运球赛码盘跑点框架完成

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -160,6 +160,16 @@
           <WinNumber>1</WinNumber>
           <ItemText>chassis,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ctrl,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_rc,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm

@@ -29,7 +29,23 @@ 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'.
-"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
+compiling navi.c...
+compiling map.c...
+compiling cmd.c...
+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 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
+compiling vofa.c...
+compiling nuc.c...
+compiling Chassis.c...
+linking...
+Program Size: Code=88808 RO-data=1636 RW-data=1060 ZI-data=34588  
+"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 2 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -53,7 +69,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:00
+Build Time Elapsed:  00:00:04
 </pre>
 </body>
 </html>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep

@@ -71,7 +71,7 @@ I (../User/bsp/bsp.h)(0x663B6621)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/device/device.h)(0x666C4CF9)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 F (../Core/Src/gpio.c)(0x666D939D)(--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\gpio.o --omf_browse ele_chassis\gpio.crf --depend ele_chassis\gpio.d)
 I (../Core/Inc/gpio.h)(0x664876DA)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -179,7 +179,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -1541,7 +1541,7 @@ 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)(0x685D7576)(--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)(0x685F7304)(--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)(0x685D755E)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685CBDA2)
@@ -1594,14 +1594,14 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
 I (../User/bsp\pwm.h)(0x685AE3BC)
-I (..\User\Module\define.h)(0x685D507E)
+I (..\User\Module\define.h)(0x685F735B)
-F (..\User\Module\config.c)(0x685D7576)(--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)(0x685E71E2)(--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)(0x685D755E)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@@ -1655,7 +1655,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -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)(0x685D507E)()
+F (..\User\Module\define.h)(0x685F735B)()
 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)
@@ -2081,7 +2081,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../User/bsp/bsp.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-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)
+F (..\User\task\init.c)(0x685F7334)(--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)
@@ -2148,7 +2148,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2224,7 +2224,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2286,7 +2286,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2378,7 +2378,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2458,7 +2458,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2534,7 +2534,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2610,7 +2610,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2689,7 +2689,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2745,7 +2745,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
 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/device/cmd.h)(0x685F6F1A)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\task\user_task.h)(0x685844EB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
@@ -2844,7 +2844,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2920,7 +2920,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2935,7 +2935,7 @@ 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)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/device/device.h)(0x666C4CF9)
 I (../User/device/Action.h)(0x67CAEC48)
@@ -3294,7 +3294,7 @@ I (../User/Module/Chassis.h)(0x685D755E)
 I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
-I (../User/device/cmd.h)(0x685ACF87)
+I (../User/device/cmd.h)(0x685F6F1A)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -3352,9 +3352,9 @@ 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)(0x685D507E)
+I (../User/Module/define.h)(0x685F735B)
-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)
+F (..\User\device\cmd.c)(0x685F6F2F)(--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\device\cmd.h)(0x685F6F1A)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3401,7 +3401,7 @@ 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)(0x685D507E)
+I (../User/Module/define.h)(0x685F735B)
 F (..\User\device\nuc.c)(0x685D6E85)(--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)
@@ -3446,7 +3446,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
 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\device\cmd.h)(0x685F6F1A)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\Action.h)(0x67CAEC48)
 I (../User/Module/chassis.h)(0x685D755E)
@@ -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)(0x685D507E)
+I (../User/Module/define.h)(0x685F735B)
 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)
@@ -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)(0x685D507E)
+I (../User/Module/define.h)(0x685F735B)
 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)
@@ -3566,10 +3566,10 @@ I (..\User\device\device.h)(0x666C4CF9)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../User/bsp/bsp.h)(0x663B6621)
 I (../Core/Inc/usart.h)(0x664876DC)
-I (..\User\device\cmd.h)(0x685ACF87)
+I (..\User\device\cmd.h)(0x685F6F1A)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-F (..\User\device\map.c)(0x685955C7)(--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\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
+F (..\User\device\map.c)(0x685F72C6)(--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\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
 I (..\User\device\map.h)(0x682338DB)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3615,8 +3615,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
 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\device\cmd.h)(0x685F6F1A)
-I (../User/Module/define.h)(0x685D507E)
+I (../User/Module/define.h)(0x685F735B)
 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)
@@ -3662,7 +3662,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
 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\device\cmd.h)(0x685F6F1A)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x685CBDA2)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -3676,13 +3676,13 @@ 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)(0x685D507E)
+I (../User/Module/define.h)(0x685F735B)
-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)
+F (..\User\device\remote_control.c)(0x685F6C26)(--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)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
-I (..\User\device\cmd.h)(0x685ACF87)
+I (..\User\device\cmd.h)(0x685F6F1A)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -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)(0x685D507E)
+I (../User/Module/define.h)(0x685F735B)
 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/Module/Chassis.c

@@ -276,7 +276,7 @@ void Chassis_RolPrevent(Chassis_t *c){
 		c->move_vec.Vy = 20000; //往右挪
 
 }
-
+	fp32 nuc_detangle;	
 //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){		
  
@@ -285,18 +285,10 @@ void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
   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
+	//一个单环pid
-//	fp32 nuc_detangle;	
+		 c->radar_yaw = - PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw*5,0);	
-//	nuc_detangle = - PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw,0);
+
-//  c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,nuc_detangle);	
 
-	//两个单环pid
-	if(fabsf(ctrl->nuc.vw)>8){
-		 c->radar_yaw = - PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw,0)*8;
-	}
-	else{
-		 c->radar_yaw = - PID_calc(&(c->pid.chassis_RadarspeedPID),ctrl->nuc.vw,0)*20;	
-	}
 }
 
 //雷达运用sick来校准
@@ -351,7 +343,6 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 		 break; 
 		
 	  case NAVI:					
-#ifdef radar
 		switch (ctrl->C_cmd.nuc_radar){
 		  case ANGLE:
 			 /*
@@ -362,20 +353,27 @@ 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));							 	  
 	    break;
 			 
 		  case FORBIDDEN:
+#ifdef action_sick				          
+       c->move_vec.Vx =ctrl->C_navi.vx ;
+       c->move_vec.Vy =ctrl->C_navi.vy ;    
+	     c->move_vec.Vw =ctrl->C_navi.wz ;	
+
+#else
   		 c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
        c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
 	     c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;	 
+#endif
 			break;		 
 		
 		  case RADAR_RESET:		
@@ -386,13 +384,6 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
        Buzzer_Control(&c->buzzer_sick_calibration,(c->SICK_FALG == 1));	
 		  break;
 	 }		 
-		 
-#elif defined(action_sick)
-     c->move_vec.Vx =ctrl->C_navi.vx ;
-     c->move_vec.Vy =ctrl->C_navi.vy ;    
-	   c->move_vec.Vw =ctrl->C_navi.wz ;		 
-#endif		   
-		 
 	 break;		 	 
  } 
 	  
@@ -427,8 +418,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 //	 c->vofa_send[2] =c->sick[0];
 //	 c->vofa_send[3] =c->sick_set[0];
 //	 c->vofa_send[4] =c->sick[0] - c->sick[1];
-//	 c->vofa_send[5] =;
+	 c->vofa_send[5] =ctrl->nuc.vw;
-//	 c->vofa_send[6] =;
+	 c->vofa_send[6] =nuc_detangle;
-//	 c->vofa_send[7] =;	
+	 c->vofa_send[7] =c->pos088.bmi088.gyro.z;	
 return CHASSIS_OK;
 }

User/Module/config.c

@@ -32,36 +32,30 @@ static const ConfigParam_t param_chassis ={
     },
 		
 		//两套单环pid
-		 .RadarAngle_param = {
-       .p = 15.0f,
-			 .i = 0.8f,
-			 .d = 1.0f,
-			 .i_limit = 100.0f,
-		   .out_limit =1000.0f,
-	 },	
-		 .RadarSpeed_param = {
-       .p = 17.0f,
-			 .i = 0.2f,
-			 .d = 7.0f,
-	    .i_limit = 60.0f,
-			.out_limit =500.0f, 
-	 },			
-		//正常双环pid
 //		 .RadarAngle_param = {
-//       .p = 10.0f,
+//       .p = 20.0f,
-//			 .i = 0.05f,
+//			 .i = 0.8f,
-//			 .d = 0.0f,
+//			 .d = 500.0f,
-//			 .i_limit = 40.0f,
+//			 .i_limit = 100.0f,
-//		   .out_limit =500.0f,
+//		   .out_limit =1000.0f,
 //	 },	
 //		 .RadarSpeed_param = {
-//       .p = 9.0f,
+//       .p = 20.0f,
-//			 .i = 0.15f,
+//			 .i = 0.3f,
-//			 .d = 10.0f,
+//			 .d = 200.0f,
-//	    .i_limit = 1300.0f,
+//	    .i_limit = 90.0f,
-//			.out_limit =7000.0f, 
+//			.out_limit =500.0f, 
 //	 },		
 
+//一个单环pid	  最后还是有点震荡 
+		 .RadarAngle_param = {
+       .p = 30.0f,
+			 .i = 0.6f,
+			 .d = 1400.0f,
+			 .i_limit = 1800.0f,
+		   .out_limit =8000.0f,
+	 },		
+
     //第一套：原本的pid	 
 //	 .SickVx_param = {
 //			 .p =14.0f,

User/device/cmd.c

@@ -129,7 +129,6 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
  switch(rc->LD.key_D){
 	case CMD_SW_UP:
 		cmd->C_cmd.mode = NAVI; 
-
 		break;
 	case CMD_SW_DOWN:
 		cmd->C_cmd.mode = RC;
@@ -137,8 +136,8 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
 		case CMD_SW_MID:
 		 cmd->C_cmd.mode = STOP;
 	}
+ 
 	switch(rc->LD.key_E){
-#ifdef radar
     case CMD_SW_UP:
 			cmd->C_cmd.nuc_radar = ANGLE; 
 			break;			
@@ -147,18 +146,8 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
 			break;
 		case CMD_SW_DOWN:
 			cmd->C_cmd.nuc_radar = RADAR_RESET;     					
-		
-#elif defined(action_sick)
-    case CMD_SW_UP:
-			cmd->C_cmd.pos = POS_1; 
-			break;			
-		case CMD_SW_MID:
-		    cmd->C_cmd.pos = POS_2;
-			break;
-		case CMD_SW_DOWN:
-			cmd->C_cmd.pos = POS_3;     
-#endif				
 	}	
+	
 	switch(rc->LD.key_A){
     case CMD_SW_UP:
 			cmd->C_cmd.communicate = YES; 
@@ -166,6 +155,29 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
 		case CMD_SW_DOWN:
 			cmd->C_cmd.communicate = NO;     			
 	}
+	
+  if(rc->LD.knob_left>199 && rc->LD.knob_left<350){
+		cmd->C_cmd.pos = POS_1;
+	}	 	
+  if(rc->LD.knob_left>350 && rc->LD.knob_left<650){
+		cmd->C_cmd.pos = POS_2;
+	}
+  if(rc->LD.knob_left>650 && rc->LD.knob_left<900){
+		cmd->C_cmd.pos = POS_3;
+	}
+  if(rc->LD.knob_left>900 && rc->LD.knob_left<1150){
+		cmd->C_cmd.pos = POS_4;
+	}
+  if(rc->LD.knob_left>1150 && rc->LD.knob_left<1400){
+		cmd->C_cmd.pos = POS_5;
+	}
+  if(rc->LD.knob_left>1400 && rc->LD.knob_left<1650){
+		cmd->C_cmd.pos = POS_6;
+	}
+  if(rc->LD.knob_left>1650 && rc->LD.knob_left<1801){
+		cmd->C_cmd.pos = POS_7;
+	}	
+	
  }	
  return 0;
 }

User/device/cmd.h

@@ -94,33 +94,37 @@ typedef enum{
 	 POS_1,
    POS_2,
    POS_3,
+   POS_4,
+   POS_5,
+   POS_6,
+   POS_7,	
  }CMD_Chassis_navi_pos;
 
 typedef  enum{
-  STOP,
+  STOP,        //底盘锁死
-	RC,
+	RC,          //遥控模式
-  NAVI,  
+  NAVI,        //导航模式
   }CMD_Chassis_mode;
 
 typedef  enum{	
-  FORBIDDEN,
+  FORBIDDEN,   //遥控模式
-  ANGLE, 
+  ANGLE,       //角度纠正
-	RADAR_RESET,
+	RADAR_RESET, //雷达复位
   }CMD_Chassis_radar;
 
 typedef  enum{	
-  NO,
+  NO,          //锁框
-	YES,
+	YES,         //锁车
   }CMD_Chassis_Communication;
 
 typedef struct{
- CMD_Chassis_navi_pos pos;
+ CMD_Chassis_navi_pos pos;                //码盘点位
 
- CMD_Chassis_mode mode;
+ CMD_Chassis_mode mode;                   //底盘模式
 
- CMD_Chassis_radar nuc_radar;
+ CMD_Chassis_radar nuc_radar;             //导航模式
 
- CMD_Chassis_Communication	communicate;
+ CMD_Chassis_Communication	communicate;  //瞄准模式
 
 }CMD_Chassis_Ctrl_t;
 

User/device/map.c

@@ -7,17 +7,44 @@
 /* Private variables -------------------------------------------------------- */
 
 
-Path_t path_state;
+Path_t path_state; //地图数据
+/*点位数据*/
 point_t path_1;
 sick_t sick_1;
 point_t path_2;
 sick_t sick_2;
 point_t path_3;
 sick_t sick_3;
+point_t path_4;
+sick_t sick_4;
+point_t path_5;
+sick_t sick_5;
+point_t path_6;
+sick_t sick_6;
+point_t path_7;
+sick_t sick_7;
 
 //点位坐标x轴朝前，y轴朝右
 void block_select(Action_POS_t*pos,CMD_t*cmd){ 
 
+//	path_1.x = 0;
+//  path_1.y = 0;	
+//	path_1.angle=0;
+//	sick_1.sick_qian = 0;
+//	sick_1.sick_you = 0;
+//	sick_1.sick_hou = 0;
+//	sick_1.sick_zuo = 0;
+//	sick_1.sick_flag = 0;
+
+//	path_2.x = pos->pos_x;
+//	path_2.y = pos->pos_y;	
+//	path_2.angle= 0;
+//	sick_2.sick_qian = 0;
+//	sick_2.sick_you = 0;
+//	sick_2.sick_hou = 0;
+//	sick_2.sick_zuo = 0;
+//	sick_2.sick_flag = 0;
+	
 	//1
 	path_1.x = 0;
   path_1.y = 0;	
@@ -28,23 +55,59 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
 	sick_1.sick_zuo = 0;
 	sick_1.sick_flag = 0;
 	//2
-	path_2.x = 2000;
+	path_2.x = 0;
-	path_2.y = -2000;	
+	path_2.y = 0;	
 	path_2.angle=0;
-	sick_2.sick_qian = 3997;
+	sick_2.sick_qian = 0;
-	sick_2.sick_you = 2721;
+	sick_2.sick_you = 0;
-	sick_2.sick_hou = 2709;
+	sick_2.sick_hou = 0;
 	sick_2.sick_zuo = 0;
-	sick_2.sick_flag = 1;
+	sick_2.sick_flag = 0;
 	//3
-	path_3.x = pos->pos_x;
+	path_3.x = 0;
-	path_3.y = pos->pos_y;	
+	path_3.y = 0;	
 	path_3.angle= 0;
 	sick_3.sick_qian = 0;
 	sick_3.sick_you = 0;
 	sick_3.sick_hou = 0;
 	sick_3.sick_zuo = 0;
 	sick_3.sick_flag = 0;
+	//4
+	path_4.x = 0;
+	path_4.y = 0;	
+	path_4.angle= 0;
+	sick_4.sick_qian = 0;
+	sick_4.sick_you = 0;
+	sick_4.sick_hou = 0;
+	sick_4.sick_zuo = 0;
+	sick_4.sick_flag = 0;
+	//5
+	path_5.x = 0;
+	path_5.y = 0;	
+	path_5.angle= 0;
+	sick_5.sick_qian = 0;
+	sick_5.sick_you = 0;
+	sick_5.sick_hou = 0;
+	sick_5.sick_zuo = 0;
+	sick_5.sick_flag = 0;
+	//6
+	path_6.x = 0;
+	path_6.y = 0;	
+	path_6.angle= 0;
+	sick_6.sick_qian = 0;
+	sick_6.sick_you = 0;
+	sick_6.sick_hou = 0;
+	sick_6.sick_zuo = 0;
+	sick_6.sick_flag = 0;
+	//7
+	path_7.x = 0;
+	path_7.y = 0;	
+	path_7.angle= 0;
+	sick_7.sick_qian = 0;
+	sick_7.sick_you = 0;
+	sick_7.sick_hou = 0;
+	sick_7.sick_zuo = 0;
+	sick_7.sick_flag = 0;	
 }
 		 
 
@@ -61,19 +124,35 @@ void  path_select(CMD_t*cmd){
          	
     switch (cmd->C_cmd.pos){
     	case POS_1:
-		   path_state.target = &path_1;//选择路径
+		   path_state.target = &path_1;
 			 path_state.sick = &sick_1;
 		  break;
 	   case POS_2:
-		   path_state.target = &path_2;//选择路径
+		   path_state.target = &path_2;
 		    path_state.sick = &sick_2;
 		  break;
 	   case POS_3:
-		   path_state.target = &path_3;//选择路径
+		   path_state.target = &path_3;
 		    path_state.sick = &sick_3;
 		  break;	
+	   case POS_4:
+		   path_state.target = &path_4;
+		    path_state.sick = &sick_4;
+		  break;	
+	   case POS_5:
+		   path_state.target = &path_5;
+		    path_state.sick = &sick_5;
+		  break;	
+	   case POS_6:
+		   path_state.target = &path_6;
+		    path_state.sick = &sick_6;
+		  break;	
+	   case POS_7:
+		   path_state.target = &path_7;
+		    path_state.sick = &sick_7;
+		  break;			 
 	   }		
-	  path_state.points_flag = 0; 
+	  path_state.points_flag = 0; //标志位清零
 	 }
 		last_pos = cmd->C_cmd.pos; // 更新上一次的位置
 	 

User/device/remote_control.c

@@ -223,7 +223,7 @@ int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,LD_raw_t *LD) {
   rc->LD.key_E = Keymap(LD->sw[4]);
   rc->LD.key_F = Keymap(LD->sw[5]);
   rc->LD.key_G = Keymap(LD->sw[6]);	
-  rc->LD.knob_left = Keymap(LD->sw[7]);
+  rc->LD.knob_left = LD->sw[7];
 
 //  /*离线处理，和dr16位置不同*/
 	if(LD->sw[3]==1400)

User/task/init.c

@@ -45,12 +45,12 @@ void Task_Init(void *argument) {
   task_runtime.thread.nuc =
       osThreadNew(Task_nuc,NULL,&attr_nuc); 
 	//暂时用不到这仨任务
-//  task_runtime.thread.action_ops=
+  task_runtime.thread.action_ops=
-//      osThreadNew(Task_action,NULL,&attr_ops_9pos);  
+      osThreadNew(Task_action,NULL,&attr_ops_9pos);  
-//  task_runtime.thread.calc = 
+  task_runtime.thread.calc = 
-//      osThreadNew(Task_calc,NULL,&attr_calc);     
+      osThreadNew(Task_calc,NULL,&attr_calc);     
-//  task_runtime.thread.navi =
+  task_runtime.thread.navi =
-//      osThreadNew(Task_navi,NULL,&attr_navi);     
+      osThreadNew(Task_navi,NULL,&attr_navi);     
 	task_runtime.thread.error_detect =
 	    osThreadNew(Task_error_detect,NULL,&attr_error_detect);
 

readme.md

@@ -48,23 +48,27 @@
 
 6.25简单加了一个乐迪的上电保护，蜂鸣器完成
 
+6.26两车通信，r1锁r2成功
+
+6.27加了个防翻保护
+
+
+
+
+
 目前存在的问题：
 
-1,加上两车通信
+1,sick辅助雷达校准点位pid得调，差不多了，但调的很抽象，d贼大，没办法
 
-2，sick辅助雷达校准点位pid得调，差不多了，但调的很抽象，d贼大，没办法
+2，雷达纠正角度那块pid得调
 
-3，雷达纠正角度那块pid得调
+3,试一下雷达发自身角度，用世界坐标系实现边跑边锁框
 
-4,试一下雷达发自身角度，用世界坐标系实现边跑边锁框
+5，用码盘实现运球赛自动
-
-5，运球跑点
 
 
 
-1，整车跑的时候底盘容易断连（好像只有在进入debug后才会出现，得多按几遍reset）
+1，舵轮前后校准和左右校准不一样，会导致前后校准后前后走的还可以，但是左右会歪，就像是转不够90度
-
-2，舵轮前后校准和左右校准不一样，会导致前后校准后前后走的还可以，但是左右会歪，就像是转不够90度
 
 
 
@@ -80,4 +84,4 @@
 
 
 
-赛场上运球赛r1打，投篮赛r2打，正赛大部分都是r1持球，先用sick跑点校准并且运完球之后进入进攻区，在进攻区内找准时机锁框发射，实在不行传球。
+赛场上运球赛r1打，码盘自动跑点，投篮赛r2打，正赛大部分都是r1持球，先用sick跑点校准并且运完球之后进入进攻区，在进攻区内找准时机锁框发射，实在不行传球。