遥控可切换，雷达相机通信方面已测
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<Header>### uVision Project, (C) Keil Software</Header>
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<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>
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|
|
||||||
<bShared>0</bShared>
|
|
||||||
</File>
|
|
||||||
<File>
|
|
||||||
<GroupNumber>5</GroupNumber>
|
|
||||||
<FileNumber>39</FileNumber>
|
|
||||||
<FileType>1</FileType>
|
|
||||||
<tvExp>0</tvExp>
|
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
|
||||||
<bDave2>0</bDave2>
|
|
||||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/timers.c</PathWithFileName>
|
|
||||||
<FilenameWithoutPath>timers.c</FilenameWithoutPath>
|
|
||||||
<RteFlg>0</RteFlg>
|
|
||||||
<bShared>0</bShared>
|
|
||||||
</File>
|
|
||||||
<File>
|
|
||||||
<GroupNumber>5</GroupNumber>
|
|
||||||
<FileNumber>40</FileNumber>
|
|
||||||
<FileType>1</FileType>
|
|
||||||
<tvExp>0</tvExp>
|
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
|
||||||
<bDave2>0</bDave2>
|
|
||||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c</PathWithFileName>
|
|
||||||
<FilenameWithoutPath>cmsis_os2.c</FilenameWithoutPath>
|
|
||||||
<RteFlg>0</RteFlg>
|
|
||||||
<bShared>0</bShared>
|
|
||||||
</File>
|
|
||||||
<File>
|
|
||||||
<GroupNumber>5</GroupNumber>
|
|
||||||
<FileNumber>41</FileNumber>
|
|
||||||
<FileType>1</FileType>
|
|
||||||
<tvExp>0</tvExp>
|
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
|
||||||
<bDave2>0</bDave2>
|
|
||||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c</PathWithFileName>
|
|
||||||
<FilenameWithoutPath>heap_4.c</FilenameWithoutPath>
|
|
||||||
<RteFlg>0</RteFlg>
|
|
||||||
<bShared>0</bShared>
|
|
||||||
</File>
|
|
||||||
<File>
|
|
||||||
<GroupNumber>5</GroupNumber>
|
|
||||||
<FileNumber>42</FileNumber>
|
|
||||||
<FileType>1</FileType>
|
|
||||||
<tvExp>0</tvExp>
|
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
|
||||||
<bDave2>0</bDave2>
|
|
||||||
<PathWithFileName>../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c</PathWithFileName>
|
|
||||||
<FilenameWithoutPath>port.c</FilenameWithoutPath>
|
|
||||||
<RteFlg>0</RteFlg>
|
|
||||||
<bShared>0</bShared>
|
|
||||||
</File>
|
|
||||||
</Group>
|
|
||||||
|
|
||||||
<Group>
|
|
||||||
<GroupName>::CMSIS</GroupName>
|
|
||||||
<tvExp>0</tvExp>
|
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
|
||||||
<cbSel>0</cbSel>
|
|
||||||
<RteFlg>1</RteFlg>
|
|
||||||
</Group>
|
|
||||||
|
|
||||||
</ProjectOpt>
|
|
||||||
@ -12,7 +12,7 @@
|
|||||||
<lExt>*.lib</lExt>
|
<lExt>*.lib</lExt>
|
||||||
<tExt>*.txt; *.h; *.inc; *.md</tExt>
|
<tExt>*.txt; *.h; *.inc; *.md</tExt>
|
||||||
<pExt>*.plm</pExt>
|
<pExt>*.plm</pExt>
|
||||||
<CppX>*.cpp</CppX>
|
<CppX>*.cpp; *.cc; *.cxx</CppX>
|
||||||
<nMigrate>0</nMigrate>
|
<nMigrate>0</nMigrate>
|
||||||
</Extensions>
|
</Extensions>
|
||||||
|
|
||||||
@ -22,11 +22,11 @@
|
|||||||
</DaveTm>
|
</DaveTm>
|
||||||
|
|
||||||
<Target>
|
<Target>
|
||||||
<TargetName>AUTO_CHASSIS</TargetName>
|
<TargetName>R2_CHASSIS</TargetName>
|
||||||
<ToolsetNumber>0x4</ToolsetNumber>
|
<ToolsetNumber>0x4</ToolsetNumber>
|
||||||
<ToolsetName>ARM-ADS</ToolsetName>
|
<ToolsetName>ARM-ADS</ToolsetName>
|
||||||
<TargetOption>
|
<TargetOption>
|
||||||
<CLKADS>12000000</CLKADS>
|
<CLKADS>25000000</CLKADS>
|
||||||
<OPTTT>
|
<OPTTT>
|
||||||
<gFlags>1</gFlags>
|
<gFlags>1</gFlags>
|
||||||
<BeepAtEnd>1</BeepAtEnd>
|
<BeepAtEnd>1</BeepAtEnd>
|
||||||
@ -103,7 +103,7 @@
|
|||||||
<bEvRecOn>1</bEvRecOn>
|
<bEvRecOn>1</bEvRecOn>
|
||||||
<bSchkAxf>0</bSchkAxf>
|
<bSchkAxf>0</bSchkAxf>
|
||||||
<bTchkAxf>0</bTchkAxf>
|
<bTchkAxf>0</bTchkAxf>
|
||||||
<nTsel>3</nTsel>
|
<nTsel>0</nTsel>
|
||||||
<sDll></sDll>
|
<sDll></sDll>
|
||||||
<sDllPa></sDllPa>
|
<sDllPa></sDllPa>
|
||||||
<sDlgDll></sDlgDll>
|
<sDlgDll></sDlgDll>
|
||||||
@ -114,39 +114,9 @@
|
|||||||
<tDlgDll></tDlgDll>
|
<tDlgDll></tDlgDll>
|
||||||
<tDlgPa></tDlgPa>
|
<tDlgPa></tDlgPa>
|
||||||
<tIfile></tIfile>
|
<tIfile></tIfile>
|
||||||
<pMon>BIN\CMSIS_AGDI.dll</pMon>
|
<pMon>BIN\UL2CM3.DLL</pMon>
|
||||||
</DebugOpt>
|
</DebugOpt>
|
||||||
<TargetDriverDllRegistry>
|
<TargetDriverDllRegistry>
|
||||||
<SetRegEntry>
|
|
||||||
<Number>0</Number>
|
|
||||||
<Key>ST-LINKIII-KEIL_SWO</Key>
|
|
||||||
<Name>-U00160029510000164E574E32 -O206 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131091 -TC12000000 -TT12000000 -TP21 -TDS8005 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -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>CMSIS_AGDI</Key>
|
|
||||||
<Name>-X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
|
|
||||||
</SetRegEntry>
|
|
||||||
<SetRegEntry>
|
|
||||||
<Number>0</Number>
|
|
||||||
<Key>DLGUARM</Key>
|
|
||||||
<Name></Name>
|
|
||||||
</SetRegEntry>
|
|
||||||
<SetRegEntry>
|
<SetRegEntry>
|
||||||
<Number>0</Number>
|
<Number>0</Number>
|
||||||
<Key>UL2CM3</Key>
|
<Key>UL2CM3</Key>
|
||||||
@ -154,57 +124,18 @@
|
|||||||
</SetRegEntry>
|
</SetRegEntry>
|
||||||
</TargetDriverDllRegistry>
|
</TargetDriverDllRegistry>
|
||||||
<Breakpoint/>
|
<Breakpoint/>
|
||||||
<WatchWindow1>
|
|
||||||
<Ww>
|
|
||||||
<count>0</count>
|
|
||||||
<WinNumber>1</WinNumber>
|
|
||||||
<ItemText>CAN_data,0x0A</ItemText>
|
|
||||||
</Ww>
|
|
||||||
<Ww>
|
|
||||||
<count>1</count>
|
|
||||||
<WinNumber>1</WinNumber>
|
|
||||||
<ItemText>aaaaaaa,0x0A</ItemText>
|
|
||||||
</Ww>
|
|
||||||
<Ww>
|
|
||||||
<count>2</count>
|
|
||||||
<WinNumber>1</WinNumber>
|
|
||||||
<ItemText>cmd_rc,0x0A</ItemText>
|
|
||||||
</Ww>
|
|
||||||
<Ww>
|
|
||||||
<count>3</count>
|
|
||||||
<WinNumber>1</WinNumber>
|
|
||||||
<ItemText>cmd,0x0A</ItemText>
|
|
||||||
</Ww>
|
|
||||||
<Ww>
|
|
||||||
<count>4</count>
|
|
||||||
<WinNumber>1</WinNumber>
|
|
||||||
<ItemText>rc_ctrl,0x0A</ItemText>
|
|
||||||
</Ww>
|
|
||||||
<Ww>
|
|
||||||
<count>5</count>
|
|
||||||
<WinNumber>1</WinNumber>
|
|
||||||
<ItemText>buf0ready,0x0A</ItemText>
|
|
||||||
</Ww>
|
|
||||||
</WatchWindow1>
|
|
||||||
<WatchWindow2>
|
|
||||||
<Ww>
|
|
||||||
<count>0</count>
|
|
||||||
<WinNumber>2</WinNumber>
|
|
||||||
<ItemText>a</ItemText>
|
|
||||||
</Ww>
|
|
||||||
</WatchWindow2>
|
|
||||||
<Tracepoint>
|
<Tracepoint>
|
||||||
<THDelay>0</THDelay>
|
<THDelay>0</THDelay>
|
||||||
</Tracepoint>
|
</Tracepoint>
|
||||||
<DebugFlag>
|
<DebugFlag>
|
||||||
<trace>0</trace>
|
<trace>0</trace>
|
||||||
<periodic>1</periodic>
|
<periodic>0</periodic>
|
||||||
<aLwin>1</aLwin>
|
<aLwin>0</aLwin>
|
||||||
<aCover>0</aCover>
|
<aCover>0</aCover>
|
||||||
<aSer1>0</aSer1>
|
<aSer1>0</aSer1>
|
||||||
<aSer2>0</aSer2>
|
<aSer2>0</aSer2>
|
||||||
<aPa>0</aPa>
|
<aPa>0</aPa>
|
||||||
<viewmode>1</viewmode>
|
<viewmode>0</viewmode>
|
||||||
<vrSel>0</vrSel>
|
<vrSel>0</vrSel>
|
||||||
<aSym>0</aSym>
|
<aSym>0</aSym>
|
||||||
<aTbox>0</aTbox>
|
<aTbox>0</aTbox>
|
||||||
@ -236,18 +167,18 @@
|
|||||||
<pSingCmdsp></pSingCmdsp>
|
<pSingCmdsp></pSingCmdsp>
|
||||||
<pMultCmdsp></pMultCmdsp>
|
<pMultCmdsp></pMultCmdsp>
|
||||||
<DebugDescription>
|
<DebugDescription>
|
||||||
<Enable>0</Enable>
|
<Enable>1</Enable>
|
||||||
<EnableFlashSeq>0</EnableFlashSeq>
|
<EnableFlashSeq>1</EnableFlashSeq>
|
||||||
<EnableLog>0</EnableLog>
|
<EnableLog>0</EnableLog>
|
||||||
<Protocol>2</Protocol>
|
<Protocol>2</Protocol>
|
||||||
<DbgClock>5000000</DbgClock>
|
<DbgClock>10000000</DbgClock>
|
||||||
</DebugDescription>
|
</DebugDescription>
|
||||||
</TargetOption>
|
</TargetOption>
|
||||||
</Target>
|
</Target>
|
||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Application/MDK-ARM</GroupName>
|
<GroupName>Application/MDK-ARM</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -279,7 +210,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Application/User/Core</GroupName>
|
<GroupName>Application/User/Core</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -711,7 +642,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Middlewares/FreeRTOS</GroupName>
|
<GroupName>Middlewares/FreeRTOS</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -839,7 +770,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/Module</GroupName>
|
<GroupName>User/Module</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -871,7 +802,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/bsp</GroupName>
|
<GroupName>User/bsp</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1035,7 +966,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/Task</GroupName>
|
<GroupName>User/Task</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1163,7 +1094,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/Algorithm</GroupName>
|
<GroupName>User/Algorithm</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1243,7 +1174,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/Device</GroupName>
|
<GroupName>User/Device</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1335,7 +1266,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Application/User/USB_DEVICE/App</GroupName>
|
<GroupName>Application/User/USB_DEVICE/App</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1379,7 +1310,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
|
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1399,7 +1330,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Middlewares/USB_Device_Library</GroupName>
|
<GroupName>Middlewares/USB_Device_Library</GroupName>
|
||||||
<tvExp>1</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -7,10 +7,9 @@
|
|||||||
|
|
||||||
<Targets>
|
<Targets>
|
||||||
<Target>
|
<Target>
|
||||||
<TargetName>AUTO_CHASSIS</TargetName>
|
<TargetName>R2_CHASSIS</TargetName>
|
||||||
<ToolsetNumber>0x4</ToolsetNumber>
|
<ToolsetNumber>0x4</ToolsetNumber>
|
||||||
<ToolsetName>ARM-ADS</ToolsetName>
|
<ToolsetName>ARM-ADS</ToolsetName>
|
||||||
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
|
|
||||||
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
|
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
|
||||||
<uAC6>0</uAC6>
|
<uAC6>0</uAC6>
|
||||||
<TargetOption>
|
<TargetOption>
|
||||||
@ -49,8 +48,8 @@
|
|||||||
<NotGenerated>0</NotGenerated>
|
<NotGenerated>0</NotGenerated>
|
||||||
<InvalidFlash>1</InvalidFlash>
|
<InvalidFlash>1</InvalidFlash>
|
||||||
</TargetStatus>
|
</TargetStatus>
|
||||||
<OutputDirectory>ELE_CHASSIS\</OutputDirectory>
|
<OutputDirectory>.\R2_CHASSIS\</OutputDirectory>
|
||||||
<OutputName>AUTO_CHASSIS</OutputName>
|
<OutputName>R2_CHASSIS</OutputName>
|
||||||
<CreateExecutable>1</CreateExecutable>
|
<CreateExecutable>1</CreateExecutable>
|
||||||
<CreateLib>0</CreateLib>
|
<CreateLib>0</CreateLib>
|
||||||
<CreateHexFile>0</CreateHexFile>
|
<CreateHexFile>0</CreateHexFile>
|
||||||
@ -82,7 +81,7 @@
|
|||||||
</BeforeMake>
|
</BeforeMake>
|
||||||
<AfterMake>
|
<AfterMake>
|
||||||
<RunUserProg1>0</RunUserProg1>
|
<RunUserProg1>0</RunUserProg1>
|
||||||
<RunUserProg2>1</RunUserProg2>
|
<RunUserProg2>0</RunUserProg2>
|
||||||
<UserProg1Name></UserProg1Name>
|
<UserProg1Name></UserProg1Name>
|
||||||
<UserProg2Name></UserProg2Name>
|
<UserProg2Name></UserProg2Name>
|
||||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||||
@ -1993,7 +1992,7 @@
|
|||||||
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.3.0" condition="ARMv6_7_8-M Device">
|
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.3.0" condition="ARMv6_7_8-M Device">
|
||||||
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.6.0"/>
|
<package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.6.0"/>
|
||||||
<targetInfos>
|
<targetInfos>
|
||||||
<targetInfo name="AUTO_CHASSIS"/>
|
<targetInfo name="R2_CHASSIS"/>
|
||||||
</targetInfos>
|
</targetInfos>
|
||||||
</component>
|
</component>
|
||||||
</components>
|
</components>
|
||||||
Binary file not shown.
@ -51,11 +51,11 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
|
|||||||
c->motorfeedback.rotor_gimbal_pitchangle = can->motor.chassis6020.as_array[1].rotor_angle;
|
c->motorfeedback.rotor_gimbal_pitchangle = can->motor.chassis6020.as_array[1].rotor_angle;
|
||||||
c->motorfeedback.rotor_gimbal_pitchrpm = can->motor.chassis6020.as_array[1].rotor_speed;
|
c->motorfeedback.rotor_gimbal_pitchrpm = can->motor.chassis6020.as_array[1].rotor_speed;
|
||||||
|
|
||||||
c->sick_dis[0] = can->sickfed.raw_dis[0];
|
// c->sick_dis[0] = can->sickfed.raw_dis[0];
|
||||||
c->sick_dis[1] = can->sickfed.raw_dis[1];
|
// c->sick_dis[1] = can->sickfed.raw_dis[1];
|
||||||
c->sick_dis[2] = can->sickfed.raw_dis[2];
|
// c->sick_dis[2] = can->sickfed.raw_dis[2];
|
||||||
c->sick_dis[3] = can->sickfed.raw_dis[3];
|
// c->sick_dis[3] = can->sickfed.raw_dis[3];
|
||||||
|
|
||||||
return CHASSIS_OK;
|
return CHASSIS_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -156,7 +156,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
|
|||||||
|
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case MID_NAVI:
|
case MID_NAVI: //雷达
|
||||||
// //这套是全向轮的方向,一定要注意这里的xy方向
|
// //这套是全向轮的方向,一定要注意这里的xy方向
|
||||||
c->move_vec.Vw =ctrl->C_navi.wz ;
|
c->move_vec.Vw =ctrl->C_navi.wz ;
|
||||||
c->move_vec.Vx =ctrl->C_navi.vy ;
|
c->move_vec.Vx =ctrl->C_navi.vy ;
|
||||||
@ -178,22 +178,19 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
|
|||||||
}
|
}
|
||||||
|
|
||||||
break;
|
break;
|
||||||
|
|
||||||
|
|
||||||
|
case PICK:
|
||||||
|
c->move_vec.Vw =ctrl->C_navi.wz ;
|
||||||
|
c->move_vec.Vx =ctrl->C_navi.vy ;
|
||||||
|
c->move_vec.Vy =ctrl->C_navi.vx ;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
break ;
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
/*怎么用*/
|
|
||||||
switch (c->mode)
|
|
||||||
{
|
|
||||||
case RELAXED:
|
|
||||||
c->move_vec.Vx =0;
|
|
||||||
c->move_vec.Vy =0;
|
|
||||||
c->move_vec.Vw =0;
|
|
||||||
break;
|
|
||||||
case NORMAL:
|
|
||||||
break;
|
|
||||||
|
|
||||||
case GYRO_STAY://陀螺仪yaw修正
|
|
||||||
c->move_vec.Vw = c->move_vec.Vw +c->pos088.bmi088.gyro.z *2000;
|
|
||||||
break;
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@ -9,7 +9,7 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
|
|||||||
if (huart->Instance == USART3)
|
if (huart->Instance == USART3)
|
||||||
return BSP_UART_REMOTE;
|
return BSP_UART_REMOTE;
|
||||||
else if (huart->Instance == USART1)
|
else if (huart->Instance == USART1)
|
||||||
return BSP_UART_ACTION;
|
return BSP_UART_NUC;
|
||||||
else if (huart->Instance == USART6)
|
else if (huart->Instance == USART6)
|
||||||
return BSP_UART_NUC;
|
return BSP_UART_NUC;
|
||||||
/*
|
/*
|
||||||
|
|||||||
@ -95,15 +95,14 @@ static void CMD_RcLostLogic(CMD_t *cmd){
|
|||||||
int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
|
int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
|
||||||
if (cmd == NULL) return -1;
|
if (cmd == NULL) return -1;
|
||||||
if (rc == NULL) return -1;
|
if (rc == NULL) return -1;
|
||||||
//#ifdef dr16_t
|
#ifdef dr16_t
|
||||||
/*c当rc丢控时，恢复机器人至默认状态 */
|
/*c当rc丢控时，恢复机器人至默认状态 */
|
||||||
// if ((rc->ch_w == CMD_SW_ERR) || (rc->ch_y == CMD_SW_ERR)) {
|
if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
|
||||||
// CMD_RcLostLogic(cmd);
|
CMD_RcLostLogic(cmd);
|
||||||
// } else {
|
} else {
|
||||||
CMD_RcLogic(rc, cmd);
|
CMD_RcLogic(rc, cmd);
|
||||||
// }
|
}
|
||||||
|
#endif
|
||||||
//#endif
|
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -128,6 +127,13 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
|
|||||||
cmd->C_navi.wz = n->navi.wz;
|
cmd->C_navi.wz = n->navi.wz;
|
||||||
break;
|
break;
|
||||||
|
|
||||||
|
case PICK :
|
||||||
|
cmd ->C_pick .posx =n->pick .posx ;
|
||||||
|
cmd ->C_pick .posy =n->pick .posy ;
|
||||||
|
cmd ->C_pick .posw =n->pick .posw ;
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
return 0;
|
return 0;
|
||||||
|
|||||||
@ -23,11 +23,16 @@
|
|||||||
|
|
||||||
|
|
||||||
#define MID (0x09)
|
#define MID (0x09)
|
||||||
|
#define PICK (0x06)
|
||||||
|
|
||||||
|
|
||||||
/*选择遥控器，else为r12ds*/
|
/*选择遥控器，else为r12ds
|
||||||
//#define dr16_t
|
更改遥控器时，建议取消相应的task
|
||||||
#define r12ds_t
|
|
||||||
|
|
||||||
|
*/
|
||||||
|
#define dr16_t
|
||||||
|
//#define r12ds_t
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@ -35,6 +40,7 @@
|
|||||||
typedef enum{
|
typedef enum{
|
||||||
RC,//遥控器控制，左按键上
|
RC,//遥控器控制，左按键上
|
||||||
MID_NAVI,//雷达导航
|
MID_NAVI,//雷达导航
|
||||||
|
PICK_t,
|
||||||
}CMD_Chassis_CtrlType_e;
|
}CMD_Chassis_CtrlType_e;
|
||||||
|
|
||||||
typedef enum{
|
typedef enum{
|
||||||
@ -91,6 +97,7 @@ typedef struct {
|
|||||||
uint16_t key; /* 按键值 */
|
uint16_t key; /* 按键值 */
|
||||||
|
|
||||||
uint16_t res; /* 保留，未启用 */
|
uint16_t res; /* 保留，未启用 */
|
||||||
|
|
||||||
|
|
||||||
#else
|
#else
|
||||||
int16_t ch_x; // X轴（Channel 1）
|
int16_t ch_x; // X轴（Channel 1）
|
||||||
@ -115,11 +122,17 @@ typedef struct {
|
|||||||
fp32 vy;
|
fp32 vy;
|
||||||
fp32 wz;
|
fp32 wz;
|
||||||
}navi;
|
}navi;
|
||||||
|
struct
|
||||||
|
{
|
||||||
|
fp32 posx;
|
||||||
|
fp32 posy;
|
||||||
|
fp32 posw;
|
||||||
|
}pick;
|
||||||
struct
|
struct
|
||||||
{
|
{
|
||||||
fp32 angle;
|
fp32 angle;
|
||||||
}sick_cali;
|
}sick_cali;
|
||||||
|
|
||||||
} CMD_NUC_t;
|
} CMD_NUC_t;
|
||||||
|
|
||||||
typedef struct{
|
typedef struct{
|
||||||
@ -156,7 +169,7 @@ typedef struct {
|
|||||||
|
|
||||||
CMD_Chassis_Ctrl_t C_cmd;
|
CMD_Chassis_Ctrl_t C_cmd;
|
||||||
CMD_FOR_NAVI C_navi;
|
CMD_FOR_NAVI C_navi;
|
||||||
|
CMD_FOR_PICK C_pick;
|
||||||
} CMD_t;
|
} CMD_t;
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@ -13,7 +13,7 @@
|
|||||||
|
|
||||||
|
|
||||||
#ifdef dr16_t
|
#ifdef dr16_t
|
||||||
|
//#define
|
||||||
/* Private define ----------------------------------------------------------- */
|
/* Private define ----------------------------------------------------------- */
|
||||||
#define DR16_CH_VALUE_MIN (364u)
|
#define DR16_CH_VALUE_MIN (364u)
|
||||||
#define DR16_CH_VALUE_MID (1024u)
|
#define DR16_CH_VALUE_MID (1024u)
|
||||||
@ -106,7 +106,6 @@ int8_t DR16_ParseRC(const DR16_t *dr16, CMD_RC_t *rc) {
|
|||||||
} else {
|
} else {
|
||||||
memset(rc, 0, sizeof(*rc));
|
memset(rc, 0, sizeof(*rc));
|
||||||
}
|
}
|
||||||
rc->RC_type = RC_dr16;
|
|
||||||
float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
|
float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
|
||||||
|
|
||||||
rc->ch_r_x = 2 * ((float)dr16->data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
|
rc->ch_r_x = 2 * ((float)dr16->data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
|
||||||
|
|||||||
@ -36,6 +36,8 @@ bool_t NUC_WaitDmaCplt(void) {
|
|||||||
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
|
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
|
||||||
SIGNAL_NUC_RAW_REDY);
|
SIGNAL_NUC_RAW_REDY);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
int8_t NUC_RawParse(CMD_NUC_t *n){
|
int8_t NUC_RawParse(CMD_NUC_t *n){
|
||||||
if(n ==NULL) return DEVICE_ERR_NULL;
|
if(n ==NULL) return DEVICE_ERR_NULL;
|
||||||
union
|
union
|
||||||
@ -76,34 +78,34 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
|
|||||||
instance.data[8] = nucbuf[11];
|
instance.data[8] = nucbuf[11];
|
||||||
n->navi.wz = instance.x[2];//
|
n->navi.wz = instance.x[2];//
|
||||||
break;
|
break;
|
||||||
// case PICK:
|
case PICK:
|
||||||
// /* 协议格式
|
/* 协议格式
|
||||||
// 0xFF HEAD
|
0xFF HEAD
|
||||||
// 0x0X 控制帧
|
0x0X 控制帧
|
||||||
// 0x01 相机帧
|
0x01 相机帧
|
||||||
// cmd 8位
|
cmd 8位
|
||||||
// dis 相机深度值
|
dis 相机深度值
|
||||||
// posx 相机yaw轴值
|
posx 相机yaw轴值
|
||||||
// posy 相机pitch轴值
|
posy 相机pitch轴值
|
||||||
// 0xFE TAIL
|
0xFE TAIL
|
||||||
// */
|
*/
|
||||||
// if(nucbuf[15]!=TAIL)goto error;
|
// if(nucbuf[15]!=TAIL)goto error;
|
||||||
// instance.data[3] = nucbuf[6];
|
instance.data[3] = nucbuf[6];
|
||||||
// instance.data[2] = nucbuf[5];
|
instance.data[2] = nucbuf[5];
|
||||||
// instance.data[1] = nucbuf[4];
|
instance.data[1] = nucbuf[4];
|
||||||
// instance.data[0] = nucbuf[3];
|
instance.data[0] = nucbuf[3];
|
||||||
// n->pick.posx = instance.x[0]; //距离球中心的角度值
|
n->pick.posx = instance.x[0]; //距离球中心的角度值
|
||||||
// instance.data[7] = nucbuf[10];
|
instance.data[7] = nucbuf[10];
|
||||||
// instance.data[6] = nucbuf[9];
|
instance.data[6] = nucbuf[9];
|
||||||
// instance.data[5] = nucbuf[8];
|
instance.data[5] = nucbuf[8];
|
||||||
// instance.data[4] = nucbuf[7];
|
instance.data[4] = nucbuf[7];
|
||||||
// n->pick.posy = instance.x[1];// 相机yaw轴
|
n->pick.posy = instance.x[1];// 相机yaw轴
|
||||||
// instance.data[11] = nucbuf[14];
|
instance.data[11] = nucbuf[14];
|
||||||
// instance.data[10] = nucbuf[13];
|
instance.data[10] = nucbuf[13];
|
||||||
// instance.data[9] = nucbuf[12];
|
instance.data[9] = nucbuf[12];
|
||||||
// instance.data[8] = nucbuf[11];
|
instance.data[8] = nucbuf[11];
|
||||||
// n->pick.posw= instance.x[2];// 暂未用到
|
n->pick.posw= instance.x[2];// 暂未用到
|
||||||
// break;
|
break;
|
||||||
// case SICK_CAIL:
|
// case SICK_CAIL:
|
||||||
// if(nucbuf[15]!=TAIL)goto error;
|
// if(nucbuf[15]!=TAIL)goto error;
|
||||||
// instance.data[3] = nucbuf[14];
|
// instance.data[3] = nucbuf[14];
|
||||||
|
|||||||
@ -13,7 +13,7 @@
|
|||||||
/* Private macro ------------------------------------------------------------ */
|
/* Private macro ------------------------------------------------------------ */
|
||||||
/* Private variables -------------------------------------------------------- */
|
/* Private variables -------------------------------------------------------- */
|
||||||
|
|
||||||
#ifdef dr16
|
#ifdef dr16_t
|
||||||
|
|
||||||
#ifdef DEBUG
|
#ifdef DEBUG
|
||||||
DR16_t dr16;
|
DR16_t dr16;
|
||||||
@ -35,15 +35,22 @@ static CMD_RC_t cmd_rc;
|
|||||||
*/
|
*/
|
||||||
void Task_dr16(void *argument) {
|
void Task_dr16(void *argument) {
|
||||||
(void)argument; /* 未使用，消除警告 */
|
(void)argument; /* 未使用，消除警告 */
|
||||||
#ifdef dr16
|
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_DR16;
|
||||||
|
uint32_t tick = osKernelGetTickCount();
|
||||||
|
|
||||||
|
#ifdef dr16_t
|
||||||
|
|
||||||
DR16_Init(&dr16); /* 初始化dr16 */
|
DR16_Init(&dr16); /* 初始化dr16 */
|
||||||
|
#endif
|
||||||
|
|
||||||
while (1) {
|
while (1) {
|
||||||
|
#ifdef dr16_t
|
||||||
|
|
||||||
#ifdef DEBUG
|
#ifdef DEBUG
|
||||||
/* */
|
/* */
|
||||||
task_runtime.stack_water_mark.dr16 = osThreadGetStackSpace(osThreadGetId());
|
task_runtime.stack_water_mark.dr16 = osThreadGetStackSpace(osThreadGetId());
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/* 开启DMA */
|
/* 开启DMA */
|
||||||
DR16_StartDmaRecv(&dr16);
|
DR16_StartDmaRecv(&dr16);
|
||||||
|
|
||||||
@ -59,4 +66,9 @@ void Task_dr16(void *argument) {
|
|||||||
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
|
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
tick += delay_tick; /* 计算下一个唤醒时*/
|
||||||
|
|
||||||
|
osDelay(10);
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
@ -35,8 +35,10 @@ void Task_Init(void *argument) {
|
|||||||
osThreadNew(Task_AttiEsti, NULL, &attr_atti_esti);
|
osThreadNew(Task_AttiEsti, NULL, &attr_atti_esti);
|
||||||
task_runtime.thread.chassis =
|
task_runtime.thread.chassis =
|
||||||
osThreadNew(Task_Chassis, NULL, &attr_chassis);
|
osThreadNew(Task_Chassis, NULL, &attr_chassis);
|
||||||
task_runtime.thread.r12ds =
|
// task_runtime.thread.r12ds =
|
||||||
osThreadNew(Task_r12ds,NULL,&attr_r12ds);
|
// osThreadNew(Task_r12ds,NULL,&attr_r12ds);
|
||||||
|
task_runtime.thread.dr16 =
|
||||||
|
osThreadNew(Task_dr16,NULL,&attr_dr16);
|
||||||
|
|
||||||
task_runtime.thread.can =
|
task_runtime.thread.can =
|
||||||
osThreadNew(Task_can,NULL,&attr_can);
|
osThreadNew(Task_can,NULL,&attr_can);
|
||||||
|
|||||||
@ -6,6 +6,8 @@
|
|||||||
NUC_t nuc_raw;
|
NUC_t nuc_raw;
|
||||||
CMD_NUC_t cmd_fromnuc;
|
CMD_NUC_t cmd_fromnuc;
|
||||||
#else
|
#else
|
||||||
|
static NUC_t nuc_raw;
|
||||||
|
static CMD_NUC_t cmd_fromnuc;
|
||||||
|
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|||||||
@ -37,14 +37,21 @@ void Task_r12ds(void *argument)
|
|||||||
{
|
{
|
||||||
(void)argument;
|
(void)argument;
|
||||||
|
|
||||||
#ifdef r12ds_t
|
|
||||||
|
|
||||||
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_R12DS;
|
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_R12DS;
|
||||||
|
#ifdef r12ds_t
|
||||||
|
|
||||||
R12ds_DMA_Init(sbus_rx_buf[0],sbus_rx_buf[1],50);
|
R12ds_DMA_Init(sbus_rx_buf[0],sbus_rx_buf[1],50);
|
||||||
|
#endif
|
||||||
|
|
||||||
uint32_t tick = osKernelGetTickCount();
|
uint32_t tick = osKernelGetTickCount();
|
||||||
|
|
||||||
|
|
||||||
while (1)
|
while (1)
|
||||||
{
|
{
|
||||||
|
|
||||||
|
#ifdef r12ds_t
|
||||||
|
|
||||||
#ifdef DEBUG
|
#ifdef DEBUG
|
||||||
|
|
||||||
task_runtime.stack_water_mark.r12ds =
|
task_runtime.stack_water_mark.r12ds =
|
||||||
@ -61,13 +68,15 @@ void Task_r12ds(void *argument)
|
|||||||
|
|
||||||
osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
|
osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
|
||||||
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0);
|
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0);
|
||||||
|
#endif
|
||||||
|
|
||||||
tick += delay_tick; /* 计算下一个唤醒时*/
|
tick += delay_tick; /* 计算下一个唤醒时*/
|
||||||
|
|
||||||
osDelay(10);
|
osDelay(10);
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
@ -30,11 +30,11 @@ const osThreadAttr_t attr_chassis = {
|
|||||||
.priority = osPriorityAboveNormal,
|
.priority = osPriorityAboveNormal,
|
||||||
.stack_size = 512 * 4,
|
.stack_size = 512 * 4,
|
||||||
};
|
};
|
||||||
const osThreadAttr_t attr_r12ds = {
|
//const osThreadAttr_t attr_r12ds = {
|
||||||
.name = "r12ds",
|
// .name = "r12ds",
|
||||||
.priority = osPriorityRealtime,
|
// .priority = osPriorityRealtime,
|
||||||
.stack_size = 128 * 4,
|
// .stack_size = 128 * 4,
|
||||||
};
|
//};
|
||||||
|
|
||||||
const osThreadAttr_t attr_can = {
|
const osThreadAttr_t attr_can = {
|
||||||
.name = "can",
|
.name = "can",
|
||||||
|
|||||||
@ -19,7 +19,7 @@
|
|||||||
#define TASK_FREQ_NUC (500u)
|
#define TASK_FREQ_NUC (500u)
|
||||||
#define TASK_FREQ_CAN (1000u)
|
#define TASK_FREQ_CAN (1000u)
|
||||||
#define TASK_FREQ_R12DS (1000u)
|
#define TASK_FREQ_R12DS (1000u)
|
||||||
#define TASK_FREQ_dr16 (1000u)
|
#define TASK_FREQ_DR16 (1000u)
|
||||||
|
|
||||||
#define TASK_FREQ_ERROR_DTC (3u)
|
#define TASK_FREQ_ERROR_DTC (3u)
|
||||||
|
|
||||||
@ -36,11 +36,8 @@ typedef struct {
|
|||||||
struct {
|
struct {
|
||||||
osThreadId_t atti_esti;
|
osThreadId_t atti_esti;
|
||||||
osThreadId_t chassis;
|
osThreadId_t chassis;
|
||||||
osThreadId_t dr16;
|
osThreadId_t dr16;
|
||||||
|
osThreadId_t r12ds;
|
||||||
osThreadId_t r12ds;
|
|
||||||
|
|
||||||
osThreadId_t ai;
|
|
||||||
osThreadId_t can;
|
osThreadId_t can;
|
||||||
osThreadId_t cmd;
|
osThreadId_t cmd;
|
||||||
osThreadId_t nuc;
|
osThreadId_t nuc;
|
||||||
@ -110,6 +107,8 @@ typedef struct {
|
|||||||
float can;
|
float can;
|
||||||
float atti_esti;
|
float atti_esti;
|
||||||
float r12ds;
|
float r12ds;
|
||||||
|
float dr16;
|
||||||
|
|
||||||
float cmd;
|
float cmd;
|
||||||
float nuc;
|
float nuc;
|
||||||
float error_detect;
|
float error_detect;
|
||||||
@ -120,6 +119,8 @@ typedef struct {
|
|||||||
float can;
|
float can;
|
||||||
float atti_esti;
|
float atti_esti;
|
||||||
float r12ds;
|
float r12ds;
|
||||||
|
float dr16;
|
||||||
|
|
||||||
float cmd;
|
float cmd;
|
||||||
float nuc;
|
float nuc;
|
||||||
float error_detect;
|
float error_detect;
|
||||||
@ -143,9 +144,9 @@ extern const osThreadAttr_t attr_nuc;
|
|||||||
|
|
||||||
extern const osThreadAttr_t attr_error_detect;
|
extern const osThreadAttr_t attr_error_detect;
|
||||||
|
|
||||||
//extern const osThreadAttr_t attr_dr16;
|
extern const osThreadAttr_t attr_dr16;
|
||||||
|
|
||||||
extern const osThreadAttr_t attr_r12ds;
|
//extern const osThreadAttr_t attr_r12ds;
|
||||||
|
|
||||||
/* Exported functions prototypes -------------------------------------------- */
|
/* Exported functions prototypes -------------------------------------------- */
|
||||||
void Task_Init(void *argument);
|
void Task_Init(void *argument);
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user