优化v3参数
parent
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1ebe58dcf4
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# Default ignored files
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/shelf/
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/workspace.xml
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<component name="InspectionProjectProfileManager">
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<profile version="1.0">
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<option name="myName" value="Project Default" />
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<inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
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<option name="ignoredPackages">
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<value>
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<list size="2">
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<item index="0" class="java.lang.String" itemvalue="pyqtgraph" />
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<item index="1" class="java.lang.String" itemvalue="PyQt5" />
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</list>
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</value>
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</option>
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</inspection_tool>
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</profile>
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</component>
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<component name="InspectionProjectProfileManager">
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<settings>
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<option name="USE_PROJECT_PROFILE" value="false" />
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<version value="1.0" />
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</settings>
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</component>
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
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</project>
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="ProjectModuleManager">
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<modules>
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<module fileurl="file://$PROJECT_DIR$/.idea/v1.iml" filepath="$PROJECT_DIR$/.idea/v1.iml" />
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</modules>
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</component>
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</project>
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<?xml version="1.0" encoding="UTF-8"?>
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<module type="PYTHON_MODULE" version="4">
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<component name="NewModuleRootManager">
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<content url="file://$MODULE_DIR$" />
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<orderEntry type="inheritedJdk" />
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<orderEntry type="sourceFolder" forTests="false" />
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</component>
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</module>
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<component name="VcsDirectoryMappings">
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<mapping directory="$PROJECT_DIR$/.." vcs="Git" />
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</component>
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</project>
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@ -84,8 +84,8 @@ flash_write_size = 1024
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[DOWNLOAD]
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autostart1 = 0
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com_port1 = COM6
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baudrate1 = 4
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com_port1 = COM61
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baudrate1 = 5
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checkmac1 = 1
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erase_flash_en = True
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new_status = 0
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*************************** START ****************************
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START TIME: 202306061633
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CONNECT BAUD: 115200
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set state: ESP_DL_SYNC
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serial port opened
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-----------
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baud:115200
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root baud:115200
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-------------
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===============BAUD : 115200===============CALL DEVICE SYNC
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connecting...
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chip sync ok
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mac l: 0x9ebc5e38
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mac h: 0xbcc8f0
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crc_cal: 188
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crc_read: 188
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crc_test: 0
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ESP32 MAC CRC OK
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get mac res: 1
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get flash id : 0x0016405e
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manufacturer_id: 0x5e
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device_id: 0x4016
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Wrote 886032 bytes (547253 compressed) at 0x00000000 in 8.1 seconds (effective 872.4 kbit/s)...
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Hash of data verified.
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Leaving...
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com closed
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Use time: 16 s
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Download result: PASS
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*************************** END ****************************
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061623
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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*************************** START ****************************
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START TIME: 202306061624
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CONNECT BAUD: 115200
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set state: ESP_DL_SYNC
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serial port opened
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-----------
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baud:115200
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root baud:115200
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-------------
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===============BAUD : 115200===============CALL DEVICE SYNC
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connecting...
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chip sync ok
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mac l: 0x9ebc5e4c
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mac h: 0x25c8f0
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crc_cal: 37
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crc_read: 37
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crc_test: 0
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ESP32 MAC CRC OK
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get mac res: 1
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get flash id : 0x0016405e
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manufacturer_id: 0x5e
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device_id: 0x4016
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Wrote 886032 bytes (547253 compressed) at 0x00000000 in 8.5 seconds (effective 837.4 kbit/s)...
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Hash of data verified.
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Leaving...
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com closed
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Use time: 10 s
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Download result: PASS
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*************************** END ****************************
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*************************** START ****************************
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START TIME: 202306061632
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CONNECT BAUD: 115200
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set state: ESP_DL_SYNC
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serial port opened
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-----------
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baud:115200
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root baud:115200
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-------------
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===============BAUD : 115200===============CALL DEVICE SYNC
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connecting...
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chip sync ok
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mac l: 0x9ebc5e54
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mac h: 0x7ac8f0
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crc_cal: 122
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crc_read: 122
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crc_test: 0
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ESP32 MAC CRC OK
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get mac res: 1
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get flash id : 0x0016405e
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manufacturer_id: 0x5e
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device_id: 0x4016
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Wrote 886032 bytes (547253 compressed) at 0x00000000 in 8.2 seconds (effective 860.6 kbit/s)...
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Hash of data verified.
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Leaving...
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com closed
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Use time: 10 s
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Download result: PASS
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*************************** END ****************************
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*************************** START ****************************
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START TIME: 202306061633
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CONNECT BAUD: 115200
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set state: ESP_DL_SYNC
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serial port opened
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-----------
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baud:115200
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root baud:115200
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-------------
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===============BAUD : 115200===============CALL DEVICE SYNC
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connecting...
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chip sync ok
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com closed
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Use time: 9 s
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Download result: FAIL
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*************************** END ****************************
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*************************** START ****************************
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START TIME: 202306061453
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CONNECT BAUD: 115200
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set state: ESP_DL_SYNC
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serial port opened
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-----------
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baud:115200
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root baud:115200
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-------------
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===============BAUD : 115200===============CALL DEVICE SYNC
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connecting...
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chip sync ok
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mac l: 0x9ebc5e8c
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mac h: 0xefc8f0
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crc_cal: 239
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crc_read: 239
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crc_test: 0
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ESP32 MAC CRC OK
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get mac res: 1
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get flash id : 0x0016405e
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manufacturer_id: 0x5e
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device_id: 0x4016
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Wrote 886032 bytes (547249 compressed) at 0x00000000 in 8.6 seconds (effective 826.2 kbit/s)...
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Hash of data verified.
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Leaving...
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com closed
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Use time: 15 s
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Download result: PASS
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*************************** END ****************************
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File diff suppressed because one or more lines are too long
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@ -71,9 +71,9 @@ LowPassFilter lpf_throttle{0.00};
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// float LQR_K4_3 = 0.12; //
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//倒立摆参数
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float LQR_K3_1 = 20; //摇摆到平衡
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float LQR_K3_2 = 2.1; //
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float LQR_K3_3 = 2.1; //
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float LQR_K3_1 = 12; //摇摆到平衡
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float LQR_K3_2 = 1.9; //
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float LQR_K3_3 = 1.8; //
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float LQR_K4_1 = 4.4; //平衡到稳定
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float LQR_K4_2 = 1.5; //
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@ -606,7 +606,7 @@ float controllerLQR(float p_angle, float p_vel, float m_vel)
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if ((millis() - last_unstable_time) > 1000 && !stable) //非稳态进入稳态超过500ms检测,更新目标角为目标角+摆角,假设进入稳态
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{
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//target_angle -= _sign(target_velocity) * 0.4;
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target_angle = target_angle+p_angle;
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target_angle = target_angle+p_angle*0.2;
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stable = 1;
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}
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