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

bsp.pwm里完善了蜂鸣器

Browse Source
This commit is contained in:
Yodel 2025-06-21 09:27:02 +08:00
parent fa57cf4044
commit 39732ac332
65 changed files with 4793 additions and 4507 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

63
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
View File

File diff suppressed because one or more lines are too long

2
MDK-ARM/AUTO_CHASSIS.uvoptx
View File

@ -906,7 +906,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

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

Binary file not shown.

5
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
View File

@ -29,6 +29,9 @@ 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 pwm.c...
linking...
Program Size: Code=88188 RO-data=1640 RW-data=1140 ZI-data=35684
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -53,7 +56,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:00
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

4543
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
View File

File diff suppressed because it is too large Load Diff

4436
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
View File

File diff suppressed because it is too large Load Diff

61
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
View File

@ -165,7 +165,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x
I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -184,6 +184,7 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -1540,8 +1541,8 @@ 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)(0x68553548)(--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)(0x685536AB)
F (..\User\Module\Chassis.c)(0x685609D7)(--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)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -1598,10 +1599,11 @@ 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)(0x6856093D)
I (..\User\Module\define.h)(0x6852D30E)
F (..\User\Module\config.c)(0x68553271)(--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)(0x68556C98)(--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)(0x685536AB)
I (..\User\Module\Chassis.h)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -1658,6 +1660,7 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -1786,8 +1789,8 @@ 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)
F (..\User\bsp\pwm.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\pwm.o --omf_browse ele_chassis\pwm.crf --depend ele_chassis\pwm.d)
I (../User/bsp\pwm.h)(0x663B6621)
F (..\User\bsp\pwm.c)(0x68560A03)(--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\pwm.o --omf_browse ele_chassis\pwm.crf --depend ele_chassis\pwm.d)
I (../User/bsp\pwm.h)(0x6856093D)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/bsp\bsp.h)(0x663B6621)
I (../Core/Inc/main.h)(0x666C4A91)
@ -2137,7 +2140,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
@ -2149,6 +2152,7 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -2170,7 +2174,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2224,11 +2228,12 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\chassis_task.c)(0x6851A2A3)(--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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2285,6 +2290,7 @@ 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)(0x6856093D)
I (..\User\task\user_task.h)(0x6853E669)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
@ -2322,7 +2328,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2376,10 +2382,10 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/bsp\pwm.h)(0x663B6621)
I (..\User\task\atti_esti.h)(0x663B6622)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h)(0x64D895DA)
I (../User/Algorithm/error_detect.h)(0x663B6620)
@ -2442,7 +2448,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2456,6 +2462,7 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -2477,7 +2484,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2531,6 +2538,7 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -2552,7 +2560,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2606,6 +2614,7 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -2631,7 +2640,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2684,6 +2693,7 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -2750,7 +2760,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2762,6 +2772,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/bsp\pwm.h)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -2783,7 +2794,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2837,6 +2848,7 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -2858,7 +2870,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2912,6 +2924,7 @@ 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)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -2981,7 +2994,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
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)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -2989,6 +3002,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/bsp\pwm.h)(0x6856093D)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
@ -3272,10 +3286,10 @@ I (../User/bsp/bsp.h)(0x663B6621)
I (../User/bsp\gpio.h)(0x663B6621)
I (../User/bsp\spi.h)(0x663B6621)
I (../Core/Inc/spi.h)(0x664876DC)
I (../User/bsp\pwm.h)(0x663B6621)
I (../User/bsp\pwm.h)(0x6856093D)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Module/Chassis.h)(0x6855FC80)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
@ -3434,7 +3448,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (..\User\device\cmd.h)(0x68517218)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/Module/chassis.h)(0x685536AB)
I (../User/Module/chassis.h)(0x6855FC80)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -3446,6 +3460,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/bsp\pwm.h)(0x6856093D)
I (../User/bsp/protocol.h)(0x6851732E)
I (../User/bsp/crc16.h)(0x67FB9F9F)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/action_task.d
View File

@ -72,6 +72,7 @@ ele_chassis\action_task.o: ../User/device/can_use.h
ele_chassis\action_task.o: ../User/bsp/bsp_can.h
ele_chassis\action_task.o: ../Core/Inc/can.h
ele_chassis\action_task.o: ../User/Algorithm/filter.h
ele_chassis\action_task.o: ../User/bsp\pwm.h
ele_chassis\action_task.o: ../User/device/navi.h
ele_chassis\action_task.o: ../User/device/map.h
ele_chassis\action_task.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

2
MDK-ARM/ELE_CHASSIS/atti_esti.d
View File

@ -73,10 +73,10 @@ ele_chassis\atti_esti.o: ../User/bsp/bsp_usart.h
ele_chassis\atti_esti.o: ../Core/Inc/usart.h
ele_chassis\atti_esti.o: ../User/device/cmd.h
ele_chassis\atti_esti.o: ../User/Algorithm/filter.h
ele_chassis\atti_esti.o: ../User/bsp\pwm.h
ele_chassis\atti_esti.o: ../User/device/navi.h
ele_chassis\atti_esti.o: ../User/device/map.h
ele_chassis\atti_esti.o: ../User/bsp/bsp_delay.h
ele_chassis\atti_esti.o: ../User/bsp\pwm.h
ele_chassis\atti_esti.o: ..\User\task\atti_esti.h
ele_chassis\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h
ele_chassis\atti_esti.o: ../User/Algorithm/error_detect.h

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

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/bmi088.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/bmi088.o
View File

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/calc_task.d
View File

@ -72,6 +72,7 @@ ele_chassis\calc_task.o: ../User/bsp/bsp_usart.h
ele_chassis\calc_task.o: ../Core/Inc/usart.h
ele_chassis\calc_task.o: ../User/device/cmd.h
ele_chassis\calc_task.o: ../User/Algorithm/filter.h
ele_chassis\calc_task.o: ../User/bsp\pwm.h
ele_chassis\calc_task.o: ../User/device/navi.h
ele_chassis\calc_task.o: ../User/device/map.h
ele_chassis\calc_task.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/can_task.d
View File

@ -72,6 +72,7 @@ ele_chassis\can_task.o: ../User/bsp/bsp_usart.h
ele_chassis\can_task.o: ../Core/Inc/usart.h
ele_chassis\can_task.o: ../User/device/cmd.h
ele_chassis\can_task.o: ../User/Algorithm/filter.h
ele_chassis\can_task.o: ../User/bsp\pwm.h
ele_chassis\can_task.o: ../User/device/navi.h
ele_chassis\can_task.o: ../User/device/map.h
ele_chassis\can_task.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/chassis.d
View File

@ -58,4 +58,5 @@ ele_chassis\chassis.o: ../User/bsp/bsp_usart.h
ele_chassis\chassis.o: ../Core/Inc/usart.h
ele_chassis\chassis.o: ../User/device/cmd.h
ele_chassis\chassis.o: ../User/Algorithm/filter.h
ele_chassis\chassis.o: ../User/bsp\pwm.h
ele_chassis\chassis.o: ..\User\Module\define.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/chassis_task.d
View File

@ -58,6 +58,7 @@ ele_chassis\chassis_task.o: ../User/bsp/bsp_usart.h
ele_chassis\chassis_task.o: ../Core/Inc/usart.h
ele_chassis\chassis_task.o: ../User/device/cmd.h
ele_chassis\chassis_task.o: ../User/Algorithm/filter.h
ele_chassis\chassis_task.o: ../User/bsp\pwm.h
ele_chassis\chassis_task.o: ..\User\task\user_task.h
ele_chassis\chassis_task.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h
ele_chassis\chassis_task.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/cmd_task.d
View File

@ -72,6 +72,7 @@ ele_chassis\cmd_task.o: ../User/bsp/bsp_usart.h
ele_chassis\cmd_task.o: ../Core/Inc/usart.h
ele_chassis\cmd_task.o: ../User/device/cmd.h
ele_chassis\cmd_task.o: ../User/Algorithm/filter.h
ele_chassis\cmd_task.o: ../User/bsp\pwm.h
ele_chassis\cmd_task.o: ../User/device/navi.h
ele_chassis\cmd_task.o: ../User/device/map.h
ele_chassis\cmd_task.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/config.d
View File

@ -59,6 +59,7 @@ ele_chassis\config.o: ../User/bsp/bsp_usart.h
ele_chassis\config.o: ../Core/Inc/usart.h
ele_chassis\config.o: ../User/device/cmd.h
ele_chassis\config.o: ../User/Algorithm/filter.h
ele_chassis\config.o: ../User/bsp\pwm.h
ele_chassis\config.o: ../User/device/navi.h
ele_chassis\config.o: ../User/device/map.h
ele_chassis\config.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/error_detect_task.d
View File

@ -73,6 +73,7 @@ ele_chassis\error_detect_task.o: ../User/bsp/bsp_usart.h
ele_chassis\error_detect_task.o: ../Core/Inc/usart.h
ele_chassis\error_detect_task.o: ../User/device/cmd.h
ele_chassis\error_detect_task.o: ../User/Algorithm/filter.h
ele_chassis\error_detect_task.o: ../User/bsp\pwm.h
ele_chassis\error_detect_task.o: ../User/device/navi.h
ele_chassis\error_detect_task.o: ../User/device/map.h
ele_chassis\error_detect_task.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/freertos.d
View File

@ -73,6 +73,7 @@ ele_chassis\freertos.o: ../User/bsp/bsp_usart.h
ele_chassis\freertos.o: ../Core/Inc/usart.h
ele_chassis\freertos.o: ../User/device/cmd.h
ele_chassis\freertos.o: ../User/Algorithm/filter.h
ele_chassis\freertos.o: ../User/bsp\pwm.h
ele_chassis\freertos.o: ../User/device/navi.h
ele_chassis\freertos.o: ../User/device/map.h
ele_chassis\freertos.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/init.d
View File

@ -72,6 +72,7 @@ ele_chassis\init.o: ../User/bsp/bsp_usart.h
ele_chassis\init.o: ../Core/Inc/usart.h
ele_chassis\init.o: ../User/device/cmd.h
ele_chassis\init.o: ../User/Algorithm/filter.h
ele_chassis\init.o: ../User/bsp\pwm.h
ele_chassis\init.o: ../User/device/navi.h
ele_chassis\init.o: ../User/device/map.h
ele_chassis\init.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/navi_task.d
View File

@ -72,6 +72,7 @@ ele_chassis\navi_task.o: ../User/bsp/bsp_usart.h
ele_chassis\navi_task.o: ../Core/Inc/usart.h
ele_chassis\navi_task.o: ../User/device/cmd.h
ele_chassis\navi_task.o: ../User/Algorithm/filter.h
ele_chassis\navi_task.o: ../User/bsp\pwm.h
ele_chassis\navi_task.o: ../User/device/navi.h
ele_chassis\navi_task.o: ../User/device/map.h
ele_chassis\navi_task.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/nuc.d
View File

@ -59,6 +59,7 @@ ele_chassis\nuc.o: ../User/device/can_use.h
ele_chassis\nuc.o: ../User/bsp/bsp_can.h
ele_chassis\nuc.o: ../Core/Inc/can.h
ele_chassis\nuc.o: ../User/Algorithm/filter.h
ele_chassis\nuc.o: ../User/bsp\pwm.h
ele_chassis\nuc.o: ../User/bsp/protocol.h
ele_chassis\nuc.o: ../User/bsp/crc16.h
ele_chassis\nuc.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\string.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/nuc_task.d
View File

@ -72,6 +72,7 @@ ele_chassis\nuc_task.o: ../User/bsp/bsp_usart.h
ele_chassis\nuc_task.o: ../Core/Inc/usart.h
ele_chassis\nuc_task.o: ../User/device/cmd.h
ele_chassis\nuc_task.o: ../User/Algorithm/filter.h
ele_chassis\nuc_task.o: ../User/bsp\pwm.h
ele_chassis\nuc_task.o: ../User/device/navi.h
ele_chassis\nuc_task.o: ../User/device/map.h
ele_chassis\nuc_task.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/remote_control_task.d
View File

@ -74,6 +74,7 @@ ele_chassis\remote_control_task.o: ../User/device/can_use.h
ele_chassis\remote_control_task.o: ../User/bsp/bsp_can.h
ele_chassis\remote_control_task.o: ../Core/Inc/can.h
ele_chassis\remote_control_task.o: ../User/Algorithm/filter.h
ele_chassis\remote_control_task.o: ../User/bsp\pwm.h
ele_chassis\remote_control_task.o: ../User/device/navi.h
ele_chassis\remote_control_task.o: ../User/device/map.h
ele_chassis\remote_control_task.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

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

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/user_task.d
View File

@ -72,6 +72,7 @@ ele_chassis\user_task.o: ../User/bsp/bsp_usart.h
ele_chassis\user_task.o: ../Core/Inc/usart.h
ele_chassis\user_task.o: ../User/device/cmd.h
ele_chassis\user_task.o: ../User/Algorithm/filter.h
ele_chassis\user_task.o: ../User/bsp\pwm.h
ele_chassis\user_task.o: ../User/device/navi.h
ele_chassis\user_task.o: ../User/device/map.h
ele_chassis\user_task.o: ../User/bsp/bsp_delay.h

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

Binary file not shown.

8
User/Module/Chassis.c
View File

@ -224,6 +224,8 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
c->sick_set[1] = 5505;
c->sick_set[2] = 1821;
Buzzer_Init(); //初始化蜂鸣器
PID_init(&(c->pid.chassis_6020OmegaPid), PID_POSITION,&(c->param->C6020Omega_param));
PID_init(&(c->pid.chassis_6020anglePid), PID_POSITION,&(c->param->C6020Angle_param));
PID_init(&(c->pid.chassis_RadaranglePID),PID_POSITION,&(c->param->RadarAngle_param));
@ -245,7 +247,6 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
//对nuc发送的角度偏移量进行双环pid控制（右旋偏移量为正，左旋偏移量为负）
void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
fp32 nuc_detangle;
// ctrl->nuc.vw = LowPassFilter2p_Apply(&(c->filled[3]),ctrl->nuc.vw);
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);
}
@ -264,12 +265,14 @@ void radar_sick_correct(Chassis_t *c){
if (fabsf(diff_x) <= SICKXY_ERROR && fabsf(diff_y) <= SICKXY_ERROR &&fabsf(diff_w)<= SICKW_ERROR) {
reach_cnt++;
if (reach_cnt >= 50) {
// c->SICK_FALG = 1;
// c->SICK_FALG = 1;
Buzzer_Update(BUZZER_BEEPING, 0.4f, 100, 900);
}
}
else {
reach_cnt = 0;
c->SICK_FALG = 0;
Buzzer_Update(BUZZER_OFF, 0, 0, 0);
}
}
@ -284,6 +287,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
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);
#if defined(carmera_angle)|| defined(radar)
//关于nuc纠正的函数都要一直运行
nuc_angle_correct(c,ctrl);

1
User/Module/Chassis.h
View File

@ -9,6 +9,7 @@
#include "can_use.h"
#include "cmd.h"
#include "filter.h"
#include "bsp\pwm.h"
#define CHASSIS_OK (0)
#define CHASSIS_ERR (-1)

4
User/Module/config.c
View File

@ -26,10 +26,10 @@ static const ConfigParam_t param_chassis ={
},
.C6020Omega_param = {
.p = 45.0f,
.i = 0.8f,
.i = 0.6f,
.d = 2.0f,
.f = 0.1f,
.i_limit = 2500.0f,
.i_limit = 2000.0f,
.out_limit = 25000.0f
},
.RadarAngle_param = {

110
User/bsp/pwm.c
View File

@ -14,12 +14,16 @@ int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) {
switch (ch) {
case BSP_PWM_IMU_HEAT:
HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
break;
case BSP_PWM_BUZZER:
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
break;
}
return BSP_OK;
}
/*PWM 占空比设置函数 duty_cycle(0-1)*/
int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
if (duty_cycle < 0.0f) duty_cycle = 0.f;
@ -29,6 +33,10 @@ int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
case BSP_PWM_IMU_HEAT:
pulse = (uint16_t)(duty_cycle * (float)__HAL_TIM_GET_AUTORELOAD(&htim10));
break;
case BSP_PWM_BUZZER:
pulse = (uint16_t)(duty_cycle * (float)__HAL_TIM_GET_AUTORELOAD(&htim4));
break;
}
if (pulse > 0) {
@ -36,8 +44,13 @@ int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
case BSP_PWM_IMU_HEAT:
__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, pulse);
break;
case BSP_PWM_BUZZER:
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, pulse);
break;
}
} else {
}
else {
// BSP_PWM_Stop(ch);
}
return BSP_OK;
@ -48,7 +61,100 @@ int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) {
case BSP_PWM_IMU_HEAT:
HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1);
break;
case BSP_PWM_BUZZER:
HAL_TIM_PWM_Stop(&htim4, TIM_CHANNEL_3);
break;
}
HAL_GPIO_WritePin(IMU_HEAT_PWM_GPIO_Port, IMU_HEAT_PWM_Pin, GPIO_PIN_RESET);
return BSP_OK;
}
// 初始化蜂鸣器
void Buzzer_Init(void) {
buzzer.state = STATE_IDLE;
buzzer.mode = BUZZER_OFF;
buzzer.timer = 0;
buzzer.count = 0;
buzzer.duty = 0;
}
// 蜂鸣器任务处理 ，参数分别是模式，音量（0-1），鸣叫频率（ms），间隔频率（ms）
void Buzzer_Update(BuzzerMode mode, float duty_cycle, uint16_t on_time_ms, uint16_t off_time_ms) {
// 参数校验和限制
duty_cycle = (duty_cycle < 0.0f) ? 0.0f :
(duty_cycle > 1.0f) ? 1.0f : duty_cycle;
// 设置最小10ms的时间限制
on_time_ms = (on_time_ms < 10) ? 10 : on_time_ms;
off_time_ms = (off_time_ms < 10) ? 10 : off_time_ms;
uint32_t now = HAL_GetTick();
// 更新配置参数
buzzer.on_time = on_time_ms;
buzzer.off_time = off_time_ms;
buzzer.duty = duty_cycle;
// 模式变更处理
if(mode != buzzer.mode) {
buzzer.mode = mode;
buzzer.count = 0;
buzzer.timer = now;
if(mode == BUZZER_OFF) {
BSP_PWM_Stop(BSP_PWM_BUZZER);
buzzer.state = STATE_IDLE;
return;
}
}
// 状态机处理
switch(buzzer.state) {
case STATE_IDLE:
if(buzzer.mode != BUZZER_OFF) {
BSP_PWM_Start(BSP_PWM_BUZZER);
BSP_PWM_Set(BSP_PWM_BUZZER, buzzer.duty);
buzzer.state = STATE_ON;
buzzer.timer = now;
}
break;
case STATE_ON:
if(now - buzzer.timer >= buzzer.on_time) { // 使用设置的鸣叫时间
BSP_PWM_Stop(BSP_PWM_BUZZER);
buzzer.state = STATE_OFF;
buzzer.timer = now;
buzzer.count++;
// 检查鸣叫次数
if((buzzer.mode == BUZZER_SINGLE && buzzer.count >= 1) ||
(buzzer.mode == BUZZER_DOUBLE && buzzer.count >= 2) ||
(buzzer.mode == BUZZER_TRIPLE && buzzer.count >= 3)) {
buzzer.mode = BUZZER_OFF;
buzzer.state = STATE_IDLE;
}
}
break;
case STATE_OFF:
if(buzzer.mode == BUZZER_CONTINUOUS) {
// 持续模式立即重新开始
BSP_PWM_Start(BSP_PWM_BUZZER);
BSP_PWM_Set(BSP_PWM_BUZZER, buzzer.duty);
buzzer.state = STATE_ON;
buzzer.timer = now;
}
else if(now - buzzer.timer >= buzzer.off_time) { // 使用设置的间隔时间
if(buzzer.mode != BUZZER_OFF) {
BSP_PWM_Start(BSP_PWM_BUZZER);
BSP_PWM_Set(BSP_PWM_BUZZER, buzzer.duty);
buzzer.state = STATE_ON;
buzzer.timer = now;
} else {
buzzer.state = STATE_IDLE;
}
}
break;
}
}

28
User/bsp/pwm.h
View File

@ -12,11 +12,39 @@
/* PWM通道 */
typedef enum {
BSP_PWM_IMU_HEAT,
BSP_PWM_BUZZER,
} BSP_PWM_Channel_t;
typedef enum {
BUZZER_OFF, // 蜂鸣器关闭
BUZZER_SINGLE, // 单次鸣叫(滴)
BUZZER_DOUBLE, // 双次鸣叫(滴-滴)
BUZZER_TRIPLE, // 三次鸣叫(滴-滴-滴)
BUZZER_CONTINUOUS,// 持续鸣叫(滴————)
BUZZER_BEEPING // 间歇鸣叫(滴...滴...滴...)
} BuzzerMode;
typedef enum {
STATE_IDLE, // 空闲状态(未激活)
STATE_ON, // 鸣叫状态(PWM输出中)
STATE_OFF // 静音间隔状态(等待下次鸣叫)
} BuzzerState;
static struct {
BuzzerState state; // 当前状态
BuzzerMode mode; // 当前模式
uint32_t timer; // 时间记录器
uint8_t count; // 鸣叫次数计数器
float duty; // PWM占空比(0.0-1.0)
uint16_t on_time; // 鸣叫持续时间(ms)
uint16_t off_time; // 静音间隔时间(ms)
} buzzer;
/* Exported functions prototypes -------------------------------------------- */
int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch);
int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle);
int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch);
void Buzzer_Init(void);
void Buzzer_Update(BuzzerMode mode, float duty_cycle, uint16_t on_time_ms, uint16_t off_time_ms);
#endif

22
readme.md
View File

@ -40,19 +40,29 @@
这个问题在接收频率为500hz时的处理方法，对雷达的数据进行滤波，效果非常显著
6.21bsp.pwm里加了个功能强大的蜂鸣器
目前存在的问题：
1,sick辅助雷达校准点位,sick校准的好就很快
1,雷达纠正角度那块视觉的pid得改
2，三号舵轮6020总是发热
2，sick辅助雷达校准点位
3,雷达纠正角度那块视觉的pid得改
3，试一下雷达发自身角度，用世界坐标系
4，雷达跑点xy需要加个pid
4，校准角度成功和sick校准成功加个蜂鸣器
5，6020双环pid发送out给can的那块有问题，会导致手动转1号轮2号轮会跟着转，手动转2号轮3号轮会跟着转以此类推，手动转6020会导致两个电机的反馈变化，目前还没有解决
5，雷达导航xy需要的话得加pid
6，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
6,雷达跑点xy需要加个pid
7，三号舵轮6020总是发热
8，6020双环pid发送out给can的那块有问题，会导致手动转1号轮2号轮会跟着转，手动转2号轮3号轮会跟着转以此类推，手动转6020会导致两个电机的反馈变化，目前还没有解决
9，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