Yodel/25_R1_chassis
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简单改了下锁框的pid，现在大概震荡三次后停住，精度可以

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This commit is contained in:
Yodel 2025-07-07 05:13:39 +08:00
parent fd38ce97f7
commit 7b2d0416bf
65 changed files with 2523 additions and 2311 deletions
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81
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -29,9 +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 Chassis.c...
compiling config.c...
linking...
Program Size: Code=88932 RO-data=1632 RW-data=1084 ZI-data=34796
Program Size: Code=88844 RO-data=1632 RW-data=1084 ZI-data=35012
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -56,7 +56,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:03
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
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@ -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)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
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)(0x6868CAA3)
@ -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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -179,7 +179,7 @@ I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -1542,8 +1542,8 @@ 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)(0x6868CC38)(--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)(0x6868953F)
F (..\User\Module\Chassis.c)(0x686AC67D)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
I (..\User\Module\Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -1595,17 +1595,17 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
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/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (..\User\Module\define.h)(0x686880ED)
F (..\User\Module\config.c)(0x6867FC98)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
I (..\User\Module\define.h)(0x68694ECD)
F (..\User\Module\config.c)(0x686AE6BD)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
I (..\User\Module\config.h)(0x683FAE78)
I (..\User\Module\Chassis.h)(0x6868953F)
I (..\User\Module\Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -1657,7 +1657,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -1669,7 +1669,7 @@ I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/bsp/flash.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\Module\define.h)(0x686880ED)()
F (..\User\Module\define.h)(0x68694ECD)()
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)
@ -2144,14 +2144,14 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2179,7 +2179,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2228,7 +2228,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2239,7 +2239,7 @@ I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\chassis_task.c)(0x685B8EBE)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
I (../User/Module/Chassis.h)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2291,7 +2291,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2335,7 +2335,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2384,7 +2384,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2442,7 +2442,7 @@ 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/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/device.h)(0x666C4CF9)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
@ -2461,7 +2461,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2493,7 +2493,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2542,7 +2542,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2570,7 +2570,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2619,7 +2619,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2631,7 +2631,7 @@ I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/device/nuc.h)(0x685A5054)
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)
F (..\User\task\error_detect_task.c)(0x686A5FD9)(--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)(0x6867E857)
@ -2651,7 +2651,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2699,7 +2699,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2756,7 +2756,7 @@ 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)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
@ -2772,7 +2772,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2807,7 +2807,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2856,7 +2856,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2884,7 +2884,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2933,7 +2933,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2949,7 +2949,7 @@ 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)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/device/device.h)(0x666C4CF9)
I (../User/device/Action.h)(0x67CAEC48)
@ -3009,7 +3009,7 @@ 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)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3305,11 +3305,11 @@ I (../Core/Inc/spi.h)(0x664876DC)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6868953F)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -3362,7 +3362,7 @@ 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\device\cmd.h)(0x6867ACA8)
I (..\User\device\cmd.h)(0x68692E9B)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
@ -3372,9 +3372,9 @@ I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Module/define.h)(0x686880ED)
F (..\User\device\cmd.c)(0x6867ACC0)(--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)(0x6867ACA8)
I (../User/Module/define.h)(0x68694ECD)
F (..\User\device\cmd.c)(0x68692E9B)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\cmd.o --omf_browse ele_chassis\cmd.crf --depend ele_chassis\cmd.d)
I (..\User\device\cmd.h)(0x68692E9B)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3421,8 +3421,8 @@ 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)(0x686880ED)
F (..\User\device\nuc.c)(0x6868CBE4)(--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/Module/define.h)(0x68694ECD)
F (..\User\device\nuc.c)(0x68692E73)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\nuc.o --omf_browse ele_chassis\nuc.crf --depend ele_chassis\nuc.d)
I (..\User\device\nuc.h)(0x685A5054)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -3466,10 +3466,10 @@ 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)(0x6867ACA8)
I (..\User\device\cmd.h)(0x68692E9B)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/Module/chassis.h)(0x6868953F)
I (../User/Module/chassis.h)(0x68693257)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -3486,7 +3486,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/bsp/protocol.h)(0x6851732E)
I (../User/bsp/crc16.h)(0x67FB9F9F)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(0x686880ED)
I (../User/Module/define.h)(0x68694ECD)
I (../User/Algorithm/error_detect.h)(0x663B6620)
F (..\User\device\vofa.c)(0x685D0043)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\vofa.o --omf_browse ele_chassis\vofa.crf --depend ele_chassis\vofa.d)
I (..\User\device\vofa.h)(0x685B9AD7)
@ -3541,7 +3541,7 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../User/bsp/bsp.h)(0x663B6621)
I (../Core/Inc/usart.h)(0x664876DC)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/Module/define.h)(0x686880ED)
I (../User/Module/define.h)(0x68694ECD)
F (..\User\device\Action.c)(0x6809A469)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\action.o --omf_browse ele_chassis\action.crf --depend ele_chassis\action.d)
I (../Core/Inc/tim.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
@ -3587,10 +3587,10 @@ I (..\User\device\device.h)(0x666C4CF9)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../User/bsp/bsp.h)(0x663B6621)
I (../Core/Inc/usart.h)(0x664876DC)
I (..\User\device\cmd.h)(0x6867ACA8)
I (..\User\device\cmd.h)(0x68692E9B)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\device\map.c)(0x6864DBB0)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
F (..\User\device\map.c)(0x6868E5EF)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
I (..\User\device\map.h)(0x682338DB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3636,8 +3636,8 @@ 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)(0x6867ACA8)
I (../User/Module/define.h)(0x686880ED)
I (..\User\device\cmd.h)(0x68692E9B)
I (../User/Module/define.h)(0x68694ECD)
F (..\User\device\navi.c)(0x685FAF15)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\navi.o --omf_browse ele_chassis\navi.crf --depend ele_chassis\navi.d)
I (..\User\device\navi.h)(0x685FAF15)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3683,7 +3683,7 @@ 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)(0x6867ACA8)
I (..\User\device\cmd.h)(0x68692E9B)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3697,13 +3697,13 @@ I (..\User\device\can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/Module/define.h)(0x686880ED)
I (../User/Module/define.h)(0x68694ECD)
F (..\User\device\remote_control.c)(0x6863C5BC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\remote_control.o --omf_browse ele_chassis\remote_control.crf --depend ele_chassis\remote_control.d)
I (..\User\device\remote_control.h)(0x6818B568)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
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)(0x6867ACA8)
I (..\User\device\cmd.h)(0x68692E9B)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3751,7 +3751,7 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Module/define.h)(0x686880ED)
I (../User/Module/define.h)(0x68694ECD)
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)

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26
User/Module/Chassis.c
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@ -25,7 +25,8 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
//蜂鸣器初始化
Buzzer_Init(&c->buzzer_radar_angle,200,1000,0.5);
Buzzer_Init(&c->buzzer_sick_calibration,200,1000,0.5);
Buzzer_Init(&c->buzzer_nuc_flag,200,1000,0.5);
for(int i=0;i<4;i++){
PID_init(&(c->pid.chassis_6020OmegaPid[i]), PID_POSITION,&(c->param->C6020Omega_param));
PID_init(&(c->pid.chassis_6020anglePid[i]), PID_POSITION,&(c->param->C6020Angle_param));
@ -451,16 +452,17 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
c->move_vec.Vw = ctrl->Vw*15000;
#endif
break;
case NAVI:
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;
c->radar_reset_flag = 1;
c->radar_reset_flag = 1;
if(ctrl->nuc.flag == 1) Buzzer_Control(&c->buzzer_nuc_flag,ctrl->nuc.flag == 1);
break;
}
break;
}
if(c->mode != NAVI||ctrl->C_cmd.nuc_radar != NAVI) c->radar_reset_flag = 0;
if(c->mode != NAVI||ctrl->C_cmd.nuc_radar != NAVI) c->radar_reset_flag = 0;
//防翻
Chassis_RolPrevent(c);
@ -487,13 +489,13 @@ if(c->mode != NAVI||ctrl->C_cmd.nuc_radar != NAVI) c->radar_reset_flag = 0;
}
#endif
//vofa发送
// c->vofa_send[0] =c->sick[2];
// c->vofa_send[1] =c->sick_set[2];
// c->vofa_send[2] =c->sick[0];
// c->vofa_send[3] =c->sick_set[0];
c->vofa_send[4] =c->sick[0] - c->sick[1];
c->vofa_send[5] =ctrl->nuc.angle;
c->vofa_send[6] =ctrl->nuc.vw;
// c->vofa_send[7] =0;
// c->vofa_send[0] =;
// c->vofa_send[1] =;
// c->vofa_send[2] =;
// c->vofa_send[3] =;
// c->vofa_send[4] =;
// c->vofa_send[5] =;
// c->vofa_send[6] =;
// c->vofa_send[7] =;
return CHASSIS_OK;
}

3
User/Module/Chassis.h
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@ -183,7 +183,8 @@ typedef struct{
float keep_angle[4]; // 保持的 6020 角度
Buzzer_t buzzer_radar_angle; // 用于雷达角度纠正的蜂鸣器控制
Buzzer_t buzzer_sick_calibration; // 用于SICK校准雷达的蜂鸣器控制
Buzzer_t buzzer_nuc_flag; // 用于nuc校准成功的蜂鸣器控制
}Chassis_t;
/**

31
User/Module/config.c
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@ -37,20 +37,37 @@ static const ConfigParam_t param_chassis ={
.i_limit = 0.0f,
.out_limit =6000.0f,
},
.RadarAngle_param = {
.p = 22.0f,
.i = 20.0f,
.d = 800.0f,
.i_limit = 100.0f,
// 家里好用
// .RadarAngle_param = {
// .p = 22.0f,
// .i = 20.0f,
// .d = 800.0f,
// .i_limit = 100.0f,
// .out_limit =2000.0f,
// },
// .RadarSpeed_param = {
// .p = 7.0f,
// .i = 0.1f,
// .d = 50.0f,
// .i_limit = 1000.0f,
// .out_limit =8000.0f,
// },
//备馆pid
.RadarAngle_param = {
.p = 20.0f,
.i = 0.0f,
.d = 1000.0f,
.i_limit = 0.0f,
.out_limit =2000.0f,
},
.RadarSpeed_param = {
.p = 7.0f,
.i = 0.1f,
.d = 50.0f,
.d = 200.0f,
.i_limit = 1000.0f,
.out_limit =8000.0f,
},
},
.SickVx_param = {
.p =12.0f,
.i =0.3f,

41
User/Module/define.h
View File

@ -11,17 +11,11 @@
/*舵轮校准*/
//#define calibration //校准
/*遥控器*/
//#define DR16 //大疆
#define R12DS //乐迪
/*导航方式*/
@ -29,20 +23,41 @@
//#define action_sick //码盘sick跑点
/*运球赛点位*/
#define dribble_1 //点上运球
//#define dribble_2 //线上运球
/*vofa*/
//#define vofa_usb //利用c板usb口有线调试
//#define vofa_uart1 //利用串口1（不用码盘时）进行无线调试
/*遥控器*/
//#define DR16 //大疆
#define R12DS //乐迪
/*sick数据*/
#define sick4 //接收4个sick小板数据
//#define sick_mini //接收sick_mini板数据
/*vofa*/
//#define vofa_usb //利用c板usb口有线调试
//#define vofa_uart1 //利用串口1（不用码盘时）进行无线调试
#endif

108
User/device/cmd.c
View File

@ -149,28 +149,7 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
}
//点位切换
// if(rc->LD.knob_left>199 && rc->LD.knob_left<350){
// cmd->C_cmd.pos = POS_1;
// }
// if(rc->LD.knob_left>350 && rc->LD.knob_left<650){
// cmd->C_cmd.pos = POS_2;
// }
// if(rc->LD.knob_left>650 && rc->LD.knob_left<900){
// cmd->C_cmd.pos = POS_3;
// }
// if(rc->LD.knob_left>900 && rc->LD.knob_left<1150){
// cmd->C_cmd.pos = POS_4;
// }
// if(rc->LD.knob_left>1150 && rc->LD.knob_left<1400){
// cmd->C_cmd.pos = POS_5;
// }
// if(rc->LD.knob_left>1400 && rc->LD.knob_left<1650){
// cmd->C_cmd.pos = POS_6;
// }
// if(rc->LD.knob_left>1650 && rc->LD.knob_left<1801){
// cmd->C_cmd.pos = POS_7;
// }
#ifdef dribble_1 //点上运球
static int previous_pos = -1;
if(rc->LD.knob_left > 199 && rc->LD.knob_left < 265){ //200
@ -229,7 +208,90 @@ else if(rc->LD.knob_left > 1150 && rc->LD.knob_left < 1300){ //1224
previous_pos = POS_8;
}
}
#elif defined(dribble_2) //线上运球
static int previous_pos = -1;
if(rc->LD.knob_left > 199 && rc->LD.knob_left < 265){ //200
if(cmd->C_cmd.pos != POS_1) {
if(previous_pos != POS_1) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_1;
previous_pos = POS_1;
}
}
else if(rc->LD.knob_left > 265 && rc->LD.knob_left < 405){//330
if(cmd->C_cmd.pos != POS_2) {
if(previous_pos != POS_2) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_2;
previous_pos = POS_2;
}
}
else if(rc->LD.knob_left > 405 && rc->LD.knob_left < 554){ //479
if(cmd->C_cmd.pos != POS_3) {
if(previous_pos != POS_3) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_3;
previous_pos = POS_3;
}
}
else if(rc->LD.knob_left > 554 && rc->LD.knob_left < 704){ //629
if(cmd->C_cmd.pos != POS_4) {
if(previous_pos != POS_4) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_4;
previous_pos = POS_4;
}
}
else if(rc->LD.knob_left > 704 && rc->LD.knob_left < 853){//778
if(cmd->C_cmd.pos != POS_5) {
if(previous_pos != POS_5) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_5;
previous_pos = POS_5;
}
}
else if(rc->LD.knob_left > 853 && rc->LD.knob_left < 1002){//928
if(cmd->C_cmd.pos != POS_6) {
if(previous_pos != POS_6) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_6;
previous_pos = POS_6;
}
}
else if(rc->LD.knob_left > 1002 && rc->LD.knob_left < 1150){ //1075
if(cmd->C_cmd.pos != POS_7) {
if(previous_pos != POS_7) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_7;
previous_pos = POS_7;
}
}
else if(rc->LD.knob_left > 1150 && rc->LD.knob_left < 1300){ //1224
if(cmd->C_cmd.pos != POS_8) {
if(previous_pos != POS_8) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_8;
previous_pos = POS_8;
}
else if(rc->LD.knob_left > 1300 && rc->LD.knob_left < 1448){ //1373
if(cmd->C_cmd.pos != POS_9) {
if(previous_pos != POS_9) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_9;
previous_pos = POS_9;
}
else if(rc->LD.knob_left > 1448 && rc->LD.knob_left < 1596){ //1522
if(cmd->C_cmd.pos != POS_10) {
if(previous_pos != POS_10) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_10;
previous_pos = POS_10;
}
else if(rc->LD.knob_left > 1596 && rc->LD.knob_left < 1735){ //1670
if(cmd->C_cmd.pos != POS_11) {
if(previous_pos != POS_11) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_11;
previous_pos = POS_11;
}
else if(rc->LD.knob_left > 1735 && rc->LD.knob_left < 1801){ //1800
if(cmd->C_cmd.pos != POS_12) {
if(previous_pos != POS_12) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_12;
previous_pos = POS_12;
}
}
#endif
//运球时锁死
if(rc->LD.key_G == CMD_SW_UP&&cmd->C_cmd.pos != POS_1){
cmd->C_cmd.dribble = Pause;
@ -255,7 +317,7 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
cmd->nuc.vw = n->nuc.vx;
#elif defined(radar)
cmd->nuc.vw = n->nuc.vw;
cmd->nuc.flag = n->nuc.flag;
cmd->nuc.angle = n->nuc.angle;
cmd->nuc.yaw = n->nuc.yaw;
#endif

11
User/device/cmd.h
View File

@ -82,7 +82,7 @@ typedef struct {
uint8_t ctrl_status;
struct
{
float vw; //旋转速度
float flag; //校准成功nuc反馈标志位
float angle; //偏差角度
float yaw; //自身角度
}nuc;
@ -98,6 +98,13 @@ typedef enum{
POS_6,
POS_7,
POS_8,
POS_9,
POS_10,
POS_11,
POS_12,
POS_13,
POS_14,
POS_15,
}CMD_Chassis_navi_pos;
typedef enum{
@ -156,7 +163,7 @@ typedef struct {
//nuc输出值
struct {
float vw;
float flag;
float angle;
float yaw;
}nuc;

137
User/device/map.c
View File

@ -36,100 +36,153 @@ point_t path_7;
sick_t sick_7;
point_t path_8;
sick_t sick_8;
point_t path_9;
sick_t sick_9;
point_t path_10;
sick_t sick_10;
point_t path_11;
sick_t sick_11;
point_t path_12;
sick_t sick_12;
point_t path_13;
sick_t sick_13;
point_t path_14;
sick_t sick_14;
point_t path_15;
sick_t sick_15;
//点位坐标x轴朝前，y轴朝右
void block_select(Action_POS_t*pos,CMD_t*cmd){
// path_1.x = 0;
// path_1.y = 0;
// path_1.angle=0;
// sick_1.sick_qian = 0;
// sick_1.sick_you = 0;
// sick_1.sick_hou = 0;
// sick_1.sick_zuo = 0;
// sick_1.sick_flag = 0;
// path_2.x = pos->pos_x;
// path_2.y = pos->pos_y;
// path_2.angle= 0;
// sick_2.sick_qian = 0;
// sick_2.sick_you = 0;
// sick_2.sick_hou = 0;
// sick_2.sick_zuo = 0;
// sick_2.sick_flag = 0;
#ifdef dribble_1 //点上运球
//1
path_1.x = 0;
path_1.y = 0;
path_1.angle=0;
sick_1.sick_qian = 0;
sick_1.sick_you = 0;
sick_1.sick_hou = 0;
sick_1.sick_zuo = 0;
sick_1.sick_flag = 0;
//2
path_2.x = -800;
path_2.y = -800;
path_2.angle=0;
sick_2.sick_qian = 0;
sick_2.sick_you = 0;
sick_2.sick_hou = 0;
sick_2.sick_zuo = 0;
sick_2.sick_flag = 0;
//3
path_3.x = -2500;
path_3.y = -800;
path_3.angle=0;
sick_3.sick_qian = 0;
sick_3.sick_you = 0;
sick_3.sick_hou = 0;
sick_3.sick_zuo = 0;
sick_3.sick_flag = 0;
//4
path_4.x = -2500;
path_4.y = 1250;
path_4.angle= 0;
sick_4.sick_qian = 0;
sick_4.sick_you = 0;
sick_4.sick_hou = 0;
sick_4.sick_zuo = 0;
sick_4.sick_flag = 0;
//5
path_5.x = -2500;
path_5.y = 3300;
path_5.angle= 0;
sick_5.sick_qian = 0;
sick_5.sick_you = 0;
sick_5.sick_hou = 0;
sick_5.sick_zuo = 0;
sick_5.sick_flag = 0;
//6
path_6.x = -800;
path_6.y = 3300;
path_6.angle= 0;
sick_6.sick_qian = 0;
sick_6.sick_you = 0;
sick_6.sick_hou = 0;
sick_6.sick_zuo = 0;
sick_6.sick_flag = 0;
//7
path_7.x = 0;
path_7.y = 2500;
path_7.angle= 0;
sick_7.sick_qian = 0;
sick_7.sick_you = 0;
sick_7.sick_hou = 0;
sick_7.sick_zuo = 0;
sick_7.sick_flag = 0;
//8
path_8.x = 0;
path_8.y = 0;
path_8.angle= 0;
sick_8.sick_qian = 0;
sick_8.sick_you = 0;
sick_8.sick_hou = 0;
sick_8.sick_zuo = 0;
sick_8.sick_flag = 0;
#elif defined(dribble_2) //线上运球
//1
path_1.x = 0;
path_1.y = 0;
path_1.angle=0;
sick_1.sick_flag = 0;
//2
path_2.x = -400;
path_2.y = -400;
path_2.angle=0;
sick_2.sick_flag = 0;
//3
path_3.x = -800;
path_3.y = -800;
path_3.angle=0;
sick_3.sick_flag = 0;
//4
path_4.x = -1650;
path_4.y = -800;
path_4.angle= 0;
sick_4.sick_flag = 0;
//5
path_5.x = -2500;
path_5.y = -800;
path_5.angle= 0;
sick_5.sick_flag = 0;
//6
path_6.x = -2500;
path_6.y = 200;
path_6.angle= 0;
sick_6.sick_flag = 0;
//7
path_7.x = -2500;
path_7.y = 1250;
path_7.angle= 0;
sick_7.sick_flag = 0;
//8
path_8.x = -2500;
path_8.y = 2300;
path_8.angle= 0;
sick_8.sick_flag = 0;
//9
path_9.x = -2500;
path_9.y = 3300;
path_9.angle= 0;
sick_9.sick_flag = 0;
//10
path_10.x = -1650;
path_10.y = 3300;
path_10.angle= 0;
sick_10.sick_flag = 0;
//11
path_11.x = -800;
path_11.y = 3300;
path_11.angle= 0;
sick_11.sick_flag = 0;
//12
path_12.x = -400;
path_12.y = 2900;
path_12.angle= 0;
sick_12.sick_flag = 0;
//13
path_13.x = 0;
path_13.y = 2500;
path_13.angle= 0;
sick_13.sick_flag = 0;
//14
path_14.x = 0;
path_14.y = 1250;
path_14.angle= 0;
sick_14.sick_flag = 0;
//15
path_15.x = 0;
path_15.y = 0;
path_15.angle= 0;
sick_15.sick_flag = 0;
#endif
}
@ -151,11 +204,9 @@ void path_select(CMD_t*cmd){
break;
case POS_2:
path_state.target = &path_2;
path_state.sick = &sick_2;
break;
case POS_3:
path_state.target = &path_3;
path_state.sick = &sick_3;
break;
case POS_4:
path_state.target = &path_4;

4
User/device/nuc.c
View File

@ -137,7 +137,7 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
0xFF HEAD
0x09 控制帧
0x01 相机帧
vw fp32
flag fp32
angle fp32
yaw fp32
0xFE TAIL
@ -147,7 +147,7 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
instance.data[1] = nucbuf[4];
instance.data[2] = nucbuf[5];
instance.data[3] = nucbuf[6];
n->nuc.vw = instance.x[0];
n->nuc.flag = instance.x[0];
instance.data[4] = nucbuf[7];
instance.data[5] = nucbuf[8];

10
User/task/error_detect_task.c
View File

@ -100,11 +100,11 @@ void Task_error_detect(void *argument){
//若所有设备在线，会不断翻转绿灯 存在设备离线则会红灯灯翻转
if(online_dev == ERROR_LIST_LENGHT)
{
HAL_GPIO_TogglePin(GPIOH,LED_G_Pin);
}
else HAL_GPIO_TogglePin(GPIOH,LED_R_Pin);
// if(online_dev == ERROR_LIST_LENGHT)
// {
// HAL_GPIO_TogglePin(GPIOH,LED_G_Pin);
// }
// else HAL_GPIO_TogglePin(GPIOH,LED_R_Pin);
for (int i = 0; i < ERROR_LIST_LENGHT; i++)
{