配合视觉sick校准初试成功

Core/Src/main.c

@@ -83,7 +83,8 @@ int main(void)
   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
 
 
-  	HAL_Init();
+
+	HAL_Init();
 
   /* USER CODE BEGIN Init */
 

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -193,27 +193,32 @@
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>c,0x0A</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl,0x0A</ItemText>
+          <ItemText>LD,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>9</count>
           <WinNumber>1</WinNumber>
-          <ItemText>LD,0x0A</ItemText>
+          <ItemText>cmd_fromnuc,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>10</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd_fromnuc,0x0A</ItemText>
+          <ItemText>ctrl,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ctrl,0x0A</ItemText>
+          <ItemText>SendBuffer,0x10</ItemText>
+        </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>b,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm

@@ -29,10 +29,13 @@ 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...
+compiling nuc_task.c...
+..\User\task\nuc_task.c(43): warning:  #223-D: function "memset" declared implicitly
+         memset(send_data, 0, sizeof(send_data));  // 全部�0
+..\User\task\nuc_task.c: 1 warning, 0 errors
 linking...
-Program Size: Code=88188 RO-data=1640 RW-data=1140 ZI-data=35684  
+Program Size: Code=88104 RO-data=1636 RW-data=1140 ZI-data=33996  
-"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
+"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 1 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -56,7 +59,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:03
 </pre>
 </body>
 </html>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep

@@ -2,7 +2,7 @@ Dependencies for Project 'AUTO_CHASSIS', Target 'AUTO_CHASSIS': (DO NOT MODIFY !
 CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARMCC
 F (startup_stm32f407xx.s)(0x666D93A6)(--cpu Cortex-M4.fp.sp -g --apcs=interwork -I ..\Core\Inc -I ../Core/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"

--pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --pd "_RTE_ SETA 1"

--list startup_stm32f407xx.lst --xref -o ele_chassis\startup_stm32f407xx.o --depend ele_chassis\startup_stm32f407xx.d)
 F (..\Drivers\CMSIS\Lib\ARM\arm_cortexM4lf_math.lib)(0x663B661D)()
-F (../Core/Src/main.c)(0x68529C27)(--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\main.o --omf_browse ele_chassis\main.crf --depend ele_chassis\main.d)
+F (../Core/Src/main.c)(0x68561FE0)(--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\main.o --omf_browse ele_chassis\main.crf --depend ele_chassis\main.d)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x64D895F2)
 I (../Core/Inc/stm32f4xx_hal_conf.h)(0x664876DD)
@@ -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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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)
@@ -160,12 +160,12 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
-I (../User/task\user_task.h)(0x6853E669)
+I (../User/task\user_task.h)(0x685844EB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -179,12 +179,12 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -1541,8 +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)(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)
+F (..\User\Module\Chassis.c)(0x68583FAB)(--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\Module\Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -1594,16 +1594,16 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
-I (..\User\Module\define.h)(0x6852D30E)
+I (..\User\Module\define.h)(0x685820DE)
-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)
+F (..\User\Module\config.c)(0x68583BA7)(--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)(0x6855FC80)
+I (..\User\Module\Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -1655,18 +1655,18 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 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)(0x6852D30E)()
+F (..\User\Module\define.h)(0x685820DE)()
 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)
@@ -1789,8 +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)(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)
+F (..\User\bsp\pwm.c)(0x6856A42B)(--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 (../User/bsp\pwm.h)(0x6856A44C)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (../User/bsp\bsp.h)(0x663B6621)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -2080,7 +2080,7 @@ 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)(0x68553984)(--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)(0x685844EB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\init.o --omf_browse ele_chassis\init.crf --depend ele_chassis\init.d)
 I (../User/Device\bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2125,7 +2125,7 @@ I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/task\user_task.h)(0x6853E669)
+I (../User/task\user_task.h)(0x685844EB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
@@ -2140,24 +2140,24 @@ 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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/can_use.h)(0x6811C5CD)
 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\user_task.c)(0x6818B046)(--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\user_task.o --omf_browse ele_chassis\user_task.crf --depend ele_chassis\user_task.d)
-I (../User/task\user_task.h)(0x6853E669)
+I (../User/task\user_task.h)(0x685844EB)
 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)
@@ -2174,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2223,17 +2223,17 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 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)
+F (..\User\task\chassis_task.c)(0x685844EB)(--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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2285,13 +2285,13 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
-I (..\User\task\user_task.h)(0x6853E669)
+I (..\User\task\user_task.h)(0x685844EB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2311,7 +2311,7 @@ I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/device/vofa.h)(0x6661C23A)
 F (..\User\task\atti_esti.c)(0x68553927)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\atti_esti.o --omf_browse ele_chassis\atti_esti.crf --depend ele_chassis\atti_esti.d)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-I (../User/task\user_task.h)(0x6853E669)
+I (../User/task\user_task.h)(0x685844EB)
 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)
@@ -2328,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2377,12 +2377,12 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2434,7 +2434,7 @@ 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/bsp/bsp.h)(0x663B6621)
-I (..\User\task\user_task.h)(0x6853E669)
+I (..\User\task\user_task.h)(0x685844EB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2448,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@@ -2457,17 +2457,17 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\cmd_task.c)(0x6843EC4E)(--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_task.o --omf_browse ele_chassis\cmd_task.crf --depend ele_chassis\cmd_task.d)
-I (..\User\task\user_task.h)(0x6853E669)
+I (..\User\task\user_task.h)(0x685844EB)
 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)
@@ -2484,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2533,17 +2533,17 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\task\nuc_task.c)(0x6852BCCA)(--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_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
+F (..\User\task\nuc_task.c)(0x685849D4)(--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_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
-I (..\User\task\user_task.h)(0x6853E669)
+I (..\User\task\user_task.h)(0x685844EB)
 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)
@@ -2560,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2609,12 +2609,12 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2623,7 +2623,7 @@ I (../User/bsp/protocol.h)(0x6851732E)
 F (..\User\task\error_detect_task.c)(0x67E914EA)(--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\error_detect_task.o --omf_browse ele_chassis\error_detect_task.crf --depend ele_chassis\error_detect_task.d)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (..\User\task\user_task.h)(0x6853E669)
+I (..\User\task\user_task.h)(0x685844EB)
 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)
@@ -2640,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@@ -2688,12 +2688,12 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2744,9 +2744,9 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (..\User\task\user_task.h)(0x6853E669)
+I (..\User\task\user_task.h)(0x685844EB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2760,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@@ -2772,12 +2772,12 @@ 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\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\Calc_task.c)(0x682338DB)(--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\calc_task.o --omf_browse ele_chassis\calc_task.crf --depend ele_chassis\calc_task.d)
-I (..\User\task\user_task.h)(0x6853E669)
+I (..\User\task\user_task.h)(0x685844EB)
 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)
@@ -2794,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2843,17 +2843,17 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\navi_task.c)(0x68553927)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\navi_task.o --omf_browse ele_chassis\navi_task.crf --depend ele_chassis\navi_task.d)
-I (..\User\task\user_task.h)(0x6853E669)
+I (..\User\task\user_task.h)(0x685844EB)
 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)
@@ -2870,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2919,12 +2919,12 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2934,7 +2934,7 @@ 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/device/device.h)(0x666C4CF9)
 I (../User/device/Action.h)(0x67CAEC48)
@@ -2980,7 +2980,7 @@ 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 (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
-I (..\User\task\user_task.h)(0x6853E669)
+I (..\User\task\user_task.h)(0x685844EB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2994,7 +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)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -3002,7 +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/bsp\pwm.h)(0x6856A44C)
 I (../User/device/navi.h)(0x68553A70)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -3286,14 +3286,14 @@ 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)(0x6856093D)
+I (../User/bsp\pwm.h)(0x6856A44C)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/Module/Chassis.h)(0x6855FC80)
+I (../User/Module/Chassis.h)(0x68582F71)
 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)(0x68517218)
+I (../User/device/cmd.h)(0x685622D1)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -3351,9 +3351,9 @@ 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)(0x6852D30E)
+I (../User/Module/define.h)(0x685820DE)
-F (..\User\device\cmd.c)(0x6850357C)(--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)(0x685622D1)(--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)(0x68517218)
+I (..\User\device\cmd.h)(0x685622D1)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3400,8 +3400,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../Core/Inc/gpio.h)(0x664876DA)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-I (../User/Module/define.h)(0x6852D30E)
+I (../User/Module/define.h)(0x685820DE)
-F (..\User\device\nuc.c)(0x6852BCCA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\nuc.o --omf_browse ele_chassis\nuc.crf --depend ele_chassis\nuc.d)
+F (..\User\device\nuc.c)(0x6858497F)(--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)(0x6852BA01)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -3445,10 +3445,10 @@ 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)(0x68517218)
+I (..\User\device\cmd.h)(0x685622D1)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\Action.h)(0x67CAEC48)
-I (../User/Module/chassis.h)(0x6855FC80)
+I (../User/Module/chassis.h)(0x68582F71)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@@ -3460,11 +3460,11 @@ 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\pwm.h)(0x6856A44C)
 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)(0x6852D30E)
+I (../User/Module/define.h)(0x685820DE)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
 F (..\User\device\vofa.c)(0x684006BC)(--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)(0x6661C23A)
@@ -3561,7 +3561,7 @@ 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)(0x68517218)
+I (..\User\device\cmd.h)(0x685622D1)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 F (..\User\device\map.c)(0x6842CE5A)(--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)
@@ -3610,8 +3610,8 @@ 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)(0x68517218)
+I (..\User\device\cmd.h)(0x685622D1)
-I (../User/Module/define.h)(0x6852D30E)
+I (../User/Module/define.h)(0x685820DE)
 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)
@@ -3657,7 +3657,7 @@ 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)(0x68517218)
+I (..\User\device\cmd.h)(0x685622D1)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -3671,13 +3671,13 @@ 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)(0x6852D30E)
+I (../User/Module/define.h)(0x685820DE)
-F (..\User\device\remote_control.c)(0x684FC874)(--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)(0x68580AA1)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\remote_control.o --omf_browse ele_chassis\remote_control.crf --depend ele_chassis\remote_control.d)
 I (..\User\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)(0x68517218)
+I (..\User\device\cmd.h)(0x685622D1)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3725,7 +3725,7 @@ 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)(0x6852D30E)
+I (../User/Module/define.h)(0x685820DE)
 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

@@ -207,7 +207,6 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
     for (uint8_t i = 0; i < 3; i++) {
  	    c->sick[i] = can->sickfed.as_array[i].sick_distance/10;
    }
-		c->sick[0] += 10;
   return CHASSIS_OK;
 }
 
@@ -216,15 +215,13 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
 	 c->param = param; 	/*初始化参数 */
 
     //舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面   
-	 MotorOffset_t motor_offset = { {30.106215, 149.871811, 267.264069, 27.601025}};	
+	 MotorOffset_t motor_offset = { {29.886459, 149.630066, 267.659637, 29.205215}};	
    c->motoroffset = motor_offset;  // 将 motor_offset 的值赋给 c->motoroffset
 	
    //在这里修改雷达校准时sick的值    (标号为逆时针)
-   c->sick_set[0] = 5505;
+   c->sick_set[0] = 3000;
-   c->sick_set[1] = 5505;
+   c->sick_set[1] = 3000;
-   c->sick_set[2] = 1821;
+   c->sick_set[2] = 2500;
-
-	 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)); 		
@@ -246,34 +243,43 @@ 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;
+
-	nuc_detangle = - PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw,0);
+	//双环pid
-  c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,nuc_detangle);	
+//	fp32 nuc_detangle;	
+//	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
 void radar_sick_correct(Chassis_t *c){
    fp32 diff_x = c->sick[2] - c->sick_set[2];
    fp32 diff_y = c->sick[0] - c->sick_set[0];
-   fp32 diff_w = c->sick[0] - c->sick[1];
+   fp32 diff_w = (c->sick[1] - c->sick[0])*10; //放大偏角误差
 	
    c->move_sick.Vx = (fabsf(diff_x)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVx),diff_x,0): 0;
    c->move_sick.Vy = (fabsf(diff_y)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVy),diff_y,0): 0;
-   c->move_sick.Vw = (fabsf(diff_w)>SICKW_ERROR) ? -PID_calc(&(c->pid.chassis_SickVw),diff_w,0): 0;
+   c->move_sick.Vw = (fabsf(diff_w)>SICKW_ERROR) ? PID_calc(&(c->pid.chassis_SickVw),diff_w,0): 0;
 		
    static uint8_t reach_cnt = 0; 
    if (fabsf(diff_x) <= SICKXY_ERROR && fabsf(diff_y) <= SICKXY_ERROR &&fabsf(diff_w)<= SICKW_ERROR) {
-     reach_cnt++;
+//     reach_cnt++;
-       if (reach_cnt >= 50) {
+//     if (reach_cnt >= 50) {
-//         c->SICK_FALG = 1;
+       c->SICK_FALG = 1;
-				 Buzzer_Update(BUZZER_BEEPING, 0.4f, 100, 900);
+//       reach_cnt = 0;				 
-       }
+//     } 
-   } 
+  }		 
-   else {
+    else { 
-     reach_cnt = 0;
      c->SICK_FALG = 0; 		
-		 Buzzer_Update(BUZZER_OFF, 0, 0, 0);
    }
+
 }
 
 //底盘控制
@@ -282,7 +288,6 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 	Chassis_SetCtrl(c,ctrl);
 
 	fp32 chassis6020_detangle[4];
-
 	//雷达数据必须滤波，否则波形是0和正常数组成的矩形
   ctrl->nuc.vx = LowPassFilter2p_Apply(&(c->filled[3]),ctrl->nuc.vx);
   ctrl->nuc.vy = LowPassFilter2p_Apply(&(c->filled[4]),ctrl->nuc.vy);
@@ -295,24 +300,22 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 #endif  
 	switch (c->mode){	
 		case RC:
-	   c->move_vec.Vx = ctrl->Vx*95000;
+	   c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
-     c->move_vec.Vy = ctrl->Vy*95000;
+     c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
-	   c->move_vec.Vw = ctrl->Vw*30000;
+	   c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;
+		 BSP_PWM_Stop(BSP_PWM_BUZZER);
 	   break;	
+		
 	  case STOP:
 		 c->move_vec.Vx =0;
 		 c->move_vec.Vy =0;
 		 c->move_vec.Vw =0;
 		 break; 
-	  case NAVI:					
-#ifdef carmera_angle
-		//如果相机开始工作	
-	   if(ctrl->nuc.vw != 0){
-		  c->move_vec.Vw = c->radar_yaw;
-     }	
 		
-#elif defined(radar)
+	  case NAVI:					
-     if(ctrl->C_cmd.nuc_radar == ANGLE){
+#ifdef radar
+		switch (ctrl->C_cmd.nuc_radar){
+			 case ANGLE:
 			 /*
 			 跑点时只需要xy，不需要转角度，
 			 而且如果跑点时有角度车会呈现蠕动的形态，
@@ -327,17 +330,77 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 	     c->move_vec.Vx = ctrl->Vx*95000;
        c->move_vec.Vy = ctrl->Vy*95000;			 
 	     c->move_vec.Vw = c->radar_yaw;
-		 }
+							 
-		 else if(ctrl->C_cmd.nuc_radar == FORBIDDEN){
+       static uint32_t buzzer_timer = 0;
-	     c->move_vec.Vx = ctrl->Vx*95000;
+       static bool buzzer_state = false;
-       c->move_vec.Vy = ctrl->Vy*95000;
+
-	     c->move_vec.Vw = ctrl->Vw*30000;
+      // 在循环中（如1ms周期）
-		 }
+      if(fabsf(ctrl->nuc.vw) < 1 && ctrl->nuc.vw != 0) {
-		 else if(ctrl->C_cmd.nuc_radar == RADAR_RESET){			
+        // 鸣叫模式
+        if(HAL_GetTick() - buzzer_timer >= (buzzer_state ? 200 : 1000)) {  //鸣叫时间：间隔时间
+          buzzer_state = !buzzer_state;
+          buzzer_timer = HAL_GetTick();
+        
+        if(buzzer_state) {
+            BSP_PWM_Start(BSP_PWM_BUZZER);
+            BSP_PWM_Set(BSP_PWM_BUZZER, 0.5f);  // 50%占空比
+         } 
+				 else {
+            BSP_PWM_Stop(BSP_PWM_BUZZER);
+         }
+       }
+      } 
+			else {
+        // 停止鸣叫
+        buzzer_state = false;
+        BSP_PWM_Stop(BSP_PWM_BUZZER);
+       }
+	  
+	  break;
+		case FORBIDDEN:
+	   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;
+		   BSP_PWM_Stop(BSP_PWM_BUZZER);
+	     break;		 
+		
+		case RADAR_RESET:		
 			 c->move_vec.Vx = c->move_sick.Vx;
 			 c->move_vec.Vy = c->move_sick.Vy;
 			 c->move_vec.Vw = c->move_sick.Vw;
-		 }		 
+
+       static uint32_t buzzer_timer_2 = 0;
+       static bool buzzer_state_2 = false;
+
+      // 在循环中（如1ms周期）
+      if(c->SICK_FALG == 1) {
+        // 鸣叫模式
+        if(HAL_GetTick() - buzzer_timer_2 >= (buzzer_state_2 ? 200 : 1000)) {  //鸣叫时间：间隔时间
+          buzzer_state_2 = !buzzer_state_2;
+          buzzer_timer_2 = HAL_GetTick();
+        
+        if(buzzer_state_2) {
+            BSP_PWM_Start(BSP_PWM_BUZZER);
+            BSP_PWM_Set(BSP_PWM_BUZZER, 0.5f);  // 50%占空比
+         } 
+				 else {
+            BSP_PWM_Stop(BSP_PWM_BUZZER);
+         }
+       }
+      } 
+			else {
+        // 停止鸣叫
+        buzzer_state_2 = false;
+        BSP_PWM_Stop(BSP_PWM_BUZZER);
+       }		
+		 break;
+	 }
+#elif defined(carmera_angle)
+		//如果相机开始工作	
+	   if(ctrl->nuc.vw != 0){
+		  c->move_vec.Vw = c->radar_yaw;
+     }	
+		 
 #elif defined(action_sick)|| defined(camera_angle_static)
      c->move_vec.Vx =ctrl->C_navi.vx ;
      c->move_vec.Vy =ctrl->C_navi.vy ;    
@@ -345,7 +408,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 #endif		   
 		 
 	   break;		 	 
-	}	  
+ } 
+	  
      //进行滤波	 
 	   c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[0]),c->move_vec.Vx);
 		 c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vy);

User/Module/config.c

@@ -32,20 +32,37 @@ static const ConfigParam_t param_chassis ={
 			.i_limit = 2000.0f,
 			.out_limit = 25000.0f  
     },
+		
+		//两套pid
 		 .RadarAngle_param = {
-       .p = 8.0f,
+       .p = 15.0f,
-			 .i = 0.5f,
+			 .i = 0.8f,
-			 .d = 5.0f,
+			 .d = 1.0f,
-			 .i_limit = 150.0f,
+			 .i_limit = 100.0f,
-		   .out_limit =800.0f,
+		   .out_limit =1000.0f,
 	 },	
 		 .RadarSpeed_param = {
-       .p = 8.0f,
+       .p = 17.0f,
-			 .i = 0.04f,
+			 .i = 0.2f,
-			 .d = 3.0f,
+			 .d = 7.0f,
-	    .i_limit = 1500.0f,
+	    .i_limit = 60.0f,
-			.out_limit =7000.0f, 
+			.out_limit =500.0f, 
 	 },			
+		//正常pid
+//		 .RadarAngle_param = {
+//       .p = 10.0f,
+//			 .i = 0.05f,
+//			 .d = 0.0f,
+//			 .i_limit = 40.0f,
+//		   .out_limit =500.0f,
+//	 },	
+//		 .RadarSpeed_param = {
+//       .p = 9.0f,
+//			 .i = 0.15f,
+//			 .d = 10.0f,
+//	    .i_limit = 1300.0f,
+//			.out_limit =7000.0f, 
+//	 },			 
 		.M3508_param = {
 		 .p = 15.0f,
 		 .i = 0.0f,
@@ -68,24 +85,24 @@ static const ConfigParam_t param_chassis ={
 			.out_limit = 3000.0f,				
 		},
 		.SickVx_param = {
-			 .p =12.0f,
+			 .p =26.0f,
-			 .i =0.03f,
+			 .i =0.3f,
-			 .d =8.0f,
+			 .d =5.0f,
 			 .i_limit =2500.0f,
-			 .out_limit =10000.0f,				
+			 .out_limit =7000.0f,				
 		},
 		.SickVy_param = {
-			 .p =18.0f,
+			 .p =20.0f,
-			 .i =0.1f,
+			 .i =0.064f,
-			 .d =6.0f,
+			 .d =0.0f,
-			 .i_limit =1800.0f,
+			 .i_limit =2000.0f,
-			 .out_limit =10000.0f,				
+			 .out_limit =7000.0f,				
 		},
 		.SickVw_param = {
-			.p =15.0f,
+			.p =20.0f,
-			.i =0.12f,
+			.i =0.1f,
 			.d =0.5f,
-			.i_limit = 800.0f,
+			.i_limit = 1500.0f,
 			.out_limit = 6000.0f				
 		},	 
 	},

User/bsp/pwm.c

@@ -69,92 +69,3 @@ int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) {
   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;
-    }
-}

User/bsp/pwm.h

@@ -15,36 +15,11 @@ typedef enum {
 	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

User/device/cmd.c

@@ -177,6 +177,7 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
      cmd->nuc.vx =  n->nuc.vx;
 		 cmd->nuc.vy =  n->nuc.vy;
 	   cmd->nuc.vw =  n->nuc.vw;
+	   cmd->nuc.yaw = n->nuc.yaw;
 #endif		   	
 
 	return 0;

User/device/cmd.h

@@ -85,6 +85,7 @@ typedef struct {
    float vx;
    float vy;
    float vw;
+	 float yaw;
    }nuc;
  } CMD_NUC_t;
 
@@ -140,6 +141,7 @@ typedef struct {
   float vx;
   float vy;
   float vw;
+  float yaw;		
   }nuc;	
 	
 } CMD_t;

User/device/nuc.c

@@ -10,6 +10,8 @@ static osThreadId_t thread_alert;
 
 uint8_t nucbuf[32];
 uint8_t SendBuffer[19];
+int b=0;
+int c =0;
 
 static void NUC_IdleCallback(void) {	
 	osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
@@ -57,16 +59,17 @@ int8_t NUC_Send(fp32 *data) {
 
   if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC),
       (uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
+				b++;
 		return DEVICE_OK;	
 	}   
 	return DEVICE_ERR;
 }
-int c =0;
+
 int8_t NUC_RawParse(CMD_NUC_t *n) {
   if (n == NULL) return DEVICE_ERR_NULL;
   union {
-      float x[3];
+      float x[4];
-      char data[12];
+      char data[16];
   } instance; // 方便在浮点数和字符数组之间进行数据转换
 
  if(nucbuf[0]!=HEAD) goto error;  //发送ID不是底盘
@@ -102,7 +105,13 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
           instance.data[9] = nucbuf[12];
           instance.data[10] = nucbuf[13];
           instance.data[11] = nucbuf[14];
-          n->nuc.vw = instance.x[2]/3.1415926535f*360;
+          n->nuc.vw = instance.x[2]/3.1415926535f*360+6.8;
+					
+//					instance.data[12] = nucbuf[15];
+//          instance.data[13] = nucbuf[16];
+//          instance.data[14] = nucbuf[17];
+//          instance.data[15] = nucbuf[18];
+//          n->nuc.yaw = instance.x[3]/3.1415926535f*360;
 
 #elif defined(carmera_angle)|| defined(camera_angle_static)
           instance.data[3] = nucbuf[3];

User/device/remote_control.c

@@ -210,11 +210,11 @@ int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,LD_raw_t *LD) {
 	/*乐迪*/
 	rc->rc_type=RC_LD;
 	LD_ParseRaw(LD);
-	//memcpy(&rc->LD, LD, sizeof(LD_Data_t)); 
+	/*遥控器数据映射到（-1，1），其中油门是映射到（0，10）*/
-  rc->LD.ch_r_x = (float)LD->ch[2] /693.5f;
+  rc->LD.ch_r_x = (float)LD->ch[2] /800;
-  rc->LD.ch_r_y = (float)LD->ch[0] /693.5f;
+  rc->LD.ch_r_y = (float)LD->ch[0] /640;
-	rc->LD.ch_l_x = (float)LD->ch[1] /693;
+	rc->LD.ch_l_x = (((float)LD->ch[1] + 800.0f) / 1600.0f) * 9.0f + 1.0f ;
-  rc->LD.ch_l_y = (float)LD->ch[3] /693.5f;
+  rc->LD.ch_l_y = (float)LD->ch[3] /800;
  
   rc->LD.key_A = Keymap(LD->sw[0]);
   rc->LD.key_B = Keymap(LD->sw[1]);

User/task/chassis_task.c

@@ -90,9 +90,6 @@ void Task_Chassis(void *argument)
 //		osMessageQueueReset(task_runtime.msgq.can.output.pitch6020);
 //		osMessageQueuePut(task_runtime.msgq.can.output.pitch6020, &out.pitch6020, 0, 0);
 
-    osMessageQueueReset(task_runtime.msgq.chassis_nuc);
-    osMessageQueuePut(task_runtime.msgq.chassis_nuc, &chassis, 0, 0);
-
 	    vofa_send[0] = chassis.vofa_send[0];
     	vofa_send[1] = chassis.vofa_send[1];
 		  vofa_send[2] = chassis.vofa_send[2];

User/task/init.c

@@ -107,9 +107,6 @@ void Task_Init(void *argument) {
       osMessageQueueNew(3u,sizeof(Action_POS_t), NULL);	    
 		task_runtime.msgq.action.Navi =
       osMessageQueueNew(3u,sizeof(Action_POS_t), NULL);	 
-   /*chassis */  
-	  task_runtime.msgq.chassis_nuc =
-      osMessageQueueNew(3u,sizeof(Chassis_t), NULL);	
 
   osKernelUnlock();
   osThreadTerminate(osThreadGetId()); /* 结束自身 */

User/task/nuc_task.c

@@ -1,20 +1,20 @@
 #include "user_task.h"
 #include "nuc.h"
 
+extern Chassis_t chassis; //没用消息队列，以后有闲情雅致再说
+
 #ifdef DEBUG
 NUC_t nuc_raw;
 CMD_NUC_t cmd_fromnuc;
 CMD_t cmd_nuc;
-Chassis_t chassis_nuc;
 #else 
 static NUC_t nuc_raw;
 static CMD_NUC_t cmd_fromnuc;
 static CMD_t cmd_nuc;
-static Chassis_t chassis_nuc;
 #endif
- int a = 0;
+fp32 send_data[4];
- int i =0;
+int a = 0;
-fp32 send_data[4]={1,2,3,4};
+
 void Task_nuc(void *argument){
  (void)argument; /**/
 
@@ -32,19 +32,17 @@ void Task_nuc(void *argument){
     task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
 #endif
 		osMessageQueueGet(task_runtime.msgq.cmd.nuc,&cmd_nuc, NULL, 0); 		
-		osMessageQueueGet(task_runtime.msgq.chassis_nuc,&chassis_nuc, NULL, 0); 		
+    
-//    static bool has_sent = false;     
+    if (chassis.SICK_FALG == 1) {
-	  if(chassis_nuc.SICK_FALG == 1){
+      send_data[0] = 1;
- //      if (!has_sent){          //发送数据给nuc
+      send_data[1] = 2;
-         if(NUC_Send(send_data) == DEVICE_OK){
+      send_data[2] = 3;
-//          has_sent = true;  	
+      send_data[3] = 4;
-a++;					 
+     } 
-				 }  
+		 else {
-//       }			     
+       memset(send_data, 0, sizeof(send_data));  // 全部置0
-		}	 
+     }
-//    else{
+     NUC_Send(send_data);  // 发送数据（无论 SICK_FALG 是 0 还是 1）
-//      has_sent = false;
-//    }
 		
       //接收nuc数据
 			NUC_StartReceiving();
@@ -53,7 +51,7 @@ a++;
       }
       else{
         NUC_HandleOffline(&cmd_fromnuc);
-				i++;
+				a++;
       }
      osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc);
      osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0);

User/task/user_task.h

@@ -95,8 +95,6 @@ typedef struct {
       osMessageQueueId_t Calc;
       osMessageQueueId_t Navi;
     } action;
-
-    osMessageQueueId_t chassis_nuc;
   } msgq;
 	
 	/*互斥釄1<E98784>7*/

readme.md

@@ -42,6 +42,8 @@
 
 6.21bsp.pwm里加了个功能强大的蜂鸣器
 
+6.23sick校准大致调好了，pid还得调，配合视觉那块也做好了
+
 目前存在的问题：
 
 1,雷达纠正角度那块视觉的pid得改
@@ -54,6 +56,8 @@
 
 5，雷达导航xy需要的话得加pid
 
+6,整车跑的时候底盘容易断连
+
 
 
 6,雷达跑点xy需要加个pid