Compare commits
No commits in common. "b15da29a16927feb00094ddc5baae065d1d1f9ad" and "c264f1d2b19ff24546d2444e0a2efd79c8adc0f7" have entirely different histories.
b15da29a16
...
c264f1d2b1
@ -12,7 +12,7 @@
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|||||||
<lExt>*.lib</lExt>
|
<lExt>*.lib</lExt>
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||||||
<tExt>*.txt; *.h; *.inc; *.md</tExt>
|
<tExt>*.txt; *.h; *.inc; *.md</tExt>
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||||||
<pExt>*.plm</pExt>
|
<pExt>*.plm</pExt>
|
||||||
<CppX>*.cpp; *.cc; *.cxx</CppX>
|
<CppX>*.cpp</CppX>
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||||||
<nMigrate>0</nMigrate>
|
<nMigrate>0</nMigrate>
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||||||
</Extensions>
|
</Extensions>
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||||||
|
|
||||||
@ -22,11 +22,11 @@
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|||||||
</DaveTm>
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</DaveTm>
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||||||
|
|
||||||
<Target>
|
<Target>
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||||||
<TargetName>R2_CHASSIS</TargetName>
|
<TargetName>AUTO_CHASSIS</TargetName>
|
||||||
<ToolsetNumber>0x4</ToolsetNumber>
|
<ToolsetNumber>0x4</ToolsetNumber>
|
||||||
<ToolsetName>ARM-ADS</ToolsetName>
|
<ToolsetName>ARM-ADS</ToolsetName>
|
||||||
<TargetOption>
|
<TargetOption>
|
||||||
<CLKADS>25000000</CLKADS>
|
<CLKADS>12000000</CLKADS>
|
||||||
<OPTTT>
|
<OPTTT>
|
||||||
<gFlags>1</gFlags>
|
<gFlags>1</gFlags>
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||||||
<BeepAtEnd>1</BeepAtEnd>
|
<BeepAtEnd>1</BeepAtEnd>
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||||||
@ -103,7 +103,7 @@
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|||||||
<bEvRecOn>1</bEvRecOn>
|
<bEvRecOn>1</bEvRecOn>
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||||||
<bSchkAxf>0</bSchkAxf>
|
<bSchkAxf>0</bSchkAxf>
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||||||
<bTchkAxf>0</bTchkAxf>
|
<bTchkAxf>0</bTchkAxf>
|
||||||
<nTsel>0</nTsel>
|
<nTsel>3</nTsel>
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||||||
<sDll></sDll>
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<sDll></sDll>
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||||||
<sDllPa></sDllPa>
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<sDllPa></sDllPa>
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||||||
<sDlgDll></sDlgDll>
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<sDlgDll></sDlgDll>
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||||||
@ -114,9 +114,39 @@
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|||||||
<tDlgDll></tDlgDll>
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<tDlgDll></tDlgDll>
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||||||
<tDlgPa></tDlgPa>
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<tDlgPa></tDlgPa>
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||||||
<tIfile></tIfile>
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<tIfile></tIfile>
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||||||
<pMon>BIN\UL2CM3.DLL</pMon>
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<pMon>BIN\CMSIS_AGDI.dll</pMon>
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</DebugOpt>
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</DebugOpt>
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||||||
<TargetDriverDllRegistry>
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<TargetDriverDllRegistry>
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||||||
|
<SetRegEntry>
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||||||
|
<Number>0</Number>
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||||||
|
<Key>ST-LINKIII-KEIL_SWO</Key>
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||||||
|
<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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
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||||||
|
</SetRegEntry>
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||||||
|
<SetRegEntry>
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||||||
|
<Number>0</Number>
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||||||
|
<Key>ARMRTXEVENTFLAGS</Key>
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||||||
|
<Name>-L70 -Z18 -C0 -M0 -T1</Name>
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||||||
|
</SetRegEntry>
|
||||||
|
<SetRegEntry>
|
||||||
|
<Number>0</Number>
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||||||
|
<Key>DLGTARM</Key>
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||||||
|
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
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||||||
|
</SetRegEntry>
|
||||||
|
<SetRegEntry>
|
||||||
|
<Number>0</Number>
|
||||||
|
<Key>ARMDBGFLAGS</Key>
|
||||||
|
<Name></Name>
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||||||
|
</SetRegEntry>
|
||||||
|
<SetRegEntry>
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||||||
|
<Number>0</Number>
|
||||||
|
<Key>CMSIS_AGDI</Key>
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||||||
|
<Name>-X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
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||||||
|
</SetRegEntry>
|
||||||
|
<SetRegEntry>
|
||||||
|
<Number>0</Number>
|
||||||
|
<Key>DLGUARM</Key>
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||||||
|
<Name></Name>
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||||||
|
</SetRegEntry>
|
||||||
<SetRegEntry>
|
<SetRegEntry>
|
||||||
<Number>0</Number>
|
<Number>0</Number>
|
||||||
<Key>UL2CM3</Key>
|
<Key>UL2CM3</Key>
|
||||||
@ -124,18 +154,57 @@
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|||||||
</SetRegEntry>
|
</SetRegEntry>
|
||||||
</TargetDriverDllRegistry>
|
</TargetDriverDllRegistry>
|
||||||
<Breakpoint/>
|
<Breakpoint/>
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||||||
|
<WatchWindow1>
|
||||||
|
<Ww>
|
||||||
|
<count>0</count>
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||||||
|
<WinNumber>1</WinNumber>
|
||||||
|
<ItemText>CAN_data,0x0A</ItemText>
|
||||||
|
</Ww>
|
||||||
|
<Ww>
|
||||||
|
<count>1</count>
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||||||
|
<WinNumber>1</WinNumber>
|
||||||
|
<ItemText>aaaaaaa,0x0A</ItemText>
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||||||
|
</Ww>
|
||||||
|
<Ww>
|
||||||
|
<count>2</count>
|
||||||
|
<WinNumber>1</WinNumber>
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||||||
|
<ItemText>cmd_rc,0x0A</ItemText>
|
||||||
|
</Ww>
|
||||||
|
<Ww>
|
||||||
|
<count>3</count>
|
||||||
|
<WinNumber>1</WinNumber>
|
||||||
|
<ItemText>cmd,0x0A</ItemText>
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||||||
|
</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>0</periodic>
|
<periodic>1</periodic>
|
||||||
<aLwin>0</aLwin>
|
<aLwin>1</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>0</viewmode>
|
<viewmode>1</viewmode>
|
||||||
<vrSel>0</vrSel>
|
<vrSel>0</vrSel>
|
||||||
<aSym>0</aSym>
|
<aSym>0</aSym>
|
||||||
<aTbox>0</aTbox>
|
<aTbox>0</aTbox>
|
||||||
@ -167,18 +236,18 @@
|
|||||||
<pSingCmdsp></pSingCmdsp>
|
<pSingCmdsp></pSingCmdsp>
|
||||||
<pMultCmdsp></pMultCmdsp>
|
<pMultCmdsp></pMultCmdsp>
|
||||||
<DebugDescription>
|
<DebugDescription>
|
||||||
<Enable>1</Enable>
|
<Enable>0</Enable>
|
||||||
<EnableFlashSeq>1</EnableFlashSeq>
|
<EnableFlashSeq>0</EnableFlashSeq>
|
||||||
<EnableLog>0</EnableLog>
|
<EnableLog>0</EnableLog>
|
||||||
<Protocol>2</Protocol>
|
<Protocol>2</Protocol>
|
||||||
<DbgClock>10000000</DbgClock>
|
<DbgClock>5000000</DbgClock>
|
||||||
</DebugDescription>
|
</DebugDescription>
|
||||||
</TargetOption>
|
</TargetOption>
|
||||||
</Target>
|
</Target>
|
||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Application/MDK-ARM</GroupName>
|
<GroupName>Application/MDK-ARM</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -210,7 +279,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Application/User/Core</GroupName>
|
<GroupName>Application/User/Core</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -642,7 +711,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Middlewares/FreeRTOS</GroupName>
|
<GroupName>Middlewares/FreeRTOS</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -770,7 +839,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/Module</GroupName>
|
<GroupName>User/Module</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -802,7 +871,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/bsp</GroupName>
|
<GroupName>User/bsp</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -966,7 +1035,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/Task</GroupName>
|
<GroupName>User/Task</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1094,7 +1163,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/Algorithm</GroupName>
|
<GroupName>User/Algorithm</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1174,7 +1243,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>User/Device</GroupName>
|
<GroupName>User/Device</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1266,7 +1335,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Application/User/USB_DEVICE/App</GroupName>
|
<GroupName>Application/User/USB_DEVICE/App</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1310,7 +1379,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
|
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -1330,7 +1399,7 @@
|
|||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
<GroupName>Middlewares/USB_Device_Library</GroupName>
|
<GroupName>Middlewares/USB_Device_Library</GroupName>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>1</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
<cbSel>0</cbSel>
|
<cbSel>0</cbSel>
|
||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
@ -7,9 +7,10 @@
|
|||||||
|
|
||||||
<Targets>
|
<Targets>
|
||||||
<Target>
|
<Target>
|
||||||
<TargetName>R2_CHASSIS</TargetName>
|
<TargetName>AUTO_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>
|
||||||
@ -48,8 +49,8 @@
|
|||||||
<NotGenerated>0</NotGenerated>
|
<NotGenerated>0</NotGenerated>
|
||||||
<InvalidFlash>1</InvalidFlash>
|
<InvalidFlash>1</InvalidFlash>
|
||||||
</TargetStatus>
|
</TargetStatus>
|
||||||
<OutputDirectory>.\R2_CHASSIS\</OutputDirectory>
|
<OutputDirectory>ELE_CHASSIS\</OutputDirectory>
|
||||||
<OutputName>R2_CHASSIS</OutputName>
|
<OutputName>AUTO_CHASSIS</OutputName>
|
||||||
<CreateExecutable>1</CreateExecutable>
|
<CreateExecutable>1</CreateExecutable>
|
||||||
<CreateLib>0</CreateLib>
|
<CreateLib>0</CreateLib>
|
||||||
<CreateHexFile>0</CreateHexFile>
|
<CreateHexFile>0</CreateHexFile>
|
||||||
@ -81,7 +82,7 @@
|
|||||||
</BeforeMake>
|
</BeforeMake>
|
||||||
<AfterMake>
|
<AfterMake>
|
||||||
<RunUserProg1>0</RunUserProg1>
|
<RunUserProg1>0</RunUserProg1>
|
||||||
<RunUserProg2>0</RunUserProg2>
|
<RunUserProg2>1</RunUserProg2>
|
||||||
<UserProg1Name></UserProg1Name>
|
<UserProg1Name></UserProg1Name>
|
||||||
<UserProg2Name></UserProg2Name>
|
<UserProg2Name></UserProg2Name>
|
||||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||||
@ -1992,7 +1993,7 @@
|
|||||||
<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="R2_CHASSIS"/>
|
<targetInfo name="AUTO_CHASSIS"/>
|
||||||
</targetInfos>
|
</targetInfos>
|
||||||
</component>
|
</component>
|
||||||
</components>
|
</components>
|
||||||
Binary file not shown.
736
MDK-ARM/IMU.uvoptx
Normal file
736
MDK-ARM/IMU.uvoptx
Normal file
@ -0,0 +1,736 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||||
|
<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
|
||||||
|
|
||||||
|
<SchemaVersion>1.0</SchemaVersion>
|
||||||
|
|
||||||
|
<Header>### uVision Project, (C) Keil Software</Header>
|
||||||
|
|
||||||
|
<Extensions>
|
||||||
|
<cExt>*.c</cExt>
|
||||||
|
<aExt>*.s*; *.src; *.a*</aExt>
|
||||||
|
<oExt>*.obj; *.o</oExt>
|
||||||
|
<lExt>*.lib</lExt>
|
||||||
|
<tExt>*.txt; *.h; *.inc</tExt>
|
||||||
|
<pExt>*.plm</pExt>
|
||||||
|
<CppX>*.cpp</CppX>
|
||||||
|
<nMigrate>0</nMigrate>
|
||||||
|
</Extensions>
|
||||||
|
|
||||||
|
<DaveTm>
|
||||||
|
<dwLowDateTime>0</dwLowDateTime>
|
||||||
|
<dwHighDateTime>0</dwHighDateTime>
|
||||||
|
</DaveTm>
|
||||||
|
|
||||||
|
<Target>
|
||||||
|
<TargetName>IMU</TargetName>
|
||||||
|
<ToolsetNumber>0x4</ToolsetNumber>
|
||||||
|
<ToolsetName>ARM-ADS</ToolsetName>
|
||||||
|
<TargetOption>
|
||||||
|
<CLKADS>12000000</CLKADS>
|
||||||
|
<OPTTT>
|
||||||
|
<gFlags>1</gFlags>
|
||||||
|
<BeepAtEnd>1</BeepAtEnd>
|
||||||
|
<RunSim>0</RunSim>
|
||||||
|
<RunTarget>1</RunTarget>
|
||||||
|
<RunAbUc>0</RunAbUc>
|
||||||
|
</OPTTT>
|
||||||
|
<OPTHX>
|
||||||
|
<HexSelection>1</HexSelection>
|
||||||
|
<FlashByte>65535</FlashByte>
|
||||||
|
<HexRangeLowAddress>0</HexRangeLowAddress>
|
||||||
|
<HexRangeHighAddress>0</HexRangeHighAddress>
|
||||||
|
<HexOffset>0</HexOffset>
|
||||||
|
</OPTHX>
|
||||||
|
<OPTLEX>
|
||||||
|
<PageWidth>79</PageWidth>
|
||||||
|
<PageLength>66</PageLength>
|
||||||
|
<TabStop>8</TabStop>
|
||||||
|
<ListingPath></ListingPath>
|
||||||
|
</OPTLEX>
|
||||||
|
<ListingPage>
|
||||||
|
<CreateCListing>1</CreateCListing>
|
||||||
|
<CreateAListing>1</CreateAListing>
|
||||||
|
<CreateLListing>1</CreateLListing>
|
||||||
|
<CreateIListing>0</CreateIListing>
|
||||||
|
<AsmCond>1</AsmCond>
|
||||||
|
<AsmSymb>1</AsmSymb>
|
||||||
|
<AsmXref>0</AsmXref>
|
||||||
|
<CCond>1</CCond>
|
||||||
|
<CCode>0</CCode>
|
||||||
|
<CListInc>0</CListInc>
|
||||||
|
<CSymb>0</CSymb>
|
||||||
|
<LinkerCodeListing>0</LinkerCodeListing>
|
||||||
|
</ListingPage>
|
||||||
|
<OPTXL>
|
||||||
|
<LMap>1</LMap>
|
||||||
|
<LComments>1</LComments>
|
||||||
|
<LGenerateSymbols>1</LGenerateSymbols>
|
||||||
|
<LLibSym>1</LLibSym>
|
||||||
|
<LLines>1</LLines>
|
||||||
|
<LLocSym>1</LLocSym>
|
||||||
|
<LPubSym>1</LPubSym>
|
||||||
|
<LXref>0</LXref>
|
||||||
|
<LExpSel>0</LExpSel>
|
||||||
|
</OPTXL>
|
||||||
|
<OPTFL>
|
||||||
|
<tvExp>1</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<IsCurrentTarget>1</IsCurrentTarget>
|
||||||
|
</OPTFL>
|
||||||
|
<CpuCode>18</CpuCode>
|
||||||
|
<DebugOpt>
|
||||||
|
<uSim>0</uSim>
|
||||||
|
<uTrg>1</uTrg>
|
||||||
|
<sLdApp>1</sLdApp>
|
||||||
|
<sGomain>1</sGomain>
|
||||||
|
<sRbreak>1</sRbreak>
|
||||||
|
<sRwatch>1</sRwatch>
|
||||||
|
<sRmem>1</sRmem>
|
||||||
|
<sRfunc>1</sRfunc>
|
||||||
|
<sRbox>1</sRbox>
|
||||||
|
<tLdApp>1</tLdApp>
|
||||||
|
<tGomain>1</tGomain>
|
||||||
|
<tRbreak>1</tRbreak>
|
||||||
|
<tRwatch>1</tRwatch>
|
||||||
|
<tRmem>1</tRmem>
|
||||||
|
<tRfunc>1</tRfunc>
|
||||||
|
<tRbox>1</tRbox>
|
||||||
|
<tRtrace>1</tRtrace>
|
||||||
|
<sRSysVw>1</sRSysVw>
|
||||||
|
<tRSysVw>1</tRSysVw>
|
||||||
|
<sRunDeb>0</sRunDeb>
|
||||||
|
<sLrtime>0</sLrtime>
|
||||||
|
<bEvRecOn>1</bEvRecOn>
|
||||||
|
<bSchkAxf>0</bSchkAxf>
|
||||||
|
<bTchkAxf>0</bTchkAxf>
|
||||||
|
<nTsel>6</nTsel>
|
||||||
|
<sDll></sDll>
|
||||||
|
<sDllPa></sDllPa>
|
||||||
|
<sDlgDll></sDlgDll>
|
||||||
|
<sDlgPa></sDlgPa>
|
||||||
|
<sIfile></sIfile>
|
||||||
|
<tDll></tDll>
|
||||||
|
<tDllPa></tDllPa>
|
||||||
|
<tDlgDll></tDlgDll>
|
||||||
|
<tDlgPa></tDlgPa>
|
||||||
|
<tIfile></tIfile>
|
||||||
|
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
|
||||||
|
</DebugOpt>
|
||||||
|
<TargetDriverDllRegistry>
|
||||||
|
<SetRegEntry>
|
||||||
|
<Number>0</Number>
|
||||||
|
<Key>UL2CM3</Key>
|
||||||
|
<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))</Name>
|
||||||
|
</SetRegEntry>
|
||||||
|
<SetRegEntry>
|
||||||
|
<Number>0</Number>
|
||||||
|
<Key>ST-LINKIII-KEIL_SWO</Key>
|
||||||
|
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
|
||||||
|
</SetRegEntry>
|
||||||
|
</TargetDriverDllRegistry>
|
||||||
|
<Breakpoint/>
|
||||||
|
<Tracepoint>
|
||||||
|
<THDelay>0</THDelay>
|
||||||
|
</Tracepoint>
|
||||||
|
<DebugFlag>
|
||||||
|
<trace>0</trace>
|
||||||
|
<periodic>1</periodic>
|
||||||
|
<aLwin>1</aLwin>
|
||||||
|
<aCover>0</aCover>
|
||||||
|
<aSer1>0</aSer1>
|
||||||
|
<aSer2>0</aSer2>
|
||||||
|
<aPa>0</aPa>
|
||||||
|
<viewmode>1</viewmode>
|
||||||
|
<vrSel>0</vrSel>
|
||||||
|
<aSym>0</aSym>
|
||||||
|
<aTbox>0</aTbox>
|
||||||
|
<AscS1>0</AscS1>
|
||||||
|
<AscS2>0</AscS2>
|
||||||
|
<AscS3>0</AscS3>
|
||||||
|
<aSer3>0</aSer3>
|
||||||
|
<eProf>0</eProf>
|
||||||
|
<aLa>0</aLa>
|
||||||
|
<aPa1>0</aPa1>
|
||||||
|
<AscS4>0</AscS4>
|
||||||
|
<aSer4>0</aSer4>
|
||||||
|
<StkLoc>1</StkLoc>
|
||||||
|
<TrcWin>0</TrcWin>
|
||||||
|
<newCpu>0</newCpu>
|
||||||
|
<uProt>0</uProt>
|
||||||
|
</DebugFlag>
|
||||||
|
<LintExecutable></LintExecutable>
|
||||||
|
<LintConfigFile></LintConfigFile>
|
||||||
|
<bLintAuto>0</bLintAuto>
|
||||||
|
<bAutoGenD>0</bAutoGenD>
|
||||||
|
<LntExFlags>0</LntExFlags>
|
||||||
|
<pMisraName></pMisraName>
|
||||||
|
<pszMrule></pszMrule>
|
||||||
|
<pSingCmds></pSingCmds>
|
||||||
|
<pMultCmds></pMultCmds>
|
||||||
|
<pMisraNamep></pMisraNamep>
|
||||||
|
<pszMrulep></pszMrulep>
|
||||||
|
<pSingCmdsp></pSingCmdsp>
|
||||||
|
<pMultCmdsp></pMultCmdsp>
|
||||||
|
<DebugDescription>
|
||||||
|
<Enable>1</Enable>
|
||||||
|
<EnableFlashSeq>1</EnableFlashSeq>
|
||||||
|
<EnableLog>0</EnableLog>
|
||||||
|
<Protocol>2</Protocol>
|
||||||
|
<DbgClock>10000000</DbgClock>
|
||||||
|
</DebugDescription>
|
||||||
|
</TargetOption>
|
||||||
|
</Target>
|
||||||
|
|
||||||
|
<Group>
|
||||||
|
<GroupName>Application/MDK-ARM</GroupName>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<cbSel>0</cbSel>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>1</GroupNumber>
|
||||||
|
<FileNumber>1</FileNumber>
|
||||||
|
<FileType>2</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>startup_stm32f407xx.s</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>startup_stm32f407xx.s</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
</Group>
|
||||||
|
|
||||||
|
<Group>
|
||||||
|
<GroupName>Application/User/Core</GroupName>
|
||||||
|
<tvExp>1</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<cbSel>0</cbSel>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>2</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/main.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>main.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>3</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/gpio.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>gpio.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>4</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/freertos.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>freertos.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>5</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/can.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>can.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>6</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/crc.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>crc.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>7</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/dma.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>dma.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>8</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/spi.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>spi.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>9</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/tim.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>tim.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>10</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/usart.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>usart.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>11</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/stm32f4xx_it.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>stm32f4xx_it.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>2</GroupNumber>
|
||||||
|
<FileNumber>12</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>../Core/Src/stm32f4xx_hal_msp.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>stm32f4xx_hal_msp.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
</Group>
|
||||||
|
|
||||||
|
<Group>
|
||||||
|
<GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
|
||||||
|
<tvExp>1</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<cbSel>0</cbSel>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>3</GroupNumber>
|
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||||||
|
<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>
|
||||||
@ -51,10 +51,10 @@ 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: //雷达
|
case MID_NAVI:
|
||||||
// //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 ;
|
||||||
@ -179,18 +179,21 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
|
|||||||
|
|
||||||
break;
|
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 PICK:
|
case GYRO_STAY://陀螺仪yaw修正
|
||||||
c->move_vec.Vw =ctrl->C_navi.wz ;
|
c->move_vec.Vw = c->move_vec.Vw +c->pos088.bmi088.gyro.z *2000;
|
||||||
c->move_vec.Vx =ctrl->C_navi.vy ;
|
break;
|
||||||
c->move_vec.Vy =ctrl->C_navi.vx ;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
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_NUC;
|
return BSP_UART_ACTION;
|
||||||
else if (huart->Instance == USART6)
|
else if (huart->Instance == USART6)
|
||||||
return BSP_UART_NUC;
|
return BSP_UART_NUC;
|
||||||
/*
|
/*
|
||||||
|
|||||||
@ -95,14 +95,15 @@ 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->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
|
// if ((rc->ch_w == CMD_SW_ERR) || (rc->ch_y == 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;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -127,13 +128,6 @@ 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;
|
||||||
|
|||||||
@ -23,16 +23,11 @@
|
|||||||
|
|
||||||
|
|
||||||
#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*/
|
||||||
更改遥控器时，建议取消相应的task
|
//#define dr16_t
|
||||||
|
#define r12ds_t
|
||||||
|
|
||||||
*/
|
|
||||||
#define dr16_t
|
|
||||||
//#define r12ds_t
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@ -40,7 +35,6 @@
|
|||||||
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{
|
||||||
@ -98,7 +92,6 @@ typedef struct {
|
|||||||
|
|
||||||
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）
|
||||||
int16_t mul; // MUL（Channel 2）
|
int16_t mul; // MUL（Channel 2）
|
||||||
@ -122,17 +115,11 @@ 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{
|
||||||
@ -169,7 +156,7 @@ 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)
|
||||||
@ -106,6 +106,7 @@ 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;
|
||||||
|
|||||||
@ -36,8 +36,6 @@ 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
|
||||||
@ -78,34 +76,34 @@ 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_t
|
#ifdef dr16
|
||||||
|
|
||||||
#ifdef DEBUG
|
#ifdef DEBUG
|
||||||
DR16_t dr16;
|
DR16_t dr16;
|
||||||
@ -35,22 +35,15 @@ 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 */
|
||||||
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_DR16;
|
#ifdef 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);
|
||||||
|
|
||||||
@ -66,9 +59,4 @@ 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);
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
@ -35,10 +35,8 @@ 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);
|
||||||
|
|||||||
@ -6,8 +6,6 @@
|
|||||||
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
|
||||||
|
|||||||
@ -37,21 +37,14 @@ 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 =
|
||||||
@ -68,15 +61,13 @@ 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)
|
||||||
|
|
||||||
@ -37,7 +37,10 @@ typedef 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;
|
||||||
@ -107,8 +110,6 @@ 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;
|
||||||
@ -119,8 +120,6 @@ 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;
|
||||||
@ -144,9 +143,9 @@ 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