增加了define.h，不同模式的切换变得更加简单

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -704,7 +704,7 @@
 
   <Group>
     <GroupName>Middlewares/FreeRTOS</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -860,17 +860,29 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>6</GroupNumber>
+      <FileNumber>49</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\Module\define.h</PathWithFileName>
+      <FilenameWithoutPath>define.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
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       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -882,7 +894,7 @@
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     <File>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -894,7 +906,7 @@
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+      <FileNumber>52</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -906,7 +918,7 @@
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     <File>
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+      <FileNumber>53</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -918,7 +930,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -930,7 +942,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>55</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -942,7 +954,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>56</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -954,7 +966,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>57</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -966,7 +978,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>58</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -978,7 +990,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>59</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -990,7 +1002,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>60</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1010,7 +1022,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>60</FileNumber>
+      <FileNumber>61</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1022,7 +1034,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>61</FileNumber>
+      <FileNumber>62</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1034,7 +1046,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>62</FileNumber>
+      <FileNumber>63</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1046,7 +1058,7 @@
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     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>63</FileNumber>
+      <FileNumber>64</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1058,7 +1070,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>64</FileNumber>
+      <FileNumber>65</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1070,7 +1082,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>65</FileNumber>
+      <FileNumber>66</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1082,7 +1094,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>66</FileNumber>
+      <FileNumber>67</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1094,7 +1106,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>67</FileNumber>
+      <FileNumber>68</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1106,7 +1118,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>68</FileNumber>
+      <FileNumber>69</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1118,7 +1130,7 @@
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     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>69</FileNumber>
+      <FileNumber>70</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1130,7 +1142,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>70</FileNumber>
+      <FileNumber>71</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1142,7 +1154,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>71</FileNumber>
+      <FileNumber>72</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1162,7 +1174,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>72</FileNumber>
+      <FileNumber>73</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1174,7 +1186,7 @@
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     <File>
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+      <FileNumber>74</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1186,7 +1198,7 @@
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     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>74</FileNumber>
+      <FileNumber>75</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1198,7 +1210,7 @@
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     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>75</FileNumber>
+      <FileNumber>76</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1210,7 +1222,7 @@
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     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>76</FileNumber>
+      <FileNumber>77</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1222,7 +1234,7 @@
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     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>77</FileNumber>
+      <FileNumber>78</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1242,7 +1254,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>78</FileNumber>
+      <FileNumber>79</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1254,7 +1266,7 @@
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     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>79</FileNumber>
+      <FileNumber>80</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1266,7 +1278,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>80</FileNumber>
+      <FileNumber>81</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1278,7 +1290,7 @@
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     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>81</FileNumber>
+      <FileNumber>82</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1290,7 +1302,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>82</FileNumber>
+      <FileNumber>83</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1302,7 +1314,7 @@
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     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>83</FileNumber>
+      <FileNumber>84</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1314,7 +1326,7 @@
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     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>84</FileNumber>
+      <FileNumber>85</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1326,7 +1338,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>85</FileNumber>
+      <FileNumber>86</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1338,7 +1350,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>86</FileNumber>
+      <FileNumber>87</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1358,7 +1370,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>87</FileNumber>
+      <FileNumber>88</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1370,7 +1382,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>88</FileNumber>
+      <FileNumber>89</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1382,7 +1394,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>89</FileNumber>
+      <FileNumber>90</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1402,7 +1414,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>90</FileNumber>
+      <FileNumber>91</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1422,7 +1434,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>91</FileNumber>
+      <FileNumber>92</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1434,7 +1446,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>92</FileNumber>
+      <FileNumber>93</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1446,7 +1458,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>93</FileNumber>
+      <FileNumber>94</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1458,7 +1470,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>94</FileNumber>
+      <FileNumber>95</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

MDK-ARM/AUTO_CHASSIS.uvprojx

@@ -1108,6 +1108,11 @@
               <FileType>1</FileType>
               <FilePath>..\User\Module\config.c</FilePath>
             </File>
+            <File>
+              <FileName>define.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\Module\define.h</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm

@@ -22,13 +22,17 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\R\main\steering wheel chassis\25_R1_chassis\chassis\MDK-ARM\AUTO_CHASSIS.uvprojx
-Project File Date:  05/05/2025
+Project File Date:  06/04/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil mdk\ARM\ARMCC\Bin'
 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 remote_control.c...
+compiling Chassis.c...
+linking...
+Program Size: Code=84584 RO-data=2148 RW-data=1200 ZI-data=33656  
 "ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -53,7 +57,7 @@ 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

@@ -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)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 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)
@@ -164,7 +164,7 @@ I (../User/task\user_task.h)(0x682341DF)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -179,7 +179,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -1540,7 +1540,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
-F (..\User\Module\Chassis.c)(0x68367157)(--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)(0x683FCBC4)(--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)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -1593,13 +1593,14 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 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)
-F (..\User\Module\config.c)(0x683666DD)(--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)(0x683FCBE4)
-I (..\User\Module\config.h)(0x663B6621)
+F (..\User\Module\config.c)(0x683D75B2)(--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)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -1652,7 +1653,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -1662,6 +1663,7 @@ 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)(0x683FCBE4)()
 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)
@@ -2134,7 +2136,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/can_use.h)(0x6811C5CD)
@@ -2142,7 +2144,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2167,7 +2169,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -2217,7 +2219,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2278,7 +2280,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2296,7 +2298,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/device/navi.h)(0x68133130)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
@@ -2319,7 +2321,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -2369,7 +2371,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2439,7 +2441,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2449,7 +2451,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2474,7 +2476,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -2524,7 +2526,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2549,7 +2551,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -2599,7 +2601,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2628,7 +2630,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2677,7 +2679,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2732,7 +2734,7 @@ 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)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\task\user_task.h)(0x682341DF)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
@@ -2747,7 +2749,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -2780,7 +2782,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -2830,7 +2832,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2855,7 +2857,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -2905,7 +2907,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2919,7 +2921,7 @@ 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)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/device/device.h)(0x666C4CF9)
 I (../User/device/Action.h)(0x67CAEC48)
@@ -2978,7 +2980,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 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)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/device/bmi088.h)(0x663B6621)
@@ -3272,12 +3274,12 @@ I (../User/bsp\spi.h)(0x663B6621)
 I (../Core/Inc/spi.h)(0x664876DC)
 I (../User/bsp\pwm.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
-I (../User/Module/config.h)(0x663B6621)
+I (../User/Module/config.h)(0x683FAE78)
 I (../User/Module/Chassis.h)(0x68366454)
 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)(0x6819FD43)
+I (../User/device/cmd.h)(0x683FAD99)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -3335,8 +3337,8 @@ 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)
-F (..\User\device\cmd.c)(0x681B09EC)(--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)(0x683FAD99)(--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)(0x6819FD43)
+I (..\User\device\cmd.h)(0x683FAD99)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3383,7 +3385,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../Core/Inc/gpio.h)(0x664876DA)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-F (..\User\device\nuc.c)(0x6832EA5A)(--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)(0x683FAD99)(--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)(0x68099E48)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -3427,7 +3429,7 @@ 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)(0x6819FD43)
+I (..\User\device\cmd.h)(0x683FAD99)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\Action.h)(0x67CAEC48)
 I (../User/bsp/protocol.h)(0x67FB97BC)
@@ -3533,10 +3535,10 @@ 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)(0x6819FD43)
+I (..\User\device\cmd.h)(0x683FAD99)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-F (..\User\device\map.c)(0x683689F7)(--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)(0x683FC68E)(--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)
@@ -3582,7 +3584,7 @@ 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)(0x6819FD43)
+I (..\User\device\cmd.h)(0x683FAD99)
 F (..\User\device\navi.c)(0x68366424)(--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)(0x68133130)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3628,7 +3630,7 @@ 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)(0x6819FD43)
+I (..\User\device\cmd.h)(0x683FAD99)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -3639,12 +3641,12 @@ I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (..\User\device\bmi088.h)(0x663B6621)
 I (..\User\device\map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\device\remote_control.c)(0x68305A6B)(--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)(0x683FB21C)(--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)(0x6819FD43)
+I (..\User\device\cmd.h)(0x683FAD99)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3692,6 +3694,7 @@ 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)(0x683FCBE4)
 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)

MDK-ARM/ELE_CHASSIS/chassis.d

@@ -58,3 +58,4 @@ ele_chassis\chassis.o: ../User/bsp/bsp_usart.h
 ele_chassis\chassis.o: ../Core/Inc/usart.h
 ele_chassis\chassis.o: ../User/device/cmd.h
 ele_chassis\chassis.o: ../User/Algorithm/filter.h
+ele_chassis\chassis.o: ..\User\Module\define.h

MDK-ARM/ELE_CHASSIS/remote_control.d

@@ -53,3 +53,4 @@ ele_chassis\remote_control.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\math.h
 ele_chassis\remote_control.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\stdbool.h
 ele_chassis\remote_control.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\string.h
 ele_chassis\remote_control.o: ../User/Algorithm/error_detect.h
+ele_chassis\remote_control.o: ../User/Module/define.h

User/Module/Chassis.c

@@ -1,7 +1,9 @@
 #include "Chassis.h"
+#include "define.h"
+
+/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处，
+进debug将四个轮子编码器朝左查看6020反馈值，将6020反馈值放入motor_offset中*/
 
-/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处，进debug将四个轮子编码器朝左查看6020反馈值，
-将6020反馈值放入motor_offset中*/
 static int8_t Chassis_SetCtrl(Chassis_t *c,CMD_t *ctrl){
 
 	 c->mode =ctrl->C_cmd.mode;
@@ -73,7 +75,36 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
 		     c->hopemotorout.rotor6020_jiesuan_1[2]=45;
 		     c->hopemotorout.rotor6020_jiesuan_1[3]=315;   
 		   break;
-	     case NAVI: //导航模式下操控为世界坐标系，能实现舵轮小陀螺前进
+	     case NAVI: 
+#if defined(carmera_angle) || defined(radar)
+          //相机纠正时就用正常解算
+	         c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
+					(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
+					(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
+  
+					c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
+					(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
+					(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
+ 
+					c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
+					(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
+					(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));	
+ 
+					c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
+					(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
+					(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
+	
+					//解算得到6020角度（-180°——+180°）
+					c->hopemotorout.rotor6020_jiesuan_1[0]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
+																				(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
+					c->hopemotorout.rotor6020_jiesuan_1[1]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
+																				(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
+					c->hopemotorout.rotor6020_jiesuan_1[2]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
+																				(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
+					c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
+																				(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);		 
+#elif defined(action_sick)	
+			 //码盘sick模式下操控为世界坐标系，能实现舵轮小陀螺前进
 				 
 //			   c->chassis_yaw = pos->pos_yaw* (M_PI / 180.0f);
 //			   float cos_yaw = cosf(c->chassis_yaw);
@@ -109,33 +140,7 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
 //				                               (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
 // 	       c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
 //				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
-
+#endif	
-           //相机纠正时就用正常解算
-	         c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
-					(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
-					(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
-  
-					c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
-					(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
-					(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
- 
-					c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
-					(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
-					(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));	
- 
-					c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
-					(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
-					(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
-	
-					//解算得到6020角度（-180°——+180°）
-					c->hopemotorout.rotor6020_jiesuan_1[0]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
-																				(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
-					c->hopemotorout.rotor6020_jiesuan_1[1]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
-																				(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
-					c->hopemotorout.rotor6020_jiesuan_1[2]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
-																				(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
-					c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
-																				(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
 					 break;
        }	
      }
@@ -157,17 +162,17 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
                 
        if(angle_error[i]>90&&angle_error[i]<=180){
           c->hopemotorout.rotor5065_jiesuan_2[i]=-c->hopemotorout.rotor5065_jiesuan_1[i];
-          c->hopemotorout.rotor6020_jiesuan_2[i]=c->motorfeedback.rotor_angle6020[i]+angle_error[i]-180;
+          c->hopemotorout.rotor6020_jiesuan_2[i]=c->hopemotorout.rotor6020_jiesuan_1[i]-180;
         }
          
         else if(angle_error[i]<-90&&angle_error[i]>=-180){
           c->hopemotorout.rotor5065_jiesuan_2[i]=-c->hopemotorout.rotor5065_jiesuan_1[i];
-          c->hopemotorout.rotor6020_jiesuan_2[i]=c->motorfeedback.rotor_angle6020[i]+angle_error[i]+180;
+          c->hopemotorout.rotor6020_jiesuan_2[i]=c->hopemotorout.rotor6020_jiesuan_1[i]+180;
         }
          
         else{
           c->hopemotorout.rotor5065_jiesuan_2[i]=c->hopemotorout.rotor5065_jiesuan_1[i];
-          c->hopemotorout.rotor6020_jiesuan_2[i]=c->motorfeedback.rotor_angle6020[i]+angle_error[i];
+          c->hopemotorout.rotor6020_jiesuan_2[i]=c->hopemotorout.rotor6020_jiesuan_1[i];
         }
      }
 		 
@@ -184,12 +189,16 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
     c->motorfeedback.rotor_rpm6020[i] = can->motor.chassis6020.as_array[i].rotor_speed;
 		c->motorfeedback.rotor_current6020[i] = can->motor.chassis6020.as_array[i].torque_current;
 		c->motorfeedback.rotor_angle6020[i] = can->motor.chassis6020.as_array[i].rotor_angle;
+#ifdef calibration
+#else  
 //由于安装不能保证0点朝向我们想要朝向的方向，所以进行零点偏移
 		c->motorfeedback.rotor_angle6020[i] = fmod(can->motor.chassis6020.as_array[i].rotor_angle - 
 		                                                    c->motoroffset.MOTOR_OFFSET[i], 360.0);
 		if(c->motorfeedback.rotor_angle6020[i]<0){
 		c->motorfeedback.rotor_angle6020[i]+=360;
 		}		
+#endif
+		
 		
 	  c->motorfeedback.rotor_rpm5065[i] = can->motor.chassis5065.as_array[i].rotor_speed;
 	  c->motorfeedback.torque_current5065[i] = can->motor.chassis5065.as_array[i].torque_current;
@@ -224,9 +233,9 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 
 	fp32 chassis6020_detangle[4];
 	
-	//对相机发送的像素点偏移量进行双环pid
+	//对相机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）
 	fp32 camera_detangle;
-	camera_detangle = -PID_calc(&(c->pid.chassis_CameraanglePID),ctrl->camera_yaw,0);
+	camera_detangle = -PID_calc(&(c->pid.chassis_CameraanglePID),ctrl->camera.vw,0);
   c->chassis_yaw_pid = PID_calc(&(c->pid.chassis_CameraspeedPID),c->pos088.bmi088.gyro.z,camera_detangle);	
 	
   switch (c->mode){	
@@ -241,25 +250,18 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 		 c->move_vec.Vw =0;
 		 break; 
 	  case NAVI:		
+			
+#ifdef carmera_angle
+		//如果相机开始工作	
+	   if(ctrl->camera.vw != 0){
+		  c->move_vec.Vw = c->chassis_yaw_pid;
+     }			
+#elif action_sick
      c->move_vec.Vx =ctrl->C_navi.vx ;
      c->move_vec.Vy =ctrl->C_navi.vy ;    
 	   c->move_vec.Vw =ctrl->C_navi.wz ;		 
+#endif		   
 		 
-//     //像素点偏移量	
-//	   if(ctrl->camera_yaw != 0){
-
-////		 if(c->chassis_yaw_pid<500 && c->chassis_yaw_pid>-500){
-////		 c->chassis_yaw_pid = 0;
-////		 }				 
-////		 if(c->chassis_yaw_pid>500){
-////		c->chassis_yaw_pid	= map_fp32(c->chassis_yaw_pid,0.0,7000.0,4000.0,7000.0); 
-////		 }
-////     else if(c->chassis_yaw_pid<-500){
-////		 c->chassis_yaw_pid	= map_fp32(c->chassis_yaw_pid,-7000.0,0.0,-7000.0,-4000.0);
-////		 }
-//		 
-//		  c->move_vec.Vw = c->chassis_yaw_pid;
-//     }	   
 	   break;
 	}	  
         //进行滤波
@@ -267,7 +269,11 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 	  c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vy);
 	  c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[3]),c->move_vec.Vx);
 
+#ifdef calibration
+#else  
 	  Chassis_speed_calculate(c,pos); 
+#endif
+	 
 
   for (uint8_t i = 0 ; i <4 ; i++){
     
@@ -283,6 +289,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 		out->chassis5065.erpm[i] = c->final_out.final_5065out[i];
         
 	}	
+	   //vofa发送
 //	 c->vofa_send[0] =c->motorfeedback.rotor_angle6020[0];
 //	 c->vofa_send[1] =c->hopemotorout.motor6020_target[0];
 //	 c->vofa_send[2] =;

User/Module/config.c

@@ -33,17 +33,17 @@ static const ConfigParam_t param_chassis ={
 			.out_limit = 25000.0f  
     },
 		 .CameraAngle_param = {
-       .p = 50.0f,
+       .p = 30.0f,
 			 .i = 0.3f,
 			 .d = 3.5f,
 			 .i_limit = 100.0f,
 		   .out_limit =1000.0f,
 	 },	
 		 .CameraSpeed_param = {
-       .p = 30.0f,
+       .p = 10.0f,
-			 .i = 0.0f,
+			 .i = 0.01f,
 			 .d = 0.5f,
-	    .i_limit = 0.0f,
+	    .i_limit = 500.0f,
 			.out_limit =7000.0f, 
 	 },			 
 		.M3508_param = {

User/Module/config.h

@@ -31,10 +31,5 @@ void Config_Set(Config_t *cfg);
 extern const ConfigParam_t *Config_ChassisGet(void);
 
 
-
-
-
-
-
 #endif
 

User/Module/define.h

@@ -0,0 +1,28 @@
+#ifndef DEFINE_h
+#define DEFINE_h
+
+/**
+从这里一键快捷切换各个配置模式
+  */
+
+ //舵轮校准
+ 
+   //#define calibration             //校准
+ 
+
+//遥控器
+
+   #define DR16                   //大疆
+   //#define R12DS                //乐迪
+
+
+//导航方式
+
+   #define carmera_angle        //相机纠正动态角度
+	 //#define camera_angle_static  //相机纠正静态角度
+	 //#define radar                //雷达
+	 //#define action_sick          //码盘sick跑点
+	 
+	 
+#endif
+

User/device/cmd.c

@@ -10,7 +10,7 @@
 
 /* Private function  -------------------------------------------------------- */
 /*Export function --------------------------------------------------------------*/
-int8_t CMD_Init(CMD_t *cmd){
+void CMD_Init(CMD_t *cmd){
 
   cmd->C_cmd.mode = STOP;
   cmd->cmd_power_on_safe = 0;  // 初始为不安全状态
@@ -156,7 +156,7 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
 	//			case NAVI:
 				//  cmd->C_navi.vx = n->navi.vx;
 				//  cmd->C_navi.vy = n->navi.vy;
-				  cmd->camera_yaw = n->navi.vx;
+				  cmd->camera.vw = n->nuc.vx;
 	//			break;
 	//		}
 	return 0;

User/device/cmd.h

@@ -82,14 +82,8 @@ typedef struct {
    {
    float vx;
    float vy;
-   float wz;
+   float vw;
-   }navi;
+   }nuc;
-  struct 
-  {
-    float posx;
-    float posy;
-    float dis;
-  }pick;
  } CMD_NUC_t;
 
 //导航数据
@@ -131,12 +125,17 @@ typedef struct {
 	
    CMD_FOR_NAVI C_navi;//导航输出值	  
 	
-	 float camera_yaw;//nuc输出值
+	//nuc输出值
+	struct {
+  float vx;
+  float vy;
+  float vw;
+  }camera;	
 	
 } CMD_t;
 
 
-int8_t CMD_Init(CMD_t *cmd);
+void CMD_Init(CMD_t *cmd);
 
 int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc);
 

User/device/map.c

@@ -38,35 +38,35 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
 	//3
 	path_3.x = pos->pos_x;
 	path_3.y = pos->pos_y;	
-	//path_3.angle= 10;
+	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;
 
-// 状态控制变量
+//// 状态控制变量
-    static float fixed_yaw = 0;
+//    static float fixed_yaw = 0;
-    static int is_calibrating = 0;
+//    static int is_calibrating = 0;
-    static float prev_camera_yaw = 0;
+//    static float prev_camera_yaw = 0;
+//		
+//  // 非NAVI模式直接重置状态
+//    if (cmd->C_cmd.mode != NAVI) {
+//        is_calibrating = 0;
+//    }
+//    
+//    if (cmd->camera_yaw != 0) {        
+//        // 只有未校准时才更新固定值
+//        if (is_calibrating == 0) {
+//        
+//                fixed_yaw = pos->pos_yaw + cmd->camera_yaw;
+//                is_calibrating = 1; 
+//        }
 
-  // 非NAVI模式直接重置状态
+//        // 校准期间始终使用fixed_yaw
-    if (cmd->C_cmd.mode != NAVI) {
+//        path_3.angle = fixed_yaw;
-        is_calibrating = 0;
+//        prev_camera_yaw = cmd->camera_yaw;
-    }
+//    }
-    
-    if (cmd->camera_yaw != 0) {        
-        // 只有未校准时才更新固定值
-        if (is_calibrating == 0) {
-        
-                fixed_yaw = pos->pos_yaw + cmd->camera_yaw;
-                is_calibrating = 1; 
-        }
-
-        // 校准期间始终使用fixed_yaw
-        path_3.angle = fixed_yaw;
-        prev_camera_yaw = cmd->camera_yaw;
-    }
 }
 		 
 

User/device/nuc.c

@@ -97,19 +97,19 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
           instance.data[2] = nucbuf[4];
           instance.data[1] = nucbuf[5];
           instance.data[0] = nucbuf[6];
-          n->navi.vx = instance.x[0];
+          n->nuc.vx = instance.x[0];
 
           instance.data[7] = nucbuf[7];
           instance.data[6] = nucbuf[8];
           instance.data[5] = nucbuf[9];
           instance.data[4] = nucbuf[10];
-          n->navi.vy = instance.x[1];
+          n->nuc.vy = instance.x[1];
 
           instance.data[11] = nucbuf[11];
           instance.data[10] = nucbuf[12];
           instance.data[9] = nucbuf[13];
           instance.data[8] = nucbuf[14];
-          n->navi.wz = instance.x[2];
+          n->nuc.vw = instance.x[2];
  //         break;
 
 //  }

User/device/remote_control.c

@@ -5,6 +5,7 @@
 
 #include "bsp_usart.h"
 #include "error_detect.h"
+#include "define.h"
 
 //两个遥控器都是
 //             x                
@@ -12,13 +13,6 @@
 //             |                     
 //              ———y 
 
-
-//在这下面更换遥控器
-#define DR16
-//#define R12DS
-
-
-
 #ifdef DR16
 
 #define FRAME_LEN 36

readme.md

@@ -30,13 +30,13 @@
 
 5.5遥控器一键切换成功，更改了remote_control和cmd的代码使之更加规范
 
-
+5.28历时5天把相机纠正yaw给搞出来了
 
 
 
 目前存在的问题：
 
-1，配合相机纠正yaw
+1，调相机pid
 
 2，改进遥控器控制时6020会小幅度动的问题
 
@@ -44,7 +44,7 @@
 
 4，加快跑点速度（如果要跑点的话）
 
-5，加一个防翻虚拟云台（目前车的重心较低，这点可忽略）
+5，加一个防翻虚拟云台