Yodel/25_R1_chassis
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锁框pid调好了

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This commit is contained in:
Yodel 2025-07-05 01:05:22 +08:00
parent d3ed8b3773
commit 1c2c8f0b31
60 changed files with 4623 additions and 4628 deletions
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136
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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2
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -866,7 +866,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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27
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -29,37 +29,22 @@ Project File Date: 06/04/2025
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'.
compiling error_detect_task.c...
compiling config.c...
compiling navi_task.c...
compiling cmd_task.c...
compiling can_task.c...
compiling init.c...
compiling Calc_task.c...
compiling Chassis.c...
compiling freertos.c...
compiling chassis_task.c...
compiling user_task.c...
compiling action_task.c...
compiling remote_control_task.c...
compiling nuc_task.c...
compiling atti_esti.c...
compiling cmd.c...
compiling nuc.c...
compiling can_use.c...
..\User\device\can_use.c(82): warning: #177-D: function "CAN_Sick_Receive_mini" was declared but never referenced
static void CAN_Sick_Receive_mini(CAN_SickFeedback_mini_t *feedback,const uint8_t *raw) {
..\User\device\can_use.c: 1 warning, 0 errors
compiling bmi088.c...
compiling vofa.c...
compiling map.c...
compiling navi.c...
compiling remote_control.c...
..\User\device\remote_control.c(73): warning: #177-D: function "DR16_DataCorrupted" was declared but never referenced
static bool DR16_DataCorrupted(const DR16_t *dr16) {
..\User\device\remote_control.c: 1 warning, 0 errors
compiling navi.c...
compiling vofa.c...
compiling cmd.c...
compiling nuc.c...
linking...
Program Size: Code=92292 RO-data=1632 RW-data=1084 ZI-data=34796
Program Size: Code=89416 RO-data=1636 RW-data=1084 ZI-data=34796
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 2 Warning(s).
<h2>Software Packages used:</h2>
@ -84,7 +69,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:10
Build Time Elapsed: 00:00:04
</pre>
</body>
</html>

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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
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108
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
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@ -160,7 +160,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/task\user_task.h)(0x685844EB)
I (../User/task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
@ -175,7 +175,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp.h)(0x663B6621)
@ -1542,7 +1542,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
F (..\User\Module\Chassis.c)(0x6867C614)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
F (..\User\Module\Chassis.c)(0x6868028C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
I (..\User\Module\Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
@ -1589,7 +1589,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
@ -1602,8 +1602,8 @@ I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (..\User\Module\define.h)(0x6866E077)
F (..\User\Module\config.c)(0x6867A34F)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
I (..\User\Module\define.h)(0x686803C0)
F (..\User\Module\config.c)(0x6867FC98)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
I (..\User\Module\config.h)(0x683FAE78)
I (..\User\Module\Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -1651,7 +1651,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
@ -1669,7 +1669,7 @@ I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/bsp/flash.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\Module\define.h)(0x6866E077)()
F (..\User\Module\define.h)(0x686803C0)()
F (..\User\bsp\bsp_delay.c)(0x663B6621)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\bsp_delay.o --omf_browse ele_chassis\bsp_delay.crf --depend ele_chassis\bsp_delay.d)
I (..\User\bsp\bsp_delay.h)(0x663B6621)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -2129,7 +2129,7 @@ I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/device\device.h)(0x666C4CF9)
I (../User/task\user_task.h)(0x685844EB)
I (../User/task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
@ -2146,7 +2146,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
@ -2162,7 +2162,7 @@ I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\user_task.c)(0x685A85B8)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\user_task.o --omf_browse ele_chassis\user_task.crf --depend ele_chassis\user_task.d)
I (../User/task\user_task.h)(0x685844EB)
I (../User/task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -2223,7 +2223,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
@ -2285,7 +2285,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
@ -2298,7 +2298,7 @@ I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (..\User\task\user_task.h)(0x685844EB)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@ -2318,7 +2318,7 @@ I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/device/vofa.h)(0x685B9AD7)
F (..\User\task\atti_esti.c)(0x685CE600)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\atti_esti.o --omf_browse ele_chassis\atti_esti.crf --depend ele_chassis\atti_esti.d)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/task\user_task.h)(0x685844EB)
I (../User/task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -2379,7 +2379,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
@ -2398,8 +2398,8 @@ I (..\User\task\atti_esti.h)(0x663B6622)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h)(0x64D895DA)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/device/vofa.h)(0x685B9AD7)
F (..\User\task\can_task.c)(0x68655C98)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\can_task.o --omf_browse ele_chassis\can_task.crf --depend ele_chassis\can_task.d)
I (../User/device/can_use.h)(0x6864D417)
F (..\User\task\can_task.c)(0x6867F7D7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\can_task.o --omf_browse ele_chassis\can_task.crf --depend ele_chassis\can_task.d)
I (../User/device/can_use.h)(0x6867F7D7)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -2442,7 +2442,12 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (../User/bsp/bsp.h)(0x663B6621)
I (..\User\task\user_task.h)(0x685844EB)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/device.h)(0x666C4CF9)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@ -2464,19 +2469,14 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\cmd_task.c)(0x6843EC4E)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\cmd_task.o --omf_browse ele_chassis\cmd_task.crf --depend ele_chassis\cmd_task.d)
I (..\User\task\user_task.h)(0x685844EB)
F (..\User\task\cmd_task.c)(0x6867E85B)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\cmd_task.o --omf_browse ele_chassis\cmd_task.crf --depend ele_chassis\cmd_task.d)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -2537,7 +2537,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
@ -2553,7 +2553,7 @@ I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\nuc_task.c)(0x685A5054)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\nuc_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
I (..\User\task\user_task.h)(0x685844EB)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -2614,7 +2614,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
@ -2634,7 +2634,7 @@ I (../User/bsp/protocol.h)(0x6851732E)
F (..\User\task\error_detect_task.c)(0x67E914EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\error_detect_task.o --omf_browse ele_chassis\error_detect_task.crf --depend ele_chassis\error_detect_task.d)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\task\user_task.h)(0x685844EB)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -2694,7 +2694,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
@ -2758,7 +2758,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\task\user_task.h)(0x685844EB)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@ -2780,7 +2780,7 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
@ -2790,7 +2790,7 @@ I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\Calc_task.c)(0x682338DB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\calc_task.o --omf_browse ele_chassis\calc_task.crf --depend ele_chassis\calc_task.d)
I (..\User\task\user_task.h)(0x685844EB)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -2851,7 +2851,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
@ -2867,7 +2867,7 @@ I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\navi_task.c)(0x68553927)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\navi_task.o --omf_browse ele_chassis\navi_task.crf --depend ele_chassis\navi_task.d)
I (..\User\task\user_task.h)(0x685844EB)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -2928,7 +2928,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
@ -2995,7 +2995,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\task\user_task.h)(0x685844EB)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@ -3013,7 +3013,7 @@ I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
@ -3306,7 +3306,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/device/cmd.h)(0x6867ACA8)
@ -3318,8 +3318,8 @@ I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\device\can_use.c)(0x68656DA7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\can_use.o --omf_browse ele_chassis\can_use.crf --depend ele_chassis\can_use.d)
I (..\User\device\can_use.h)(0x6864D417)
F (..\User\device\can_use.c)(0x6867F7D7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\can_use.o --omf_browse ele_chassis\can_use.crf --depend ele_chassis\can_use.d)
I (..\User\device\can_use.h)(0x6867F7D7)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
@ -3362,13 +3362,17 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (../User/bsp/bsp.h)(0x663B6621)
I (..\User\device\cmd.h)(0x6867ACA8)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\device\device.h)(0x666C4CF9)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Module/define.h)(0x6866E077)
I (../User/Module/define.h)(0x686803C0)
F (..\User\device\cmd.c)(0x6867ACC0)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\cmd.o --omf_browse ele_chassis\cmd.crf --depend ele_chassis\cmd.d)
I (..\User\device\cmd.h)(0x6867ACA8)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -3417,7 +3421,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (../Core/Inc/gpio.h)(0x664876DA)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(0x6866E077)
I (../User/Module/define.h)(0x686803C0)
F (..\User\device\nuc.c)(0x6867CC81)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\nuc.o --omf_browse ele_chassis\nuc.crf --depend ele_chassis\nuc.d)
I (..\User\device\nuc.h)(0x685A5054)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
@ -3473,7 +3477,7 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device/can_use.h)(0x6864D417)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
@ -3482,7 +3486,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/bsp/protocol.h)(0x6851732E)
I (../User/bsp/crc16.h)(0x67FB9F9F)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(0x6866E077)
I (../User/Module/define.h)(0x686803C0)
I (../User/Algorithm/error_detect.h)(0x663B6620)
F (..\User\device\vofa.c)(0x685D0043)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\vofa.o --omf_browse ele_chassis\vofa.crf --depend ele_chassis\vofa.d)
I (..\User\device\vofa.h)(0x685B9AD7)
@ -3537,7 +3541,7 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../User/bsp/bsp.h)(0x663B6621)
I (../Core/Inc/usart.h)(0x664876DC)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/Module/define.h)(0x6866E077)
I (../User/Module/define.h)(0x686803C0)
F (..\User\device\Action.c)(0x6809A469)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\action.o --omf_browse ele_chassis\action.crf --depend ele_chassis\action.d)
I (../Core/Inc/tim.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
@ -3633,7 +3637,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (..\User\device\cmd.h)(0x6867ACA8)
I (../User/Module/define.h)(0x6866E077)
I (../User/Module/define.h)(0x686803C0)
F (..\User\device\navi.c)(0x685FAF15)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\navi.o --omf_browse ele_chassis\navi.crf --depend ele_chassis\navi.d)
I (..\User\device\navi.h)(0x685FAF15)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3689,11 +3693,11 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\device\bmi088.h)(0x685CA251)
I (..\User\device\map.h)(0x682338DB)
I (..\User\device\can_use.h)(0x6864D417)
I (..\User\device\can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/Module/define.h)(0x6866E077)
I (../User/Module/define.h)(0x686803C0)
F (..\User\device\remote_control.c)(0x6863C5BC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\remote_control.o --omf_browse ele_chassis\remote_control.crf --depend ele_chassis\remote_control.d)
I (..\User\device\remote_control.h)(0x6818B568)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
@ -3747,7 +3751,7 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Module/define.h)(0x6866E077)
I (../User/Module/define.h)(0x686803C0)
F (../USB_DEVICE/App/usb_device.c)(0x664876DC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\usb_device.o --omf_browse ele_chassis\usb_device.crf --depend ele_chassis\usb_device.d)
I (../USB_DEVICE/App/usb_device.h)(0x664876DC)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x64D895D7)

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@ -43,6 +43,12 @@ ele_chassis\can_task.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h
ele_chassis\can_task.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h
ele_chassis\can_task.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h
ele_chassis\can_task.o: ../User/bsp/bsp.h
ele_chassis\can_task.o: ../User/device/cmd.h
ele_chassis\can_task.o: ../User/device/device.h
ele_chassis\can_task.o: ../User/device/Action.h
ele_chassis\can_task.o: ../User/bsp/bsp_usart.h
ele_chassis\can_task.o: ../Core/Inc/usart.h
ele_chassis\can_task.o: ../User/device/cmd.h
ele_chassis\can_task.o: ..\User\task\user_task.h
ele_chassis\can_task.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h
ele_chassis\can_task.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
@ -65,12 +71,6 @@ ele_chassis\can_task.o: ../User/Algorithm/ahrs.h
ele_chassis\can_task.o: ../User/Algorithm/user_math.h
ele_chassis\can_task.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\float.h
ele_chassis\can_task.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\math.h
ele_chassis\can_task.o: ../User/device\device.h
ele_chassis\can_task.o: ../User/device/cmd.h
ele_chassis\can_task.o: ../User/device/Action.h
ele_chassis\can_task.o: ../User/bsp/bsp_usart.h
ele_chassis\can_task.o: ../Core/Inc/usart.h
ele_chassis\can_task.o: ../User/device/cmd.h
ele_chassis\can_task.o: ../User/Algorithm/filter.h
ele_chassis\can_task.o: ../User/Algorithm/kalman.h
ele_chassis\can_task.o: ../User/bsp\pwm.h

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@ -43,10 +43,15 @@ ele_chassis\can_use.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h
ele_chassis\can_use.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h
ele_chassis\can_use.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h
ele_chassis\can_use.o: ../User/bsp/bsp.h
ele_chassis\can_use.o: ..\User\device\cmd.h
ele_chassis\can_use.o: ..\User\device\device.h
ele_chassis\can_use.o: ..\User\device\Action.h
ele_chassis\can_use.o: ../User/bsp/bsp_usart.h
ele_chassis\can_use.o: ../Core/Inc/usart.h
ele_chassis\can_use.o: ..\User\device\cmd.h
ele_chassis\can_use.o: ../User/Algorithm/user_math.h
ele_chassis\can_use.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\float.h
ele_chassis\can_use.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\math.h
ele_chassis\can_use.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\stdbool.h
ele_chassis\can_use.o: ..\User\device\device.h
ele_chassis\can_use.o: ../User/Algorithm/error_detect.h
ele_chassis\can_use.o: ../User/Module/define.h

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@ -166,75 +166,70 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
break;
case NAVI:
#ifdef radar
if(ctrl->C_cmd.nuc_radar == ANGLE ||ctrl->C_cmd.nuc_radar == RADAR_RESET){
//雷达纠正时就用正常解算
c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
#ifdef radar
c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));
(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
//解算得到6020角度（-180°——+180°）
c->hopemotorout.rotor6020_jiesuan_1[0]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[1]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[2]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
break;
}
else if(ctrl->C_cmd.nuc_radar == WORLD){
//解算得到6020角度（-180°——+180°）
c->hopemotorout.rotor6020_jiesuan_1[0]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[1]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[2]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
break;
//利用雷达反馈的自身角度把机器人坐标系转到世界坐标系
c->chassis_yaw = ctrl->nuc.yaw* (M_PI / 180.0f);
float cos_yaw = cosf(c->chassis_yaw);
float sin_yaw = sinf(c->chassis_yaw);
// 将速度从世界坐标系转换到底盘坐标系
float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
//解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
(Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
(Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
(Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
(Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
(Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
(Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
(Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
(Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//解算得到6020角度（-180°——+180°）
c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
(Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
(Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
(Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
(Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
break;
}
// //利用雷达反馈的自身角度把机器人坐标系转到世界坐标系
// c->chassis_yaw = ctrl->nuc.yaw* (M_PI / 180.0f);
// float cos_yaw = cosf(c->chassis_yaw);
// float sin_yaw = sinf(c->chassis_yaw);
//
// // 将速度从世界坐标系转换到底盘坐标系
// float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
// float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
//
// //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
// c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
// (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
// (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
//
// c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
// (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
// (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
//
// c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
// (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
// (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//
// c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
// (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
// (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//
// //解算得到6020角度（-180°——+180°）
// c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
// (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
// (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
// (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
// (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// break;
#elif defined(action_sick)
if(ctrl->C_cmd.nuc_radar == WORLD && ctrl->C_cmd.dribble == Pause){
//运球时锁死
@ -322,30 +317,30 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
}
//利用c板yaw纠正底盘角度
//void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
// // 将 IMU 的 yaw 从 [+180°, 0,-180°] 转换到 [0°, 360°]
// c->angle_current = - AngleChange(DEGREE, c->pos088.imu_eulr.yaw);
// if (c->angle_current < 0) c->angle_current += 360.0f;
// CircleAdd(&c->set_point.yaw, ctrl->Vw, 360.0f);
// c->yaw_out = PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_current,c->set_point.yaw);
//}
void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
fp32 current_angle;
if(c->move_vec.Vw== 0){
c->angle_piancha=current_angle-c->angle_current;
}
else{
current_angle = c->angle_current;
c->angle_piancha=0;
}
// 将 IMU 的 yaw 从 [+180°, 0,-180°] 转换到 [0°, 360°]
c->angle_current = - AngleChange(DEGREE, c->pos088.imu_eulr.yaw);
if (c->angle_current < 0) c->angle_current += 360.0f;
CircleAdd(&c->set_point.yaw, ctrl->Vw, 360.0f);
c->yaw_out = -PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_piancha,0);
c->yaw_out = PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_current,c->set_point.yaw);
}
//void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
// fp32 current_angle;
//
// if(c->move_vec.Vw== 0){
// c->angle_piancha=current_angle-c->angle_current;
// }
// else{
// current_angle = c->angle_current;
// c->angle_piancha=0;
// }
// c->yaw_out = -PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_piancha,0);
//}
//根据陀螺仪反馈的数据来防止速度过快时侧翻
void Chassis_RolPrevent(Chassis_t *c){
/*这里pit轴rol轴根据c板安装方向*/
@ -370,60 +365,11 @@ void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
fp32 detla_angle;
//雷达数据必须滤波，否则波形是0和正常数组成的矩形
ctrl->nuc.angle = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.angle);
//卡尔曼滤波
//ctrl->nuc.vw = KalmanFilter(&c->kalman_filled[0], ctrl->nuc.vw);
detla_angle = PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.angle,0);
c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,detla_angle);
c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,detla_angle);
}
//uint8_t angle_locked; // 角度锁定标志
//float locked_target_angle; // 锁定时的目标角度
//uint32_t angle_lock_timer = 0; // 锁定计时器
//float normalize_angle(float angle) {
// while(angle < 0) angle += 360;
// while(angle >= 360) angle -= 360;
// return angle;
//}
//// 计算最短路径角度差（返回-180~180之间的差值）
//float angle_difference(float current, float target) {
// float diff = target - current;
// if(diff > 180) diff -= 360;
// else if(diff < -180) diff += 360;
// return diff;
//}
//void nuc_angle_correct(Chassis_t *c, CMD_t *ctrl) {
// fp32 detla_angle;
// // 雷达数据滤波
// ctrl->nuc.angle = LowPassFilter2p_Apply(&(c->filled[5]), ctrl->nuc.angle);
// if(c->mode != NAVI|| ctrl->C_cmd.nuc_radar != ANGLE||(c->move_vec.Vx||c->move_vec.Vy)){
// angle_locked = 0; // 解锁
// angle_lock_timer = 0;
// }
// if(ctrl->nuc.angle != 0){
// if(angle_locked == 0){
// locked_target_angle = normalize_angle(c->angle_current - ctrl->nuc.angle);
// angle_locked = 1;
// angle_lock_timer = HAL_GetTick(); // 记录锁定时间
// }
// }
// if(angle_locked){
// if(fabs(angle_difference(c->angle_current, locked_target_angle)) < 1){
// // 误差小于阈值时开始计时
// if((HAL_GetTick() - angle_lock_timer) > 50){
// angle_locked = 0;
// }
// } else {
// // 误差变大则重置计时
// angle_lock_timer = HAL_GetTick();
// }
// }
// detla_angle = PID_calc(&(c->pid.chassis_RadaranglePID),c->angle_current,locked_target_angle);
// c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,detla_angle);
//}
//雷达运用sick来校准
void radar_sick_calibration(Chassis_t *c,CMD_t *ctrl){
@ -466,8 +412,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
case RC:
c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;
// c->move_vec.Vw = c->yaw_out*ctrl->throttle;
c->move_vec.Vw = ctrl->Vw*15000;
BSP_PWM_Stop(BSP_PWM_BUZZER);
break;
case STOP:
@ -481,10 +427,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
case ANGLE:
c->move_vec.Vx = ctrl->Vx*95000;
c->move_vec.Vy = ctrl->Vy*95000;
// c->move_vec.Vw = c->radar_yaw*400;
c->move_vec.Vw = c->radar_yaw;
// Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.vw) < 1 && ctrl->nuc.vw != 0));
Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.angle) < 1 && ctrl->nuc.angle != 0));
break;
case WORLD:
@ -505,7 +449,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
#else
c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;
c->move_vec.Vw = ctrl->Vw*15000;
#endif
break;
case NAVI:
@ -519,7 +463,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
}
//防翻
Chassis_RolPrevent(c);
// Chassis_RolPrevent(c);
//进行滤波
c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[0]),c->move_vec.Vx);

12
User/Module/config.c
View File

@ -38,17 +38,17 @@ static const ConfigParam_t param_chassis ={
.out_limit =6000.0f,
},
.RadarAngle_param = {
.p = 40.0f,
.i = 0.01f,
.d = 1000.0f,
.p = 22.0f,
.i = 20.0f,
.d = 800.0f,
.i_limit = 100.0f,
.out_limit =1500.0f,
.out_limit =2000.0f,
},
.RadarSpeed_param = {
.p = 7.0f,
.i = 0.01f,
.i = 0.1f,
.d = 50.0f,
.i_limit = 500.0f,
.i_limit = 1000.0f,
.out_limit =8000.0f,
},
.SickVx_param = {

6
User/Module/define.h
View File

@ -25,8 +25,8 @@
/*导航方式*/
#define radar //雷达
//#define action_sick //码盘sick跑点
//#define radar //雷达
#define action_sick //码盘sick跑点
/*sick数据*/
@ -37,7 +37,7 @@
/*vofa*/
//#define vofa_usb //利用c板usb口有线调试
#define vofa_uart1 //利用串口1（不用码盘时）进行无线调试
//#define vofa_uart1 //利用串口1（不用码盘时）进行无线调试

1
User/device/can_use.h
View File

@ -3,6 +3,7 @@
#include <cmsis_os2.h>
#include "bsp_can.h"
#include "cmd.h"
typedef enum {
CAN_M3508_M1_ID = 0x201, /* 1 */

16
readme.md
View File

@ -54,23 +54,13 @@
7.4加了利用陀螺仪yaw来纠正只有vx，vy时的角度误差
7.5由于我5065用的是占空比控制，受电池电量电压影响大，所以这就是我之前调好一套pid之后过了一会电量下去之后就不好用了的原因，而换成转速控制的话因为启动速度太高不好控制，但今天通过邪修i给到20调了一套适用于半格电池到满电的pid
目前存在的问题：
1，雷达纠正角度那块pid得调
2,sick辅助雷达校准点位pid得调，差不多了，但调的很抽象，d贼大，没办法
3，加一个上电后串口正常亮灯的代码
1，码盘运球赛提速,速度差不多了
2,改一下串口代码(已加上，但原代码没出现过什么问题)
3，2号舵6020貌似有问题，平移的时候总是往右面偏一点，导致左右平移都会往前移动，已经过验证
1，加一个上电后串口正常亮灯的代码