From ea949443adb475c913a9aa0944b23e03d136f6f4 Mon Sep 17 00:00:00 2001
From: ZHAISHUI04 <3150778793@qq.com>
Date: Thu, 13 Mar 2025 19:11:19 +0800
Subject: [PATCH] .
---
MDK-ARM/.vscode/c_cpp_properties.json | 313 ++
MDK-ARM/.vscode/keil-assistant.log | 477 +++
MDK-ARM/.vscode/keil_project_properties.json | 6 +
MDK-ARM/.vscode/launch.json | 24 +
MDK-ARM/.vscode/settings.json | 102 +
MDK-ARM/.vscode/uv4.log | 109 +
MDK-ARM/.vscode/uv4.log.lock | 1 +
MDK-ARM/AUTO_CHASSIS.uvoptx | 1473 +++++++
MDK-ARM/AUTO_CHASSIS.uvprojx | 2022 ++++++++++
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf | Bin 0 -> 3379520 bytes
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex | 3618 +++++++++++++++++
MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex | 3643 ++++++++++++++++++
MDK-ARM/IMU.uvoptx | 736 ++++
MDK-ARM/keilkill.bat | 27 +
MDK-ARM/startup_stm32f407xx.s | 423 ++
MDK-ARM/study.md | 25 +
16 files changed, 12999 insertions(+)
create mode 100644 MDK-ARM/.vscode/c_cpp_properties.json
create mode 100644 MDK-ARM/.vscode/keil-assistant.log
create mode 100644 MDK-ARM/.vscode/keil_project_properties.json
create mode 100644 MDK-ARM/.vscode/launch.json
create mode 100644 MDK-ARM/.vscode/settings.json
create mode 100644 MDK-ARM/.vscode/uv4.log
create mode 100644 MDK-ARM/.vscode/uv4.log.lock
create mode 100644 MDK-ARM/AUTO_CHASSIS.uvoptx
create mode 100644 MDK-ARM/AUTO_CHASSIS.uvprojx
create mode 100644 MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
create mode 100644 MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
create mode 100644 MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex
create mode 100644 MDK-ARM/IMU.uvoptx
create mode 100644 MDK-ARM/keilkill.bat
create mode 100644 MDK-ARM/startup_stm32f407xx.s
create mode 100644 MDK-ARM/study.md
diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..9116630
--- /dev/null
+++ b/MDK-ARM/.vscode/c_cpp_properties.json
@@ -0,0 +1,313 @@
+{
+ "configurations": [
+ {
+ "name": "windows-gcc-x64",
+ "includePath": [
+ "${workspaceFolder}/**",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Core\\Inc",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Include",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\bsp",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\device",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\task",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\Algorithm",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\Module",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\MDK-ARM",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Lib\\ARM",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Core\\Src",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
+ "${default}"
+ ],
+ "defines": [
+ "USE_HAL_DRIVER",
+ "STM32F407xx",
+ "__CC_ARM",
+ "__arm__",
+ "__align(x)=",
+ "__ALIGNOF__(x)=",
+ "__alignof__(x)=",
+ "__asm(x)=",
+ "__forceinline=",
+ "__restrict=",
+ "__global_reg(n)=",
+ "__inline=",
+ "__int64=long long",
+ "__INTADDR__(expr)=0",
+ "__irq=",
+ "__packed=",
+ "__pure=",
+ "__smc(n)=",
+ "__svc(n)=",
+ "__svc_indirect(n)=",
+ "__svc_indirect_r7(n)=",
+ "__value_in_regs=",
+ "__weak=",
+ "__writeonly=",
+ "__declspec(x)=",
+ "__attribute__(x)=",
+ "__nonnull__(x)=",
+ "__register=",
+ "__breakpoint(x)=",
+ "__cdp(x,y,z)=",
+ "__clrex()=",
+ "__clz(x)=0U",
+ "__current_pc()=0U",
+ "__current_sp()=0U",
+ "__disable_fiq()=",
+ "__disable_irq()=",
+ "__dmb(x)=",
+ "__dsb(x)=",
+ "__enable_fiq()=",
+ "__enable_irq()=",
+ "__fabs(x)=0.0",
+ "__fabsf(x)=0.0f",
+ "__force_loads()=",
+ "__force_stores()=",
+ "__isb(x)=",
+ "__ldrex(x)=0U",
+ "__ldrexd(x)=0U",
+ "__ldrt(x)=0U",
+ "__memory_changed()=",
+ "__nop()=",
+ "__pld(...)=",
+ "__pli(...)=",
+ "__qadd(x,y)=0",
+ "__qdbl(x)=0",
+ "__qsub(x,y)=0",
+ "__rbit(x)=0U",
+ "__rev(x)=0U",
+ "__return_address()=0U",
+ "__ror(x,y)=0U",
+ "__schedule_barrier()=",
+ "__semihost(x,y)=0",
+ "__sev()=",
+ "__sqrt(x)=0.0",
+ "__sqrtf(x)=0.0f",
+ "__ssat(x,y)=0",
+ "__strex(x,y)=0U",
+ "__strexd(x,y)=0",
+ "__strt(x,y)=",
+ "__swp(x,y)=0U",
+ "__usat(x,y)=0U",
+ "__wfe()=",
+ "__wfi()=",
+ "__yield()=",
+ "__vfp_status(x,y)=0"
+ ],
+ "intelliSenseMode": "windows-gcc-x64",
+ "cStandard": "${default}",
+ "cppStandard": "${default}",
+ "compilerPath": "C:/vspack/mingw64/bin/gcc.exe"
+ },
+ {
+ "name": "ELE_CHASSIS",
+ "includePath": [
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Core\\Inc",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)\\Drivers\\CMSIS\\Include",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(2.16AGV)",
+ "${default}",
+ "${workspaceFolder}/**"
+ ],
+ "defines": [
+ "USE_HAL_DRIVER",
+ "STM32F407xx",
+ "__CC_ARM",
+ "__arm__",
+ "__align(x)=",
+ "__ALIGNOF__(x)=",
+ "__alignof__(x)=",
+ "__asm(x)=",
+ "__forceinline=",
+ "__restrict=",
+ "__global_reg(n)=",
+ "__inline=",
+ "__int64=long long",
+ "__INTADDR__(expr)=0",
+ "__irq=",
+ "__packed=",
+ "__pure=",
+ "__smc(n)=",
+ "__svc(n)=",
+ "__svc_indirect(n)=",
+ "__svc_indirect_r7(n)=",
+ "__value_in_regs=",
+ "__weak=",
+ "__writeonly=",
+ "__declspec(x)=",
+ "__attribute__(x)=",
+ "__nonnull__(x)=",
+ "__register=",
+ "__breakpoint(x)=",
+ "__cdp(x,y,z)=",
+ "__clrex()=",
+ "__clz(x)=0U",
+ "__current_pc()=0U",
+ "__current_sp()=0U",
+ "__disable_fiq()=",
+ "__disable_irq()=",
+ "__dmb(x)=",
+ "__dsb(x)=",
+ "__enable_fiq()=",
+ "__enable_irq()=",
+ "__fabs(x)=0.0",
+ "__fabsf(x)=0.0f",
+ "__force_loads()=",
+ "__force_stores()=",
+ "__isb(x)=",
+ "__ldrex(x)=0U",
+ "__ldrexd(x)=0U",
+ "__ldrt(x)=0U",
+ "__memory_changed()=",
+ "__nop()=",
+ "__pld(...)=",
+ "__pli(...)=",
+ "__qadd(x,y)=0",
+ "__qdbl(x)=0",
+ "__qsub(x,y)=0",
+ "__rbit(x)=0U",
+ "__rev(x)=0U",
+ "__return_address()=0U",
+ "__ror(x,y)=0U",
+ "__schedule_barrier()=",
+ "__semihost(x,y)=0",
+ "__sev()=",
+ "__sqrt(x)=0.0",
+ "__sqrtf(x)=0.0f",
+ "__ssat(x,y)=0",
+ "__strex(x,y)=0U",
+ "__strexd(x,y)=0",
+ "__strt(x,y)=",
+ "__swp(x,y)=0U",
+ "__usat(x,y)=0U",
+ "__wfe()=",
+ "__wfi()=",
+ "__yield()=",
+ "__vfp_status(x,y)=0"
+ ],
+ "intelliSenseMode": "${default}"
+ },
+ {
+ "name": "AUTO_CHASSIS",
+ "includePath": [
+ "d:\\Desktop\\r2\\R2_UP\\Core\\Inc",
+ "d:\\Desktop\\r2\\R2_UP\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+ "d:\\Desktop\\r2\\R2_UP\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+ "d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+ "d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+ "d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+ "d:\\Desktop\\r2\\R2_UP\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+ "d:\\Desktop\\r2\\R2_UP\\Drivers\\CMSIS\\Include",
+ "d:\\Desktop\\r2\\R2_UP\\User",
+ "d:\\Desktop\\r2\\R2_UP\\User\\bsp",
+ "d:\\Desktop\\r2\\R2_UP\\User\\device",
+ "d:\\Desktop\\r2\\R2_UP\\User\\task",
+ "d:\\Desktop\\r2\\R2_UP\\User\\Algorithm",
+ "d:\\Desktop\\r2\\R2_UP\\User\\Module",
+ "d:\\Desktop\\r2\\R2_UP\\MDK-ARM",
+ "d:\\Desktop\\r2\\R2_UP\\USB_DEVICE\\App",
+ "d:\\Desktop\\r2\\R2_UP\\USB_DEVICE\\Target",
+ "d:\\Desktop\\r2\\R2_UP\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Inc",
+ "d:\\Desktop\\r2\\R2_UP\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Inc",
+ "d:\\Desktop\\r2\\R2_UP\\Drivers\\CMSIS\\Lib\\ARM",
+ "d:\\Desktop\\r2\\R2_UP\\Core\\Src",
+ "d:\\Desktop\\r2\\R2_UP\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+ "d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+ "d:\\Desktop\\r2\\R2_UP\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
+ "d:\\Desktop\\r2\\R2_UP\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Src",
+ "d:\\Desktop\\r2\\R2_UP\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Src"
+ ],
+ "defines": [
+ "USE_HAL_DRIVER",
+ "STM32F407xx",
+ "__CC_ARM",
+ "__arm__",
+ "__align(x)=",
+ "__ALIGNOF__(x)=",
+ "__alignof__(x)=",
+ "__asm(x)=",
+ "__forceinline=",
+ "__restrict=",
+ "__global_reg(n)=",
+ "__inline=",
+ "__int64=long long",
+ "__INTADDR__(expr)=0",
+ "__irq=",
+ "__packed=",
+ "__pure=",
+ "__smc(n)=",
+ "__svc(n)=",
+ "__svc_indirect(n)=",
+ "__svc_indirect_r7(n)=",
+ "__value_in_regs=",
+ "__weak=",
+ "__writeonly=",
+ "__declspec(x)=",
+ "__attribute__(x)=",
+ "__nonnull__(x)=",
+ "__register=",
+ "__breakpoint(x)=",
+ "__cdp(x,y,z)=",
+ "__clrex()=",
+ "__clz(x)=0U",
+ "__current_pc()=0U",
+ "__current_sp()=0U",
+ "__disable_fiq()=",
+ "__disable_irq()=",
+ "__dmb(x)=",
+ "__dsb(x)=",
+ "__enable_fiq()=",
+ "__enable_irq()=",
+ "__fabs(x)=0.0",
+ "__fabsf(x)=0.0f",
+ "__force_loads()=",
+ "__force_stores()=",
+ "__isb(x)=",
+ "__ldrex(x)=0U",
+ "__ldrexd(x)=0U",
+ "__ldrt(x)=0U",
+ "__memory_changed()=",
+ "__nop()=",
+ "__pld(...)=",
+ "__pli(...)=",
+ "__qadd(x,y)=0",
+ "__qdbl(x)=0",
+ "__qsub(x,y)=0",
+ "__rbit(x)=0U",
+ "__rev(x)=0U",
+ "__return_address()=0U",
+ "__ror(x,y)=0U",
+ "__schedule_barrier()=",
+ "__semihost(x,y)=0",
+ "__sev()=",
+ "__sqrt(x)=0.0",
+ "__sqrtf(x)=0.0f",
+ "__ssat(x,y)=0",
+ "__strex(x,y)=0U",
+ "__strexd(x,y)=0",
+ "__strt(x,y)=",
+ "__swp(x,y)=0U",
+ "__usat(x,y)=0U",
+ "__wfe()=",
+ "__wfi()=",
+ "__yield()=",
+ "__vfp_status(x,y)=0"
+ ],
+ "intelliSenseMode": "${default}"
+ }
+ ],
+ "version": 4
+}
\ No newline at end of file
diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
new file mode 100644
index 0000000..de52ba5
--- /dev/null
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -0,0 +1,477 @@
+[info] Log at : 2024/1/8|19:32:39|GMT+0800
+
+[info] Log at : 2024/1/8|20:02:44|GMT+0800
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+[info] Log at : 2024/1/13|11:08:34|GMT+0800
+
+[info] project closed: ELE_CHASSIS
+[info] Log at : 2024/1/13|14:49:16|GMT+0800
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diff --git a/MDK-ARM/.vscode/keil_project_properties.json b/MDK-ARM/.vscode/keil_project_properties.json
new file mode 100644
index 0000000..a8f8237
--- /dev/null
+++ b/MDK-ARM/.vscode/keil_project_properties.json
@@ -0,0 +1,6 @@
+{
+ "project": {
+ "name": "593c6fad1b2d09a0b98264505a86eaed",
+ "activeTargetName": "ELE_CHASSIS"
+ }
+}
\ No newline at end of file
diff --git a/MDK-ARM/.vscode/launch.json b/MDK-ARM/.vscode/launch.json
new file mode 100644
index 0000000..b0768b4
--- /dev/null
+++ b/MDK-ARM/.vscode/launch.json
@@ -0,0 +1,24 @@
+{
+ "version": "0.2.0",
+ "configurations": [
+ {
+ "name": "C/C++ Runner: Debug Session",
+ "type": "cppdbg",
+ "request": "launch",
+ "args": [],
+ "stopAtEntry": false,
+ "externalConsole": true,
+ "cwd": "c:/Users/hanke/Desktop/WaitToImprv/chassis(1.06)AGV待完善)/User/bsp",
+ "program": "c:/Users/hanke/Desktop/WaitToImprv/chassis(1.06)AGV待完善)/User/bsp/build/Debug/outDebug",
+ "MIMode": "gdb",
+ "miDebuggerPath": "gdb",
+ "setupCommands": [
+ {
+ "description": "Enable pretty-printing for gdb",
+ "text": "-enable-pretty-printing",
+ "ignoreFailures": true
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json
new file mode 100644
index 0000000..a39cac4
--- /dev/null
+++ b/MDK-ARM/.vscode/settings.json
@@ -0,0 +1,102 @@
+{
+ "C_Cpp_Runner.cCompilerPath": "gcc",
+ "C_Cpp_Runner.cppCompilerPath": "g++",
+ "C_Cpp_Runner.debuggerPath": "gdb",
+ "C_Cpp_Runner.cStandard": "",
+ "C_Cpp_Runner.cppStandard": "",
+ "C_Cpp_Runner.msvcBatchPath": "",
+ "C_Cpp_Runner.useMsvc": false,
+ "C_Cpp_Runner.warnings": [
+ "-Wall",
+ "-Wextra",
+ "-Wpedantic",
+ "-Wshadow",
+ "-Wformat=2",
+ "-Wcast-align",
+ "-Wconversion",
+ "-Wsign-conversion",
+ "-Wnull-dereference"
+ ],
+ "C_Cpp_Runner.msvcWarnings": [
+ "/W4",
+ "/permissive-",
+ "/w14242",
+ "/w14287",
+ "/w14296",
+ "/w14311",
+ "/w14826",
+ "/w44062",
+ "/w44242",
+ "/w14905",
+ "/w14906",
+ "/w14263",
+ "/w44265",
+ "/w14928"
+ ],
+ "C_Cpp_Runner.enableWarnings": true,
+ "C_Cpp_Runner.warningsAsError": false,
+ "C_Cpp_Runner.compilerArgs": [],
+ "C_Cpp_Runner.linkerArgs": [],
+ "C_Cpp_Runner.includePaths": [
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Core\\Inc",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Include",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\bsp",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\device",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\task",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\Algorithm",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\User\\Module",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\MDK-ARM",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\CMSIS\\Lib\\ARM",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Core\\Src",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+ "c:\\Users\\hanke\\Desktop\\WaitToImprv\\chassis(1.06)AGV待完善)\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
+ "${default}",
+ "${workspaceFolder}/**"
+ ],
+ "C_Cpp_Runner.includeSearch": [
+ "*",
+ "**/*"
+ ],
+ "C_Cpp_Runner.excludeSearch": [
+ "**/build",
+ "**/build/**",
+ "**/.*",
+ "**/.*/**",
+ "**/.vscode",
+ "**/.vscode/**"
+ ],
+ "C_Cpp_Runner.useAddressSanitizer": false,
+ "C_Cpp_Runner.useUndefinedSanitizer": false,
+ "C_Cpp_Runner.useLeakSanitizer": false,
+ "C_Cpp_Runner.showCompilationTime": false,
+ "C_Cpp_Runner.useLinkTimeOptimization": false,
+ "C_Cpp_Runner.msvcSecureNoWarnings": false,
+ "files.associations": {
+ "chassis.h": "c",
+ "bmi088.h": "c",
+ "user_math.h": "c",
+ "action.h": "c",
+ "can_use.h": "c",
+ "user_task.h": "c",
+ "user_cmsis_os2.h": "c",
+ "memory": "c",
+ "string": "c",
+ "utility": "c",
+ "xmemory": "c",
+ "xstring": "c",
+ "xutility": "c",
+ "limits": "c",
+ "gimbal_task.h": "c",
+ "gimgal.h": "c",
+ "navi.h": "c",
+ "map.h": "c"
+ }
+}
\ No newline at end of file
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
new file mode 100644
index 0000000..bf1a2ab
--- /dev/null
+++ b/MDK-ARM/.vscode/uv4.log
@@ -0,0 +1,109 @@
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil mdk\ARM\ARMCC\Bin'
+Build target 'AUTO_CHASSIS'
+Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.assembling startup_stm32f407xx.s...
+compiling stm32f4xx_hal_msp.c...
+compiling usart.c...
+compiling stm32f4xx_hal_pcd.c...
+compiling stm32f4xx_hal_pcd_ex.c...
+compiling spi.c...
+compiling tim.c...
+compiling can.c...
+compiling dma.c...
+compiling stm32f4xx_it.c...
+compiling crc.c...
+compiling stm32f4xx_ll_usb.c...
+compiling gpio.c...
+compiling stm32f4xx_hal_rcc.c...
+compiling main.c...
+compiling freertos.c...
+compiling stm32f4xx_hal_cortex.c...
+compiling stm32f4xx_hal_pwr.c...
+compiling stm32f4xx_hal_rcc_ex.c...
+compiling stm32f4xx_hal_dma.c...
+compiling stm32f4xx_hal_flash_ramfunc.c...
+compiling stm32f4xx_hal_pwr_ex.c...
+compiling stm32f4xx_hal_flash_ex.c...
+compiling stm32f4xx_hal_flash.c...
+compiling stm32f4xx_hal_gpio.c...
+compiling croutine.c...
+compiling stm32f4xx_hal.c...
+compiling event_groups.c...
+compiling list.c...
+compiling queue.c...
+compiling stm32f4xx_hal_exti.c...
+compiling stm32f4xx_hal_dma_ex.c...
+compiling stm32f4xx_hal_can.c...
+compiling stream_buffer.c...
+compiling timers.c...
+compiling tasks.c...
+compiling heap_4.c...
+compiling stm32f4xx_hal_crc.c...
+compiling port.c...
+compiling stm32f4xx_hal_spi.c...
+compiling map.c...
+compiling bsp_can.c...
+compiling system_stm32f4xx.c...
+compiling crc16.c...
+compiling gpio.c...
+compiling stm32f4xx_hal_tim.c...
+compiling stm32f4xx_hal_uart.c...
+compiling stm32f4xx_hal_tim_ex.c...
+compiling config.c...
+compiling bsp_delay.c...
+compiling delay.c...
+compiling pwm.c...
+compiling Chassis.c...
+compiling spi.c...
+compiling bsp_usart.c...
+compiling cmsis_os2.c...
+compiling led.c...
+compiling bsp_buzzer.c...
+compiling flash.c...
+..\User\bsp\flash.c(20): warning: #29-D: expected an expression
+ #elif
+..\User\bsp\flash.c: 1 warning, 0 errors
+compiling kalman.c...
+compiling user_task.c...
+compiling init.c...
+compiling error_detect_task.c...
+compiling cmd_task.c...
+compiling chassis_task.c...
+compiling dr16_task.c...
+compiling action_task.c...
+compiling atti_esti.c...
+compiling can_task.c...
+compiling filter.c...
+compiling nuc_task.c...
+compiling navi_task.c...
+compiling ahrs.c...
+compiling can_use.c...
+compiling pid.c...
+compiling cmd.c...
+compiling nuc.c...
+compiling dr16.c...
+compiling vofa.c...
+compiling navi.c...
+..\User\Algorithm\navi.c(111): warning: #177-D: variable "zArrive" was declared but never referenced
+ uint16_t xArrive = 0, yArrive = 0, zArrive=0;
+..\User\Algorithm\navi.c(130): warning: #550-D: variable "chassis_vx" was set but never used
+ static fp32 chassis_vx,chassis_vy;//底盘xy分速度
+..\User\Algorithm\navi.c(130): warning: #550-D: variable "chassis_vy" was set but never used
+ static fp32 chassis_vx,chassis_vy;//底盘xy分速度
+..\User\Algorithm\navi.c: 3 warnings, 0 errors
+compiling usb_device.c...
+compiling user_math.c...
+compiling Action.c...
+compiling bmi088.c...
+compiling user_cmsis_os2.c...
+compiling LD_remote.c...
+compiling usbd_desc.c...
+compiling usbd_core.c...
+compiling usbd_ioreq.c...
+compiling usbd_cdc_if.c...
+compiling usbd_cdc.c...
+compiling usbd_ctlreq.c...
+compiling usbd_conf.c...
+linking...
+Program Size: Code=75220 RO-data=1400 RW-data=1268 ZI-data=33316
+"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 4 Warning(s).
+Build Time Elapsed: 00:00:38
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
new file mode 100644
index 0000000..8234474
--- /dev/null
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -0,0 +1 @@
+2025/2/20 16:57:14
\ No newline at end of file
diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/AUTO_CHASSIS.uvoptx
new file mode 100644
index 0000000..b926ed6
--- /dev/null
+++ b/MDK-ARM/AUTO_CHASSIS.uvoptx
@@ -0,0 +1,1473 @@
+
+
+
+ 1.0
+
+ ### uVision Project, (C) Keil Software
+
+
+ *.c
+ *.s*; *.src; *.a*
+ *.obj; *.o
+ *.lib
+ *.txt; *.h; *.inc; *.md
+ *.plm
+ *.cpp
+ 0
+
+
+
+ 0
+ 0
+
+
+
+ AUTO_CHASSIS
+ 0x4
+ ARM-ADS
+
+ 12000000
+
+ 1
+ 1
+ 0
+ 1
+ 0
+
+
+ 1
+ 65535
+ 0
+ 0
+ 0
+
+
+ 79
+ 66
+ 8
+
+
+
+ 1
+ 1
+ 1
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+ 1
+ 1
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+ 1
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+ 0
+ 0
+ 0
+
+
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
+ 0
+ 0
+
+
+ 1
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+ 1
+
+ 18
+
+ 0
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
+ 1
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+ 1
+ 1
+ 1
+ 0
+ 0
+ 1
+ 0
+ 0
+ 3
+
+
+
+
+
+
+
+
+
+
+ BIN\CMSIS_AGDI.dll
+
+
+
+ 0
+ ST-LINKIII-KEIL_SWO
+ -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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
+
+
+ 0
+ ARMRTXEVENTFLAGS
+ -L70 -Z18 -C0 -M0 -T1
+
+
+ 0
+ DLGTARM
+ (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)
+
+
+ 0
+ ARMDBGFLAGS
+
+
+
+ 0
+ CMSIS_AGDI
+ -X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
+
+
+ 0
+ DLGUARM
+
+
+
+ 0
+ UL2CM3
+ UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))
+
+
+
+
+
+ 0
+ 1
+ afsa,0x10
+
+
+ 1
+ 1
+ motor,0x0A
+
+
+ 2
+ 1
+ CAN_RawTx_t
+
+
+
+
+ 0
+ 2
+ a
+
+
+
+ 0
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+
+ 0
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+
+
+
+
+
+
+
+
+
+ 0
+ 0
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+ 2
+ 5000000
+
+
+
+
+
+ Application/MDK-ARM
+ 1
+ 0
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+
+ 1
+ 1
+ 2
+ 0
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+ 0
+ startup_stm32f407xx.s
+ startup_stm32f407xx.s
+ 0
+ 0
+
+
+ 1
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+ 4
+ 0
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+ 0
+ ..\Drivers\CMSIS\Lib\ARM\arm_cortexM4lf_math.lib
+ arm_cortexM4lf_math.lib
+ 0
+ 0
+
+
+
+
+ Application/User/Core
+ 1
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+
+ 2
+ 3
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+ 0
+ ../Core/Src/main.c
+ main.c
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+
+ 2
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+ 0
+ ../Core/Src/gpio.c
+ gpio.c
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+
+
+ 2
+ 5
+ 1
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+ 0
+ ../Core/Src/freertos.c
+ freertos.c
+ 0
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+
+ 2
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+ ../Core/Src/can.c
+ can.c
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+
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+ 1
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+ ../Core/Src/crc.c
+ crc.c
+ 0
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+
+
+ 2
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+ 1
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+ ../Core/Src/dma.c
+ dma.c
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+
+ 2
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+ ../Core/Src/spi.c
+ spi.c
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+
+ 2
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+ tim.c
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+
+ 2
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+ 1
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+ usart.c
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+
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+ ../Core/Src/stm32f4xx_it.c
+ stm32f4xx_it.c
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+
+ 2
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+ ../Core/Src/stm32f4xx_hal_msp.c
+ stm32f4xx_hal_msp.c
+ 0
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+
+
+
+
+ Drivers/STM32F4xx_HAL_Driver
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+ stm32f4xx_hal_pcd.c
+ 0
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+
+ 3
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+ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
+ stm32f4xx_hal_pcd_ex.c
+ 0
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+
+
+ 3
+ 16
+ 1
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+ stm32f4xx_ll_usb.c
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+
+ 3
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+
+ 3
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+ 0
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+
+ 3
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+ stm32f4xx_hal_flash.c
+ 0
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+
+ 3
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+ 1
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+ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c
+ stm32f4xx_hal_flash_ex.c
+ 0
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+
+
+ 3
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+ 1
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+ ../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
+ stm32f4xx_hal_flash_ramfunc.c
+ 0
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+
+
+ 3
+ 22
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+
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+
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+
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+
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+
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+
+
+ 3
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+
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+
+
+
+ Drivers/CMSIS
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+
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+
+ Middlewares/FreeRTOS
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+
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+
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+ list.c
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+
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+
+ 5
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+
+ 5
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+
+
+
+ User/Module
+ 1
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+ 6
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+ Chassis.c
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+ 6
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+ 7
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+ 7
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+ 1
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+ bsp_buzzer.c
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+
+
+
+ User/Task
+ 1
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+ 8
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+ up_task.c
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+ 0
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+
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+ User/Algorithm
+ 1
+ 0
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+ 9
+ 72
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+ ..\User\Algorithm\filter.c
+ filter.c
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+ 9
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+ ..\User\task\cmd_task.c
+ cmd_task.c
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+ 9
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+ 1
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+ ..\User\Algorithm\ahrs.c
+ ahrs.c
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+ 9
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+ ..\User\Algorithm\kalman.c
+ kalman.c
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+ 9
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+ 1
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+ ..\User\Algorithm\user_cmsis_os2.c
+ user_cmsis_os2.c
+ 0
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diff --git a/MDK-ARM/AUTO_CHASSIS.uvprojx b/MDK-ARM/AUTO_CHASSIS.uvprojx
new file mode 100644
index 0000000..625865f
--- /dev/null
+++ b/MDK-ARM/AUTO_CHASSIS.uvprojx
@@ -0,0 +1,2022 @@
+
+
+
+ 2.1
+
+ ### uVision Project, (C) Keil Software
+
+
+
+ AUTO_CHASSIS
+ 0x4
+ ARM-ADS
+ 5060960::V5.06 update 7 (build 960)::.\ARMCC
+ 5060960::V5.06 update 7 (build 960)::.\ARMCC
+ 0
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+ STM32F407IGHx
+ STMicroelectronics
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+ https://www.keil.com/pack/
+ IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ
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diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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