加了防侧翻

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -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>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm

@@ -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  
+Program Size: Code=83552 RO-data=1636 RW-data=1036 ZI-data=33132  
-"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 3 Warning(s).
+"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>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep

@@ -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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-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)
@@ -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)
+I (..\User\Module\define.h)(0x685CAED0)
-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)
+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/Algorithm/pid.h)(0x685CBDA2)
-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)
@@ -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)
+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)(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)
@@ -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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-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)
@@ -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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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)
+I (../User/Module/define.h)(0x685CAED0)
-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)
+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/Algorithm/pid.h)(0x685CBDA2)
-I (../User/device/bmi088.h)(0x663B6621)
+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)
+I (../User/Module/define.h)(0x685CAED0)
-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)
+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)

User/Algorithm/pid.h

@@ -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

User/Module/Chassis.c

@@ -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 
+  //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]);	
-	
 	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.Vx = ctrl->nuc.vx*2500;
-//       c->move_vec.Vy = ctrl->nuc.vy*2500;
+       c->move_vec.Vy = ctrl->nuc.vy*2500;
 			 //纠正角度
-	     c->move_vec.Vx = ctrl->Vx*95000;
+//	     c->move_vec.Vx = ctrl->Vx*95000;
-       c->move_vec.Vy = ctrl->Vy*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[0] =c->sick[0];
-	 c->vofa_send[1] =c->sick[1];
+//	 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] =;

User/Module/config.c

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

User/device/bmi088.h

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

User/device/nuc.c

@@ -8,8 +8,8 @@ static volatile uint32_t drop_message = 0;
 
 static osThreadId_t thread_alert;
 
-uint8_t nucbuf[32];
+uint8_t nucbuf[32];     //接收缓存区
-uint8_t SendBuffer[11];
+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),
+//发送函数
-//      (uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
-//				b++;
-//		return DEVICE_OK;	
-//	}   
-//	return DEVICE_ERR;
-//}
-
-//满足视觉的特定发送
 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 {

User/device/remote_control.c

@@ -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	

User/task/atti_esti.c

@@ -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);
+		osMessageQueueReset(task_runtime.msgq.imu.eulr);
-//		osMessageQueuePut(task_runtime.msgq.imu.eulr, &imu_eulr, 0, 0);
+		osMessageQueuePut(task_runtime.msgq.imu.eulr, &imu_eulr, 0, 0);
     osKernelUnlock();
 		
 //		vofa_send[0] =bmi088.temp;

User/task/init.c

@@ -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=
+	//暂时用不到这仨任务
-      osThreadNew(Task_action,NULL,&attr_ops_9pos);  
+//  task_runtime.thread.action_ops=
-  task_runtime.thread.calc = 
+//      osThreadNew(Task_action,NULL,&attr_ops_9pos);  
-      osThreadNew(Task_calc,NULL,&attr_calc);     
+//  task_runtime.thread.calc = 
-  task_runtime.thread.navi =
+//      osThreadNew(Task_calc,NULL,&attr_calc);     
-      osThreadNew(Task_navi,NULL,&attr_navi);     
+//  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 =
+  task_runtime.msgq.imu.eulr =
-//     osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
+     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);	    

readme.md

@@ -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