imu没问题

.clangd

@@ -4,7 +4,7 @@ CompileFlags:
     - '-Wno-implicit-int'
   CompilationDatabase: build/Debug
   Remove:
-    - "--multi-lib-config=*"
+    - '--multi-lib-config=*'
 Diagnostics:
   Suppress:
     - unused-includes

.vscode/launch.json

@@ -0,0 +1,50 @@
+{
+    // 使用 IntelliSense 了解相关属性。 
+    // 悬停以查看现有属性的描述。
+    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceFolder}/build/Debug/DevC.elf",
+            "name": "Debug_OpenOCD",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "configFiles": [
+                "interface/stlink.cfg",
+                "target/stm32f4x.cfg"
+            ],
+            "searchDir": [],
+            "runToEntryPoint": "main",
+            "showDevDebugOutput": "raw",
+            "preLaunchTask": "OpenOCD_debug",
+            "svdFile": "./STM32F407.svd",
+            "liveWatch": {
+                "enabled": true,
+                "samplesPerSecond": 4
+            }
+        },
+        {
+            "cwd": "${workspaceRoot}",
+            "executable": "${workspaceFolder}/build/Debug/DevC.elf",
+            "name": "Debug_OpenOCD_dap",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "configFiles": [
+                "interface/cmsis-dap.cfg",
+                "target/stm32f4x.cfg"
+            ],
+            "searchDir": [],
+            "runToEntryPoint": "main",
+            "showDevDebugOutput": "raw",
+            "preLaunchTask": "OpenOCD_debug_dap",
+            "svdFile": "./STM32F407.svd",
+            "liveWatch": {
+                "enabled": true,
+                "samplesPerSecond": 4
+            }
+        }
+    ]
+}

.vscode/tasks.json

@@ -0,0 +1,91 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "OpenOCD_stlink",
+            "type": "shell",
+            "command": "openocd",
+            "args": [
+                "-f",
+                "interface/stlink.cfg",
+                "-f",
+                "target/stm32f4x.cfg",
+                "-c",
+                // "init; reset halt; flash erase_sector 0 0 last",
+                "init; reset halt",
+                "-c",
+                "program ${workspaceFolder}/build/Debug/DevC.elf verify",
+                "-c", 
+                "reset run; exit"
+            ],
+            "group": "build",
+            "problemMatcher": []
+        },
+        {
+            // 取消reset，防止进debug时运行
+            "label": "OpenOCD_debug",
+            "type": "shell",
+            "command": "openocd",
+            "args": [
+                "-f",
+                "interface/stlink.cfg",
+                "-f",
+                "target/stm32f4x.cfg",
+                "-c",
+                // "init; reset halt; flash erase_sector 0 0 last",
+                "init; reset halt",
+                "-c",
+                "program ${workspaceFolder}/build/Debug/DevC.elf verify exit"
+            ],
+            "group": "build",
+            "problemMatcher": []
+        },
+        {
+            "label": "OpenOCD_daplink",
+            "type": "shell",
+            "command": "openocd",
+            "args": [
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f",
+                "target/stm32f4x.cfg",
+                "-c",
+                // "init; reset halt; flash erase_sector 0 0 last",
+                "init; reset halt",
+                "-c",
+                "program ${workspaceFolder}/build/Debug/DevC.elf verify",
+                "-c", 
+                "reset run; exit"
+            ],
+            "group": "build",
+            "problemMatcher": []
+        },
+        {
+            // 取消reset，防止进debug时运行
+            "label": "OpenOCD_debug_dap",
+            "type": "shell",
+            "command": "openocd",
+            "args": [
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f",
+                "target/stm32f4x.cfg",
+                "-c",
+                // "init; reset halt; flash erase_sector 0 0 last",
+                "init; reset halt",
+                "-c",
+                "program ${workspaceFolder}/build/Debug/DevC.elf verify exit"
+            ],
+            "group": "build",
+            "problemMatcher": []
+        },
+        {
+            "type": "shell",
+            "label": "CMake_Build",
+            "command": "cmake -B build/Debug -DCMAKE_BUILD_TYPE=Debug && cmake --build build/Debug --config Debug",
+            "group": {
+                "kind": "build"
+            }
+        }
+    ]
+}

User/task/atti_esit.c

@@ -105,7 +105,7 @@ static void save_calibration_to_flash(void) {
 
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
-void Task_atti_esti(void *argument) {
+void Task_atti_esit(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */