Yodel/25_R1_chassis
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Yodel 2025-06-26 16:00:48 +08:00
parent 46be85e767
commit 2ef1ba635a
64 changed files with 5298 additions and 5781 deletions
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220
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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47
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -160,51 +160,6 @@
<WinNumber>1</WinNumber>
<ItemText>chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>rc_ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>a,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>d,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>b,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>c,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>SendBuffer,0x10</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf,0x10</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>can,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -1268,7 +1223,7 @@
<Group>
<GroupName>User/Device</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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22
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -29,26 +29,10 @@ 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 cmd.c...
compiling nuc.c...
compiling navi.c...
compiling vofa.c...
..\User\device\vofa.c(38): warning: #1-D: last line of file ends without a newline
}
..\User\device\vofa.c: 1 warning, 0 errors
compiling can_use.c...
..\User\device\can_use.c(83): 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 map.c...
compiling Chassis.c...
compiling remote_control.c...
..\User\device\remote_control.c(72): 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
linking...
Program Size: Code=88340 RO-data=1640 RW-data=1128 ZI-data=34496
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 3 Warning(s).
Program Size: Code=83552 RO-data=1636 RW-data=1036 ZI-data=33132
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -72,7 +56,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:04
Build Time Elapsed: 00:00:03
</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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104
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
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@ -167,8 +167,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -1541,11 +1541,11 @@ 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)(0x685B1404)(--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)(0x685CF8CE)(--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)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -1600,13 +1600,13 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (..\User\Module\define.h)(0x685B9C04)
F (..\User\Module\config.c)(0x685AE566)(--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)(0x685CAED0)
F (..\User\Module\config.c)(0x685CBE35)(--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)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -1666,7 +1666,7 @@ 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)(0x685B9C04)()
F (..\User\Module\define.h)(0x685CAED0)()
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)
@ -2081,8 +2081,8 @@ 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 (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\task\init.c)(0x685B9A7F)(--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\init.o --omf_browse ele_chassis\init.crf --depend ele_chassis\init.d)
I (../User/Device\bmi088.h)(0x663B6621)
F (..\User\task\init.c)(0x685CE5B4)(--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\init.o --omf_browse ele_chassis\init.crf --depend ele_chassis\init.d)
I (../User/Device\bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -2142,7 +2142,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
@ -2177,8 +2177,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -2236,8 +2236,8 @@ I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\chassis_task.c)(0x685B8EBE)(--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_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -2310,7 +2310,7 @@ I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/device/vofa.h)(0x685B9AD7)
F (..\User\task\atti_esti.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\atti_esti.o --omf_browse ele_chassis\atti_esti.crf --depend ele_chassis\atti_esti.d)
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 (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
@ -2331,8 +2331,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -2450,8 +2450,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -2487,8 +2487,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -2563,8 +2563,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -2642,8 +2642,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -2762,8 +2762,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -2797,8 +2797,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -2873,8 +2873,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -2996,8 +2996,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
@ -3193,7 +3193,7 @@ I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\Algorithm\struct_typedef.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\Algorithm\pid.c)(0x685AC270)(--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\pid.o --omf_browse ele_chassis\pid.crf --depend ele_chassis\pid.d)
I (..\User\Algorithm\pid.h)(0x685AC270)
I (..\User\Algorithm\pid.h)(0x685CBDA2)
I (..\User\Algorithm\struct_typedef.h)(0x663B6621)
I (../Core/Inc/main.h)(0x666C4A91)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x64D895F2)
@ -3234,7 +3234,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
F (..\User\device\bmi088.c)(0x677FAA73)(--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\bmi088.o --omf_browse ele_chassis\bmi088.crf --depend ele_chassis\bmi088.d)
I (..\User\device\bmi088.h)(0x663B6621)
I (..\User\device\bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3288,7 +3288,7 @@ I (../User/bsp\gpio.h)(0x663B6621)
I (../User/bsp\spi.h)(0x663B6621)
I (../Core/Inc/spi.h)(0x664876DC)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685AF048)
I (../User/device/can_use.h)(0x6811C5CD)
@ -3352,7 +3352,7 @@ 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)(0x685B9C04)
I (../User/Module/define.h)(0x685CAED0)
F (..\User\device\cmd.c)(0x685AD9F4)(--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)(0x685ACF87)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -3401,8 +3401,8 @@ 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)(0x685B9C04)
F (..\User\device\nuc.c)(0x685AE909)(--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/Module/define.h)(0x685CAED0)
F (..\User\device\nuc.c)(0x685CFDFC)(--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)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -3450,8 +3450,8 @@ I (..\User\device\cmd.h)(0x685ACF87)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/Module/chassis.h)(0x685AF048)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
@ -3465,7 +3465,7 @@ 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)(0x685B9C04)
I (../User/Module/define.h)(0x685CAED0)
I (../User/Algorithm/error_detect.h)(0x663B6620)
F (..\User\device\vofa.c)(0x685B9BC8)(--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)
@ -3520,7 +3520,7 @@ 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)(0x685B9C04)
I (../User/Module/define.h)(0x685CAED0)
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)
@ -3616,7 +3616,7 @@ 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)(0x685ACF87)
I (../User/Module/define.h)(0x685B9C04)
I (../User/Module/define.h)(0x685CAED0)
F (..\User\device\navi.c)(0x68553AB8)(--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)(0x68553A70)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3664,20 +3664,20 @@ 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)(0x685ACF87)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685AC270)
I (../User/Algorithm/pid.h)(0x685CBDA2)
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 (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\device\bmi088.h)(0x663B6621)
I (..\User\device\bmi088.h)(0x685CA251)
I (..\User\device\map.h)(0x682338DB)
I (..\User\device\can_use.h)(0x6811C5CD)
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)(0x685B9C04)
F (..\User\device\remote_control.c)(0x68580AA1)(--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/Module/define.h)(0x685CAED0)
F (..\User\device\remote_control.c)(0x685CEFC8)(--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)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -3730,7 +3730,7 @@ 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)(0x685B9C04)
I (../User/Module/define.h)(0x685CAED0)
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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1
User/Algorithm/pid.h
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@ -31,7 +31,6 @@ typedef struct {
float i_limit;
float out_limit;
float d_cutoff_freq;
float f;// 前馈增益系数
} pid_param_t;
typedef struct

72
User/Module/Chassis.c
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@ -12,10 +12,10 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
c->param = param; /*初始化参数 */
//舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
MotorOffset_t motor_offset = { {30.303986, 149.937744, 268.077156, 29.820541}};
MotorOffset_t motor_offset = { {90.12088, 269.571480, 208.523989, 28.545959}};
c->motoroffset = motor_offset; // 将 motor_offset 的值赋给 c->motoroffset
//在这里修改雷达校准时sick的值 (标号为逆时针)
//在这里修改雷达校准时sick的值
c->SICK_FALG = 0;
c->sick_set[0] = 2500;
c->sick_set[1] = 2500;
@ -82,10 +82,12 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
c->motorfeedback.torque_current5065[i] = can->motor.chassis5065.as_array[i].torque_current;
}
//接收sick数据
//接收sick数据
for (uint8_t i = 0; i < 3; i++) {
c->sick[i] = can->sickfed.as_array[i].sick_distance/10;
}
c->sick[i] = can->sickfed.as_array[i].sick_distance;
c->sick[i] = LowPassFilter2p_Apply(&(c->filled[i+6]),c->sick[i]);
c->sick[i] = c->sick[i]/10;
}
return CHASSIS_OK;
}
@ -255,9 +257,34 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
}
}
//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*/
//后侧腾空
if(c->pos088.imu_eulr.pit > 0.1f)
c->move_vec.Vx = 10000; //往前挪
//前侧腾空
else if(c->pos088.imu_eulr.pit < -0.1f)
c->move_vec.Vx = -10000; //往后挪
//右侧腾空
if(c->pos088.imu_eulr.rol > 0.1f)
c->move_vec.Vy = -10000; //往左挪
//左侧腾空
else if(c->pos088.imu_eulr.rol < -0.1f)
c->move_vec.Vy = 10000; //往右挪
}
//nuc纠正角度（右旋偏移量为正，左旋偏移量为负）
void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
//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.vx = LowPassFilter2p_Apply(&(c->filled[3]),ctrl->nuc.vx);
ctrl->nuc.vy = LowPassFilter2p_Apply(&(c->filled[4]),ctrl->nuc.vy);
ctrl->nuc.vw = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.vw);
//双环pid
// fp32 nuc_detangle;
// nuc_detangle = - PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw,0);
@ -312,17 +339,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
fp32 chassis6020_detangle[4];
#ifdef radar
//关于nuc纠正的函数都要一直运行
//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.vx = LowPassFilter2p_Apply(&(c->filled[3]),ctrl->nuc.vx);
ctrl->nuc.vy = LowPassFilter2p_Apply(&(c->filled[4]),ctrl->nuc.vy);
ctrl->nuc.vw = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.vw);
c->sick[0] = LowPassFilter2p_Apply(&(c->filled[6]),c->sick[0]);
c->sick[1] = LowPassFilter2p_Apply(&(c->filled[7]),c->sick[1]);
c->sick[2] = LowPassFilter2p_Apply(&(c->filled[8]),c->sick[2]);
//关于nuc纠正的函数都要一直运行
nuc_angle_correct(c,ctrl);
radar_sick_calibration(c);
#endif
@ -354,11 +371,11 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
目前xy的参数还可以
*/
//跑点
// c->move_vec.Vx = ctrl->nuc.vx*2500;
// c->move_vec.Vy = ctrl->nuc.vy*2500;
c->move_vec.Vx = ctrl->nuc.vx*2500;
c->move_vec.Vy = ctrl->nuc.vy*2500;
//纠正角度
c->move_vec.Vx = ctrl->Vx*95000;
c->move_vec.Vy = ctrl->Vy*95000;
// c->move_vec.Vx = ctrl->Vx*95000;
// c->move_vec.Vy = ctrl->Vy*95000;
c->move_vec.Vw = c->radar_yaw;
Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.vw) < 1 && ctrl->nuc.vw != 0));
@ -392,8 +409,11 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[0]),c->move_vec.Vx);
c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vy);
c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vw);
Chassis_speed_calculate(c,pos);
//防翻
Chassis_RolPrevent(c);
Chassis_speed_calculate(c,pos);
#ifdef calibration
#else
for (uint8_t i = 0 ; i <4 ; i++){
@ -411,10 +431,10 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
}
#endif
//vofa发送
c->vofa_send[0] =c->sick[0];
c->vofa_send[1] =c->sick[1];
// c->vofa_send[0] =c->sick[0];
// c->vofa_send[1] =c->sick[1];
c->vofa_send[2] =c->sick[2];
c->vofa_send[3] =c->sick_set[0];
// c->vofa_send[3] =c->sick_set[0];
c->vofa_send[4] =c->sick_set[2];
// c->vofa_send[5] =;
// c->vofa_send[6] =;

16
User/Module/config.c
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@ -17,18 +17,16 @@ static const ConfigParam_t param_chassis ={
.chassis = {/**/
.C6020Angle_param = {
.p = 40.0f,
.i = 0.0f,
.d = 6.0f,
.f = 0.1f,
.i_limit = 0.0f,
.p = 50.0f,
.i = 0.05f,
.d = 2.0f,
.i_limit = 20.0f,
.out_limit = 5000.0f,
},
.C6020Omega_param = {
.p = 30.0f,
.i = 0.6f,
.d = 2.0f,
.f = 0.1f,
.p = 50.0f,
.i = 0.4f,
.d = 6.0f,
.i_limit = 2000.0f,
.out_limit = 25000.0f
},

4
User/device/bmi088.h
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@ -18,8 +18,8 @@ typedef struct {
} BMI088_Cali_t; /* BMI088校准数据 */
typedef struct {
AHRS_Accl_t accl;
AHRS_Gyro_t gyro;
AHRS_Accl_t accl; //加速度计 测量线性加速度
AHRS_Gyro_t gyro; //陀螺仪 测量角速度
float temp; /* 温度 */

38
User/device/nuc.c
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@ -8,8 +8,8 @@ static volatile uint32_t drop_message = 0;
static osThreadId_t thread_alert;
uint8_t nucbuf[32];
uint8_t SendBuffer[11];
uint8_t nucbuf[32]; //接收缓存区
uint8_t SendBuffer[11]; //发送缓存区
int b=0;
int c =0;
@ -41,31 +41,8 @@ bool_t NUC_WaitDmaCplt(void) {
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
SIGNAL_NUC_RAW_REDY);
}
//正常的发送
//int8_t NUC_Send(fp32 *data) {
// union {
// float x[5];
// uint8_t data[20];
// }instance;
// for (int i = 0; i < 5; i++) {
// instance.x[i] = data[i];
// }
// SendBuffer[0] = 0xFC; //发送ID
// SendBuffer[1] = 0x01; //控制帧
// for(int i = 2; i < 22; i++){
// SendBuffer[i] = instance.data[i-2];
// }
// SendBuffer[22] = 0xFD; //结束符
// if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC),
// (uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
// b++;
// return DEVICE_OK;
// }
// return DEVICE_ERR;
//}
//满足视觉的特定发送
//发送函数
int8_t NUC_Send(fp32 *data) {
union {
float x[2];
@ -92,15 +69,13 @@ int8_t NUC_Send(fp32 *data) {
//发送控制函数
void NUC_Send_control(CMD_NUC_t *n,CMD_t *cmd,Chassis_t *chassis) {
static fp32 send_data[5];
static fp32 send_data[2];
//send_data[0]：sick校准标志位 1：sick校准成功
//send_data[1]：锁框锁球标志位 0：锁框 1：锁车
//启动sick校准雷达
if (chassis->SICK__SEND_FALG == 1) {
send_data[0] = 1;
send_data[1] = 0;
send_data[2] = 2;
send_data[3] = 3;
send_data[4] = 4;
NUC_Send(send_data); // 发送数据
}
//启动传球
@ -116,6 +91,7 @@ void NUC_Send_control(CMD_NUC_t *n,CMD_t *cmd,Chassis_t *chassis) {
}
}
//接收函数
int8_t NUC_RawParse(CMD_NUC_t *n) {
if (n == NULL) return DEVICE_ERR_NULL;
union {

2
User/device/remote_control.c
View File

@ -226,7 +226,7 @@ int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,LD_raw_t *LD) {
rc->LD.knob_left = Keymap(LD->sw[7]);
// /*离线处理，和dr16位置不同*/
if(LD->sw[3]==0)
if(LD->sw[3]==1400)
{
LD_HandleOffline(LD,rc);
// memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信

4
User/task/atti_esti.c
View File

@ -129,8 +129,8 @@ void Task_AttiEsti(void *argument) {
osMessageQueueReset(task_runtime.msgq.imu.gyro);
osMessageQueuePut(task_runtime.msgq.imu.gyro, &bmi088.gyro, 0, 0);
// osMessageQueueReset(task_runtime.msgq.imu.eulr);
// osMessageQueuePut(task_runtime.msgq.imu.eulr, &imu_eulr, 0, 0);
osMessageQueueReset(task_runtime.msgq.imu.eulr);
osMessageQueuePut(task_runtime.msgq.imu.eulr, &imu_eulr, 0, 0);
osKernelUnlock();
// vofa_send[0] =bmi088.temp;

19
User/task/init.c
View File

@ -44,12 +44,13 @@ void Task_Init(void *argument) {
osThreadNew(Task_cmd,NULL,&attr_cmd);
task_runtime.thread.nuc =
osThreadNew(Task_nuc,NULL,&attr_nuc);
task_runtime.thread.action_ops=
osThreadNew(Task_action,NULL,&attr_ops_9pos);
task_runtime.thread.calc =
osThreadNew(Task_calc,NULL,&attr_calc);
task_runtime.thread.navi =
osThreadNew(Task_navi,NULL,&attr_navi);
//暂时用不到这仨任务
// task_runtime.thread.action_ops=
// osThreadNew(Task_action,NULL,&attr_ops_9pos);
// task_runtime.thread.calc =
// osThreadNew(Task_calc,NULL,&attr_calc);
// task_runtime.thread.navi =
// osThreadNew(Task_navi,NULL,&attr_navi);
task_runtime.thread.error_detect =
osThreadNew(Task_error_detect,NULL,&attr_error_detect);
@ -79,8 +80,8 @@ void Task_Init(void *argument) {
/* imu */
// task_runtime.msgq.imu.accl =
// osMessageQueueNew(2u, sizeof(AHRS_Accl_t), NULL);
// task_runtime.msgq.imu.eulr =
// osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
task_runtime.msgq.imu.eulr =
osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
task_runtime.msgq.imu.gyro =
osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL);
@ -98,8 +99,6 @@ void Task_Init(void *argument) {
osMessageQueueNew(3u, sizeof(CMD_t), NULL);
task_runtime.msgq.cmd.nuc =
osMessageQueueNew(3u, sizeof(CMD_t), NULL);
// task_runtime.mutex.imu_eulr =
// xSemaphoreCreateMutex();
/*action */
task_runtime.msgq.action.Chassis =
osMessageQueueNew(3u,sizeof(Action_POS_t), NULL);

2
readme.md
View File

@ -58,7 +58,7 @@
4,雷达纠正角度那块pid得调
5，运球sick跑点
5，运球跑点