diff --git a/Core/Inc/main.h b/Core/Inc/main.h index d3dfa02..6548f78 100644 --- a/Core/Inc/main.h +++ b/Core/Inc/main.h @@ -57,6 +57,12 @@ void Error_Handler(void); /* USER CODE END EFP */ /* Private defines -----------------------------------------------------------*/ +#define Power2_Pin GPIO_PIN_13 +#define Power2_GPIO_Port GPIOC +#define Power1_Pin GPIO_PIN_14 +#define Power1_GPIO_Port GPIOC +#define Power_5V_EN_Pin GPIO_PIN_15 +#define Power_5V_EN_GPIO_Port GPIOC #define ACC_CS_Pin GPIO_PIN_0 #define ACC_CS_GPIO_Port GPIOC #define GYRO_CS_Pin GPIO_PIN_3 diff --git a/Core/Src/fdcan.c b/Core/Src/fdcan.c index 42d0a2d..fbf8cbd 100644 --- a/Core/Src/fdcan.c +++ b/Core/Src/fdcan.c @@ -141,10 +141,10 @@ void MX_FDCAN3_Init(void) hfdcan3.Init.AutoRetransmission = ENABLE; hfdcan3.Init.TransmitPause = DISABLE; hfdcan3.Init.ProtocolException = ENABLE; - hfdcan3.Init.NominalPrescaler = 24; + hfdcan3.Init.NominalPrescaler = 3; hfdcan3.Init.NominalSyncJumpWidth = 10; - hfdcan3.Init.NominalTimeSeg1 = 2; - hfdcan3.Init.NominalTimeSeg2 = 2; + hfdcan3.Init.NominalTimeSeg1 = 29; + hfdcan3.Init.NominalTimeSeg2 = 10; hfdcan3.Init.DataPrescaler = 3; hfdcan3.Init.DataSyncJumpWidth = 10; hfdcan3.Init.DataTimeSeg1 = 29; @@ -160,7 +160,7 @@ void MX_FDCAN3_Init(void) hfdcan3.Init.RxBufferSize = FDCAN_DATA_BYTES_8; hfdcan3.Init.TxEventsNbr = 0; hfdcan3.Init.TxBuffersNbr = 0; - hfdcan3.Init.TxFifoQueueElmtsNbr = 6; + hfdcan3.Init.TxFifoQueueElmtsNbr = 32; hfdcan3.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION; hfdcan3.Init.TxElmtSize = FDCAN_DATA_BYTES_8; if (HAL_FDCAN_Init(&hfdcan3) != HAL_OK) diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index 474b313..973c4fd 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -136,30 +136,20 @@ void StartINSTASK(void const *argument); /* USER CODE END FunctionPrototypes */ void StartDefaultTask(void *argument); - void ShootTask(void *argument); - void GimbalTask(void *argument); - void ChassisTask(void *argument); - void StartInitTask(void *argument); - void VisionTask(void *argument); - void CmdTask(void *argument); - void RefereeTask(void *argument); - extern void ws2812Task(void *argument); extern void MX_USB_DEVICE_Init(void); - void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ /* Hook prototypes */ void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName); - void vApplicationMallocFailedHook(void); /* USER CODE BEGIN 4 */ @@ -194,8 +184,7 @@ void vApplicationMallocFailedHook(void) * @param None * @retval None */ -void MX_FREERTOS_Init(void) -{ +void MX_FREERTOS_Init(void) { /* USER CODE BEGIN Init */ /* USER CODE END Init */ @@ -254,6 +243,7 @@ void MX_FREERTOS_Init(void) /* USER CODE BEGIN RTOS_EVENTS */ /* add events, ... */ /* USER CODE END RTOS_EVENTS */ + } /* USER CODE BEGIN Header_StartDefaultTask */ diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index bdbf0a7..d9c019d 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -56,10 +56,10 @@ void MX_GPIO_Init(void) __HAL_RCC_GPIOD_CLK_ENABLE(); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14|ACC_CS_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GPIOC, Power2_Pin|Power1_Pin|ACC_CS_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(GPIOC, GPIO_PIN_15|GYRO_CS_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(GPIOC, Power_5V_EN_Pin|GYRO_CS_Pin, GPIO_PIN_SET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOA, power2_Pin|power1_Pin, GPIO_PIN_SET); @@ -76,8 +76,8 @@ void MX_GPIO_Init(void) /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(cs3_GPIO_Port, cs3_Pin, GPIO_PIN_SET); - /*Configure GPIO pins : PC14 PC15 */ - GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15; + /*Configure GPIO pins : Power2_Pin Power1_Pin Power_5V_EN_Pin */ + GPIO_InitStruct.Pin = Power2_Pin|Power1_Pin|Power_5V_EN_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; diff --git a/TronOneH7_Scaffold.ioc b/TronOneH7_Scaffold.ioc index b0acdd6..bd4003d 100644 --- a/TronOneH7_Scaffold.ioc +++ b/TronOneH7_Scaffold.ioc @@ -369,7 +369,7 @@ FDCAN2.TxFifoQueueElmtsNbr=32 FDCAN3.AutoRetransmission=ENABLE FDCAN3.CalculateBaudRateNominal=1000000 FDCAN3.CalculateTimeBitNominal=1000 -FDCAN3.CalculateTimeQuantumNominal=200.0 +FDCAN3.CalculateTimeQuantumNominal=25.0 FDCAN3.ClockCalibrationCCU=DISABLE FDCAN3.DataPrescaler=3 FDCAN3.DataSyncJumpWidth=10 @@ -377,14 +377,14 @@ FDCAN3.DataTimeSeg1=29 FDCAN3.DataTimeSeg2=10 FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,DataPrescaler,DataTimeSeg1,DataTimeSeg2,NominalPrescaler,NominalTimeSeg1,NominalTimeSeg2,RxFifo1ElmtsNbr,TxFifoQueueElmtsNbr,MessageRAMOffset,StdFiltersNbr,AutoRetransmission,ProtocolException,NominalSyncJumpWidth,DataSyncJumpWidth,ClockCalibrationCCU FDCAN3.MessageRAMOffset=1706 -FDCAN3.NominalPrescaler=24 +FDCAN3.NominalPrescaler=3 FDCAN3.NominalSyncJumpWidth=10 -FDCAN3.NominalTimeSeg1=2 -FDCAN3.NominalTimeSeg2=2 +FDCAN3.NominalTimeSeg1=29 +FDCAN3.NominalTimeSeg2=10 FDCAN3.ProtocolException=ENABLE FDCAN3.RxFifo1ElmtsNbr=32 FDCAN3.StdFiltersNbr=1 -FDCAN3.TxFifoQueueElmtsNbr=6 +FDCAN3.TxFifoQueueElmtsNbr=32 FREERTOS.FootprintOK=true FREERTOS.IPParameters=Tasks01,configENABLE_FPU,FootprintOK,configUSE_NEWLIB_REENTRANT,configCHECK_FOR_STACK_OVERFLOW,configUSE_MALLOC_FAILED_HOOK,configTOTAL_HEAP_SIZE,configMINIMAL_STACK_SIZE FREERTOS.Tasks01=BeginTask,24,256,StartDefaultTask,As weak,NULL,Dynamic,NULL,NULL;shoot,24,512,ShootTask,As weak,NULL,Dynamic,NULL,NULL;gimbal,24,512,GimbalTask,As weak,NULL,Dynamic,NULL,NULL;chassis,24,512,ChassisTask,As weak,NULL,Dynamic,NULL,NULL;init,40,256,StartInitTask,As weak,NULL,Dynamic,NULL,NULL;vision,24,512,VisionTask,As weak,NULL,Dynamic,NULL,NULL;cmd,24,512,CmdTask,As weak,NULL,Dynamic,NULL,NULL;reference,24,512,RefereeTask,As weak,NULL,Dynamic,NULL,NULL;WS2812Task,16,256,ws2812Task,As external,NULL,Dynamic,NULL,NULL @@ -449,6 +449,7 @@ MMTAppReg6.MEMORYMAP.Size=1048576 MMTAppReg6.MEMORYMAP.StartAddress=0x08000000 MMTAppRegionsCount=6 MMTConfigApplied=false +MMTSectionSuffix= Mcu.CPN=STM32H723VGT6 Mcu.Family=STM32H7 Mcu.IP0=ADC1 @@ -483,72 +484,73 @@ Mcu.Name=STM32H723VGTx Mcu.Package=LQFP100 Mcu.Pin0=PE2 Mcu.Pin1=PE3 -Mcu.Pin10=PA0 -Mcu.Pin11=PA2 -Mcu.Pin12=PA5 -Mcu.Pin13=PA6 -Mcu.Pin14=PA7 -Mcu.Pin15=PC4 -Mcu.Pin16=PB1 -Mcu.Pin17=PE7 -Mcu.Pin18=PE8 -Mcu.Pin19=PE9 -Mcu.Pin2=PC14-OSC32_IN -Mcu.Pin20=PE10 -Mcu.Pin21=PE12 -Mcu.Pin22=PE13 -Mcu.Pin23=PE15 -Mcu.Pin24=PB10 -Mcu.Pin25=PB11 -Mcu.Pin26=PB13 -Mcu.Pin27=PB15 -Mcu.Pin28=PD8 -Mcu.Pin29=PD9 -Mcu.Pin3=PC15-OSC32_OUT -Mcu.Pin30=PD10 -Mcu.Pin31=PD12 -Mcu.Pin32=PD13 -Mcu.Pin33=PA8 -Mcu.Pin34=PA9 -Mcu.Pin35=PA10 -Mcu.Pin36=PA11 -Mcu.Pin37=PA12 -Mcu.Pin38=PC10 -Mcu.Pin39=PC11 -Mcu.Pin4=PH0-OSC_IN -Mcu.Pin40=PC12 -Mcu.Pin41=PD0 -Mcu.Pin42=PD1 -Mcu.Pin43=PD2 -Mcu.Pin44=PD4 -Mcu.Pin45=PD5 -Mcu.Pin46=PD6 -Mcu.Pin47=PD7 -Mcu.Pin48=PB3(JTDO/TRACESWO) -Mcu.Pin49=PB4(NJTRST) -Mcu.Pin5=PH1-OSC_OUT -Mcu.Pin50=PB5 -Mcu.Pin51=PB6 -Mcu.Pin52=VP_ADC3_TempSens_Input -Mcu.Pin53=VP_CRC_VS_CRC -Mcu.Pin54=VP_FREERTOS_VS_CMSIS_V2 -Mcu.Pin55=VP_SYS_VS_tim23 -Mcu.Pin56=VP_TIM1_VS_ClockSourceINT -Mcu.Pin57=VP_TIM1_VS_no_output3 -Mcu.Pin58=VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS -Mcu.Pin59=VP_MEMORYMAP_VS_MEMORYMAP -Mcu.Pin6=PC0 -Mcu.Pin60=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0 -Mcu.Pin7=PC1 -Mcu.Pin8=PC2_C -Mcu.Pin9=PC3_C -Mcu.PinsNb=61 +Mcu.Pin10=PC3_C +Mcu.Pin11=PA0 +Mcu.Pin12=PA2 +Mcu.Pin13=PA5 +Mcu.Pin14=PA6 +Mcu.Pin15=PA7 +Mcu.Pin16=PC4 +Mcu.Pin17=PB1 +Mcu.Pin18=PE7 +Mcu.Pin19=PE8 +Mcu.Pin2=PC13 +Mcu.Pin20=PE9 +Mcu.Pin21=PE10 +Mcu.Pin22=PE12 +Mcu.Pin23=PE13 +Mcu.Pin24=PE15 +Mcu.Pin25=PB10 +Mcu.Pin26=PB11 +Mcu.Pin27=PB13 +Mcu.Pin28=PB15 +Mcu.Pin29=PD8 +Mcu.Pin3=PC14-OSC32_IN +Mcu.Pin30=PD9 +Mcu.Pin31=PD10 +Mcu.Pin32=PD12 +Mcu.Pin33=PD13 +Mcu.Pin34=PA8 +Mcu.Pin35=PA9 +Mcu.Pin36=PA10 +Mcu.Pin37=PA11 +Mcu.Pin38=PA12 +Mcu.Pin39=PC10 +Mcu.Pin4=PC15-OSC32_OUT +Mcu.Pin40=PC11 +Mcu.Pin41=PC12 +Mcu.Pin42=PD0 +Mcu.Pin43=PD1 +Mcu.Pin44=PD2 +Mcu.Pin45=PD4 +Mcu.Pin46=PD5 +Mcu.Pin47=PD6 +Mcu.Pin48=PD7 +Mcu.Pin49=PB3(JTDO/TRACESWO) +Mcu.Pin5=PH0-OSC_IN +Mcu.Pin50=PB4(NJTRST) +Mcu.Pin51=PB5 +Mcu.Pin52=PB6 +Mcu.Pin53=VP_ADC3_TempSens_Input +Mcu.Pin54=VP_CRC_VS_CRC +Mcu.Pin55=VP_FREERTOS_VS_CMSIS_V2 +Mcu.Pin56=VP_SYS_VS_tim23 +Mcu.Pin57=VP_TIM1_VS_ClockSourceINT +Mcu.Pin58=VP_TIM1_VS_no_output3 +Mcu.Pin59=VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS +Mcu.Pin6=PH1-OSC_OUT +Mcu.Pin60=VP_MEMORYMAP_VS_MEMORYMAP +Mcu.Pin61=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0 +Mcu.Pin7=PC0 +Mcu.Pin8=PC1 +Mcu.Pin9=PC2_C +Mcu.PinsNb=62 Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0 Mcu.ThirdPartyNb=1 Mcu.UserConstants= Mcu.UserName=STM32H723VGTx -MxCube.Version=6.15.0 -MxDb.Version=DB.6.0.150 +MxCube.Version=6.16.0 +MxDb.Version=DB.6.0.160 NVIC.ADC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true @@ -676,9 +678,16 @@ PC11.Signal=SPI3_MISO PC12.Locked=true PC12.Signal=SharedStack_PC12 PC12.Stacked=true +PC13.GPIOParameters=GPIO_Label +PC13.GPIO_Label=Power2 +PC13.Locked=true +PC13.Signal=GPIO_Output +PC14-OSC32_IN.GPIOParameters=GPIO_Label +PC14-OSC32_IN.GPIO_Label=Power1 PC14-OSC32_IN.Locked=true PC14-OSC32_IN.Signal=GPIO_Output -PC15-OSC32_OUT.GPIOParameters=PinState +PC15-OSC32_OUT.GPIOParameters=PinState,GPIO_Label +PC15-OSC32_OUT.GPIO_Label=Power_5V_EN PC15-OSC32_OUT.Locked=true PC15-OSC32_OUT.PinState=GPIO_PIN_SET PC15-OSC32_OUT.Signal=GPIO_Output @@ -780,6 +789,7 @@ ProjectManager.DeletePrevious=true ProjectManager.DeviceId=STM32H723VGTx ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1 ProjectManager.FreePins=false +ProjectManager.FreePinsContext= ProjectManager.HalAssertFull=false ProjectManager.HeapSize=0x4000 ProjectManager.KeepUserCode=true diff --git a/USB_DEVICE/App/usbd_cdc_if.c b/USB_DEVICE/App/usbd_cdc_if.c index 35a28ab..ca97bc2 100644 --- a/USB_DEVICE/App/usbd_cdc_if.c +++ b/USB_DEVICE/App/usbd_cdc_if.c @@ -124,13 +124,9 @@ extern USBD_HandleTypeDef hUsbDeviceHS; */ static int8_t CDC_Init_HS(void); - static int8_t CDC_DeInit_HS(void); - -static int8_t CDC_Control_HS(uint8_t cmd, uint8_t *pbuf, uint16_t length); - -static int8_t CDC_Receive_HS(uint8_t *pbuf, uint32_t *Len); - +static int8_t CDC_Control_HS(uint8_t cmd, uint8_t* pbuf, uint16_t length); +static int8_t CDC_Receive_HS(uint8_t* pbuf, uint32_t *Len); static int8_t CDC_TransmitCplt_HS(uint8_t *pbuf, uint32_t *Len, uint8_t epnum); /* USER CODE BEGIN PRIVATE_FUNCTIONS_DECLARATION */ @@ -143,11 +139,11 @@ static int8_t CDC_TransmitCplt_HS(uint8_t *pbuf, uint32_t *Len, uint8_t epnum); USBD_CDC_ItfTypeDef USBD_Interface_fops_HS = { - CDC_Init_HS, - CDC_DeInit_HS, - CDC_Control_HS, - CDC_Receive_HS, - CDC_TransmitCplt_HS + CDC_Init_HS, + CDC_DeInit_HS, + CDC_Control_HS, + CDC_Receive_HS, + CDC_TransmitCplt_HS }; /* Private functions ---------------------------------------------------------*/ @@ -158,12 +154,12 @@ USBD_CDC_ItfTypeDef USBD_Interface_fops_HS = */ static int8_t CDC_Init_HS(void) { - /* USER CODE BEGIN 8 */ + /* USER CODE BEGIN 8 */ /* Set Application Buffers */ USBD_CDC_SetTxBuffer(&hUsbDeviceHS, UserTxBufferHS, 0); USBD_CDC_SetRxBuffer(&hUsbDeviceHS, UserRxBufferHS); return (USBD_OK); - /* USER CODE END 8 */ + /* USER CODE END 8 */ } /** @@ -173,9 +169,9 @@ static int8_t CDC_Init_HS(void) */ static int8_t CDC_DeInit_HS(void) { - /* USER CODE BEGIN 9 */ + /* USER CODE BEGIN 9 */ return (USBD_OK); - /* USER CODE END 9 */ + /* USER CODE END 9 */ } /** @@ -185,9 +181,9 @@ static int8_t CDC_DeInit_HS(void) * @param length: Number of data to be sent (in bytes) * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL */ -static int8_t CDC_Control_HS(uint8_t cmd, uint8_t *pbuf, uint16_t length) +static int8_t CDC_Control_HS(uint8_t cmd, uint8_t* pbuf, uint16_t length) { - /* USER CODE BEGIN 10 */ + /* USER CODE BEGIN 10 */ switch (cmd) { case CDC_SEND_ENCAPSULATED_COMMAND: @@ -248,7 +244,7 @@ static int8_t CDC_Control_HS(uint8_t cmd, uint8_t *pbuf, uint16_t length) } return (USBD_OK); - /* USER CODE END 10 */ + /* USER CODE END 10 */ } /** @@ -266,13 +262,13 @@ static int8_t CDC_Control_HS(uint8_t cmd, uint8_t *pbuf, uint16_t length) * @param Len: Number of data received (in bytes) * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAILL */ -static int8_t CDC_Receive_HS(uint8_t *Buf, uint32_t *Len) +static int8_t CDC_Receive_HS(uint8_t* Buf, uint32_t *Len) { - /* USER CODE BEGIN 11 */ + /* USER CODE BEGIN 11 */ USBD_CDC_SetRxBuffer(&hUsbDeviceHS, &Buf[0]); USBD_CDC_ReceivePacket(&hUsbDeviceHS); return (USBD_OK); - /* USER CODE END 11 */ + /* USER CODE END 11 */ } /** @@ -282,10 +278,10 @@ static int8_t CDC_Receive_HS(uint8_t *Buf, uint32_t *Len) * @param Len: Number of data to be sent (in bytes) * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL or USBD_BUSY */ -uint8_t CDC_Transmit_HS(uint8_t *Buf, uint16_t Len) +uint8_t CDC_Transmit_HS(uint8_t* Buf, uint16_t Len) { - uint8_t result = USBD_OK; - /* USER CODE BEGIN 12 */ + uint8_t result = USBD_OK; + /* USER CODE BEGIN 12 */ USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *) hUsbDeviceHS.pClassData; if (hcdc->TxState != 0) { @@ -293,8 +289,8 @@ uint8_t CDC_Transmit_HS(uint8_t *Buf, uint16_t Len) } USBD_CDC_SetTxBuffer(&hUsbDeviceHS, Buf, Len); result = USBD_CDC_TransmitPacket(&hUsbDeviceHS); - /* USER CODE END 12 */ - return result; + /* USER CODE END 12 */ + return result; } /** @@ -311,15 +307,15 @@ uint8_t CDC_Transmit_HS(uint8_t *Buf, uint16_t Len) */ static int8_t CDC_TransmitCplt_HS(uint8_t *Buf, uint32_t *Len, uint8_t epnum) { - uint8_t result = USBD_OK; - /* USER CODE BEGIN 14 */ + uint8_t result = USBD_OK; + /* USER CODE BEGIN 14 */ UNUSED(Buf); UNUSED(Len); UNUSED(epnum); if (tx_cbk) tx_cbk(*Len); - /* USER CODE END 14 */ - return result; + /* USER CODE END 14 */ + return result; } /* USER CODE BEGIN PRIVATE_FUNCTIONS_IMPLEMENTATION */ diff --git a/USB_DEVICE/App/usbd_cdc_if.h b/USB_DEVICE/App/usbd_cdc_if.h index 9ca111f..3c2ff75 100644 --- a/USB_DEVICE/App/usbd_cdc_if.h +++ b/USB_DEVICE/App/usbd_cdc_if.h @@ -24,11 +24,7 @@ #define __USBD_CDC_IF_H__ #ifdef __cplusplus -extern "C" -{ - - - + extern "C" { #endif /* Includes ------------------------------------------------------------------*/ @@ -111,7 +107,7 @@ extern USBD_CDC_ItfTypeDef USBD_Interface_fops_HS; * @{ */ -uint8_t CDC_Transmit_HS(uint8_t *Buf, uint16_t Len); +uint8_t CDC_Transmit_HS(uint8_t* Buf, uint16_t Len); /* USER CODE BEGIN EXPORTED_FUNCTIONS */ uint8_t *CDCInitRxbufferNcallback(USBCallback transmit_cbk, USBCallback recv_cbk); diff --git a/readme.md b/readme.md index d9ce955..850fde4 100644 --- a/readme.md +++ b/readme.md @@ -122,6 +122,8 @@ 华师佛山-VANGUARD [电控弹道解算例程](https://github.com/CodeAlanqian/SolveTrajectory) +达妙科技H7(MC02)开发板说明书及例程 ：[达妙H7(MC02)开发板官方资料](https://gitee.com/kit-miao/dm-mc02) + --- 还要非常感谢愿意与我队电控一起交流，并无私提供帮助的这些队伍，他们是（以下排名不分先后）：