Yodel/25_R1_chassis
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

改了雷达pid

Browse Source
This commit is contained in:
Yodel 2025-07-07 16:18:47 +08:00
parent 7b2d0416bf
commit 3229d9ede8
28 changed files with 1833 additions and 1826 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
View File

File diff suppressed because one or more lines are too long

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
View File

Binary file not shown.

2
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
View File

@ -31,7 +31,7 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\g
Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
compiling config.c...
linking...
Program Size: Code=88844 RO-data=1632 RW-data=1084 ZI-data=35012
Program Size: Code=88876 RO-data=1632 RW-data=1084 ZI-data=35012
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>

10
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
View File

@ -3,7 +3,7 @@
<title>Static Call Graph - [ELE_CHASSIS\AUTO_CHASSIS.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image ELE_CHASSIS\AUTO_CHASSIS.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Mon Jul 07 05:12:31 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Mon Jul 07 07:36:02 2025
<BR><P>
<H3>Maximum Stack Usage = 376 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -1134,7 +1134,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_cmd
</UL>
<P><STRONG><a name="[116]"></a>Chassis_Control</STRONG> (Thumb, 732 bytes, Stack size 40 bytes, chassis.o(i.Chassis_Control))
<P><STRONG><a name="[116]"></a>Chassis_Control</STRONG> (Thumb, 744 bytes, Stack size 40 bytes, chassis.o(i.Chassis_Control))
<BR><BR>[Stack]<UL><LI>Max Depth = 352<LI>Call Chain = Chassis_Control &rArr; Chassis_speed_calculate &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dmul
</UL>
<BR>[Calls]<UL><LI><a href="#[11c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_calc
@ -2332,7 +2332,8 @@ Global Symbols
<BR>[Calls]<UL><LI><a href="#[1e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
<LI><a href="#[fb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
</UL>
<BR>[Called By]<UL><LI><a href="#[1fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NUC_Send
<BR>[Called By]<UL><LI><a href="#[21a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vofa_tx_main
<LI><a href="#[1fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NUC_Send
</UL>
<P><STRONG><a name="[1e3]"></a>HAL_UART_TxCpltCallback</STRONG> (Thumb, 46 bytes, Stack size 16 bytes, bsp_usart.o(i.HAL_UART_TxCpltCallback))
@ -4676,10 +4677,11 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[21]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PendSV_Handler
</UL>
<P><STRONG><a name="[21a]"></a>vofa_tx_main</STRONG> (Thumb, 72 bytes, Stack size 80 bytes, vofa.o(i.vofa_tx_main))
<P><STRONG><a name="[21a]"></a>vofa_tx_main</STRONG> (Thumb, 84 bytes, Stack size 80 bytes, vofa.o(i.vofa_tx_main))
<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = vofa_tx_main &rArr; osDelay &rArr; vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelay
<LI><a href="#[1e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Transmit
<LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
<LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
</UL>

3579
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
View File

File diff suppressed because it is too large Load Diff

22
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
View File

@ -1542,7 +1542,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
F (..\User\Module\Chassis.c)(0x686AC67D)(--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)(0x686AF09F)(--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)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
@ -1602,8 +1602,8 @@ I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (..\User\Module\define.h)(0x68694ECD)
F (..\User\Module\config.c)(0x686AE6BD)(--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)(0x686AF09F)
F (..\User\Module\config.c)(0x686B0860)(--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)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -1669,7 +1669,7 @@ I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/bsp/flash.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\Module\define.h)(0x68694ECD)()
F (..\User\Module\define.h)(0x686AF09F)()
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)
@ -3372,7 +3372,7 @@ 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/Algorithm/error_detect.h)(0x663B6620)
I (../User/Module/define.h)(0x68694ECD)
I (../User/Module/define.h)(0x686AF09F)
F (..\User\device\cmd.c)(0x68692E9B)(--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)(0x68692E9B)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -3421,7 +3421,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (../Core/Inc/gpio.h)(0x664876DA)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(0x68694ECD)
I (../User/Module/define.h)(0x686AF09F)
F (..\User\device\nuc.c)(0x68692E73)(--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)
@ -3486,7 +3486,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/bsp/protocol.h)(0x6851732E)
I (../User/bsp/crc16.h)(0x67FB9F9F)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(0x68694ECD)
I (../User/Module/define.h)(0x686AF09F)
I (../User/Algorithm/error_detect.h)(0x663B6620)
F (..\User\device\vofa.c)(0x685D0043)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\vofa.o --omf_browse ele_chassis\vofa.crf --depend ele_chassis\vofa.d)
I (..\User\device\vofa.h)(0x685B9AD7)
@ -3541,7 +3541,7 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../User/bsp/bsp.h)(0x663B6621)
I (../Core/Inc/usart.h)(0x664876DC)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/Module/define.h)(0x68694ECD)
I (../User/Module/define.h)(0x686AF09F)
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)(0x6868CAA3)
@ -3637,7 +3637,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (..\User\device\cmd.h)(0x68692E9B)
I (../User/Module/define.h)(0x68694ECD)
I (../User/Module/define.h)(0x686AF09F)
F (..\User\device\navi.c)(0x685FAF15)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\navi.o --omf_browse ele_chassis\navi.crf --depend ele_chassis\navi.d)
I (..\User\device\navi.h)(0x685FAF15)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3697,7 +3697,7 @@ I (..\User\device\can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/Module/define.h)(0x68694ECD)
I (../User/Module/define.h)(0x686AF09F)
F (..\User\device\remote_control.c)(0x6863C5BC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\remote_control.o --omf_browse ele_chassis\remote_control.crf --depend ele_chassis\remote_control.d)
I (..\User\device\remote_control.h)(0x6818B568)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
@ -3751,7 +3751,7 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Module/define.h)(0x68694ECD)
I (../User/Module/define.h)(0x686AF09F)
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)

BIN
MDK-ARM/ELE_CHASSIS/can_use.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/can_use.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/chassis.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/chassis.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/cmd.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/cmd.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/config.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/config.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/map.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/map.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/navi.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/navi.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/nuc.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/nuc.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/remote_control.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/remote_control.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/vofa.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/vofa.o
View File

Binary file not shown.

2
User/Module/Chassis.c
View File

@ -489,7 +489,7 @@ 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->vofa_send[0] =ctrl->nuc.angle;
// c->vofa_send[1] =;
// c->vofa_send[2] =;
// c->vofa_send[3] =;

6
User/Module/config.c
View File

@ -56,9 +56,9 @@ static const ConfigParam_t param_chassis ={
//备馆pid
.RadarAngle_param = {
.p = 20.0f,
.i = 0.0f,
.d = 1000.0f,
.i_limit = 0.0f,
.i = 0.06f,
.d = 650.0f,
.i_limit = 30.0f,
.out_limit =2000.0f,
},
.RadarSpeed_param = {

2
User/Module/define.h
View File

@ -32,7 +32,7 @@
/*vofa*/
//#define vofa_usb //利用c板usb口有线调试
//#define vofa_uart1 //利用串口1（不用码盘时）进行无线调试
#define vofa_uart1 //利用串口1（不用码盘时）进行无线调试

2
readme.md
View File

@ -66,6 +66,8 @@
3，晚上与nuc的通信，如果nuc收到我的校准标志位并成功扫描，给我发标志位我蜂鸣器响
4,雷达pid还存在一直抖动的问题
校准方法：