Yodel/25_R1_chassis
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增加了define.h，不同模式的切换变得更加简单

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This commit is contained in:
Yodel 2025-06-04 12:31:56 +08:00
parent 3f167b1b24
commit 8465ee558a
66 changed files with 2860 additions and 2833 deletions
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280
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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108
MDK-ARM/AUTO_CHASSIS.uvoptx
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5
MDK-ARM/AUTO_CHASSIS.uvprojx
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@ -1108,6 +1108,11 @@
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BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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8
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -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>

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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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91
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)(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\config.h)(0x663B6621)
I (..\User\Module\define.h)(0x683FCBE4)
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)
I (..\User\device\cmd.h)(0x6819FD43)
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)(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)

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@ -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

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MDK-ARM/ELE_CHASSIS/remote_control.d
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@ -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

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107
User/Module/Chassis.c
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@ -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);
//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);
#endif
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] =;

8
User/Module/config.c
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@ -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,
.i = 0.0f,
.p = 10.0f,
.i = 0.01f,
.d = 0.5f,
.i_limit = 0.0f,
.i_limit = 500.0f,
.out_limit =7000.0f,
},
.M3508_param = {

5
User/Module/config.h
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@ -31,10 +31,5 @@ void Config_Set(Config_t *cfg);
extern const ConfigParam_t *Config_ChassisGet(void);
#endif

28
User/Module/define.h Normal file
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@ -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

4
User/device/cmd.c
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@ -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;

19
User/device/cmd.h
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@ -82,14 +82,8 @@ typedef struct {
{
float vx;
float vy;
float wz;
}navi;
struct
{
float posx;
float posy;
float dis;
}pick;
float vw;
}nuc;
} 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);

44
User/device/map.c
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@ -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
static float fixed_yaw = 0;
static int is_calibrating = 0;
static float prev_camera_yaw = 0;
//// 状态控制变量
// static float fixed_yaw = 0;
// static int is_calibrating = 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
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;
}
// 校准期间始终使用fixed_yaw
path_3.angle = fixed_yaw;
prev_camera_yaw = cmd->camera_yaw;
}
// // 校准期间始终使用fixed_yaw
// path_3.angle = fixed_yaw;
// prev_camera_yaw = cmd->camera_yaw;
// }
}

6
User/device/nuc.c
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@ -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;
// }

8
User/device/remote_control.c
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@ -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

6
readme.md
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@ -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