.339]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=682, RecvLen=0 + +[13:58:55.045]鏀垛啇鈼�$STACK,Motion,1729,2624,2624*7D +$STACK,App,1737,2624,2624*0D + +[13:58:55.280]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:55.341]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=663, RecvLen=0 + +[13:58:56.277]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:56.342]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=644, RecvLen=0 + +[13:58:57.273]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:57.343]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=625, RecvLen=0 + +[13:58:58.271]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:58.345]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=606, RecvLen=0 + +[13:58:59.268]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:58:59.346]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=587, RecvLen=0 + +[13:59:00.265]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:59:00.346]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=568, RecvLen=0 + +[13:59:01.263]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:59:01.347]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=549, RecvLen=0 + +[13:59:02.259]鏀垛啇鈼�$STATE,idle,0.000,0.00,0*53 + +[13:59:02.349]鏀垛啇鈼哰BT] Poll: IntCnt=3, Flag=0, DMA_CNDTR=530, RecvLen=0 -- Gitblit v1.10.0