又增加了些宏定义

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -185,6 +185,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>nucbuf,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>can,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -272,7 +277,7 @@
 
   <Group>
     <GroupName>Application/User/Core</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm

@@ -29,11 +29,17 @@ Project File Date:  06/04/2025
 Build target 'AUTO_CHASSIS'
 Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
+compiling can_use.c...
+..\User\device\can_use.c(83): warning:  #177-D: function "CAN_Sick_Receive_mini"  was declared but never referenced
+  static void CAN_Sick_Receive_mini(CAN_SickFeedback_mini_t *feedback,const uint8_t *raw) {
+..\User\device\can_use.c: 1 warning, 0 errors
+compiling navi.c...
 compiling remote_control.c...
 compiling Chassis.c...
+compiling cmd.c...
 linking...
-Program Size: Code=84584 RO-data=2148 RW-data=1200 ZI-data=33656  
+Program Size: Code=85884 RO-data=2152 RW-data=1200 ZI-data=33656  
-"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
+"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 1 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -57,7 +63,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:05
 </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)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 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)
@@ -179,12 +179,12 @@ I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (../Core/Src/can.c)(0x664896B1)(--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\can.o --omf_browse ele_chassis\can.crf --depend ele_chassis\can.d)
@@ -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)(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)
+F (..\User\Module\Chassis.c)(0x6840005C)(--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 +1593,13 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (..\User\Module\define.h)(0x683FCBE4)
+I (..\User\Module\define.h)(0x6840009B)
-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)
+F (..\User\Module\config.c)(0x683FEB7D)(--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)
@@ -1653,17 +1653,17 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 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\Module\define.h)(0x6840009B)()
 F (..\User\bsp\bsp_delay.c)(0x663B6621)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

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

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

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

-o ele_chassis\bsp_delay.o --omf_browse ele_chassis\bsp_delay.crf --depend ele_chassis\bsp_delay.d)
 I (..\User\bsp\bsp_delay.h)(0x663B6621)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@@ -2144,12 +2144,12 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\user_task.c)(0x6818B046)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

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

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

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

-o ele_chassis\user_task.o --omf_browse ele_chassis\user_task.crf --depend ele_chassis\user_task.d)
@@ -2219,12 +2219,12 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\chassis_task.c)(0x680A233D)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

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

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

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

-o ele_chassis\chassis_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
@@ -2280,7 +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)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2299,7 +2299,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
 I (../User/Module/config.h)(0x683FAE78)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/device/vofa.h)(0x6661C23A)
@@ -2371,12 +2371,12 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/bsp\pwm.h)(0x663B6621)
@@ -2451,12 +2451,12 @@ 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)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\cmd_task.c)(0x6819FA32)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

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

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

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

-o ele_chassis\cmd_task.o --omf_browse ele_chassis\cmd_task.crf --depend ele_chassis\cmd_task.d)
@@ -2526,15 +2526,15 @@ 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)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\task\nuc_task.c)(0x680C7804)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

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

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

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

-o ele_chassis\nuc_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
+F (..\User\task\nuc_task.c)(0x683FE8A3)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

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

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

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

-o ele_chassis\nuc_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
 I (..\User\task\user_task.h)(0x682341DF)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2601,12 +2601,12 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/device/nuc.h)(0x68099E48)
@@ -2679,12 +2679,12 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/device/r12ds.h)(0x67CAE0AC)
@@ -2734,7 +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)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 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)
@@ -2762,7 +2762,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\Calc_task.c)(0x682338DB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

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

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

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

-o ele_chassis\calc_task.o --omf_browse ele_chassis\calc_task.crf --depend ele_chassis\calc_task.d)
@@ -2832,15 +2832,15 @@ 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)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\task\navi_task.c)(0x68248555)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

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

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

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

-o ele_chassis\navi_task.o --omf_browse ele_chassis\navi_task.crf --depend ele_chassis\navi_task.d)
+F (..\User\task\navi_task.c)(0x683FFEC6)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

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

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

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

-o ele_chassis\navi_task.o --omf_browse ele_chassis\navi_task.crf --depend ele_chassis\navi_task.d)
 I (..\User\task\user_task.h)(0x682341DF)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2907,12 +2907,12 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\remote_control_task.c)(0x681DFED8)(--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_task.o --omf_browse ele_chassis\remote_control_task.crf --depend ele_chassis\remote_control_task.d)
@@ -2921,7 +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)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/device/device.h)(0x666C4CF9)
 I (../User/device/Action.h)(0x67CAEC48)
@@ -2989,7 +2989,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\Algorithm\ahrs.c)(0x663B6620)(--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\ahrs.o --omf_browse ele_chassis\ahrs.crf --depend ele_chassis\ahrs.d)
@@ -3279,15 +3279,15 @@ 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)(0x683FAD99)
+I (../User/device/cmd.h)(0x683FDCE6)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (../User/device/navi.h)(0x68133130)
+I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\device\can_use.c)(0x6810C93C)(--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\can_use.o --omf_browse ele_chassis\can_use.crf --depend ele_chassis\can_use.d)
+F (..\User\device\can_use.c)(0x683FFF19)(--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\can_use.o --omf_browse ele_chassis\can_use.crf --depend ele_chassis\can_use.d)
 I (..\User\device\can_use.h)(0x6811C5CD)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -3337,8 +3337,9 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (..\User\device\device.h)(0x666C4CF9)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
-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/Module/define.h)(0x6840009B)
-I (..\User\device\cmd.h)(0x683FAD99)
+F (..\User\device\cmd.c)(0x683FE90E)(--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)(0x683FDCE6)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3385,6 +3386,7 @@ 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)
+I (../User/Module/define.h)(0x6840009B)
 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)
@@ -3429,7 +3431,7 @@ 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)(0x683FAD99)
+I (..\User\device\cmd.h)(0x683FDCE6)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\Action.h)(0x67CAEC48)
 I (../User/bsp/protocol.h)(0x67FB97BC)
@@ -3535,10 +3537,10 @@ 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)(0x683FAD99)
+I (..\User\device\cmd.h)(0x683FDCE6)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-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)
+F (..\User\device\map.c)(0x683FEA77)(--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)
@@ -3584,9 +3586,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
-I (..\User\device\cmd.h)(0x683FAD99)
+I (..\User\device\cmd.h)(0x683FDCE6)
-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)
+F (..\User\device\navi.c)(0x683FFFCB)(--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\navi.h)(0x683FFEC6)
 I (..\User\device\Action.h)(0x67CAEC48)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -3630,7 +3632,7 @@ 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)(0x683FAD99)
+I (..\User\device\cmd.h)(0x683FDCE6)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -3640,13 +3642,17 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (..\User\device\bmi088.h)(0x663B6621)
 I (..\User\device\map.h)(0x682338DB)
+I (..\User\device\can_use.h)(0x6811C5CD)
+I (../User/bsp/bsp_can.h)(0x663B6621)
+I (../Core/Inc/can.h)(0x664876DC)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
+I (../User/Module/define.h)(0x6840009B)
 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)(0x683FAD99)
+I (..\User\device\cmd.h)(0x683FDCE6)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3694,7 +3700,7 @@ 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)
+I (../User/Module/define.h)(0x6840009B)
 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/can_use.d

@@ -49,3 +49,4 @@ ele_chassis\can_use.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\math.h
 ele_chassis\can_use.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\stdbool.h
 ele_chassis\can_use.o: ..\User\device\device.h
 ele_chassis\can_use.o: ../User/Algorithm/error_detect.h
+ele_chassis\can_use.o: ../User/Module/define.h

MDK-ARM/ELE_CHASSIS/cmd.d

@@ -48,3 +48,4 @@ ele_chassis\cmd.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h
 ele_chassis\cmd.o: ..\User\device\cmd.h
 ele_chassis\cmd.o: ../Core/Inc/gpio.h
 ele_chassis\cmd.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\string.h
+ele_chassis\cmd.o: ../User/Module/define.h

MDK-ARM/ELE_CHASSIS/navi.d

@@ -55,4 +55,8 @@ ele_chassis\navi.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\math.h
 ele_chassis\navi.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\stdbool.h
 ele_chassis\navi.o: ..\User\device\bmi088.h
 ele_chassis\navi.o: ..\User\device\map.h
+ele_chassis\navi.o: ..\User\device\can_use.h
+ele_chassis\navi.o: ../User/bsp/bsp_can.h
+ele_chassis\navi.o: ../Core/Inc/can.h
 ele_chassis\navi.o: ../User/bsp/bsp_delay.h
+ele_chassis\navi.o: ../User/Module/define.h

User/Module/Chassis.c

@@ -33,123 +33,124 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
     for (uint8_t i = 0; i < 4; i++) {
     c->hopemotorout.rotor5065_jiesuan_1[i] = 0;
     }
-  } else {
+  } 
-      // 如果有速度输入，则退出保持模式
+	else {
-      c->keeping_angle_flag = 0;
+    // 如果有速度输入，则退出保持模式
-      switch(c->mode){	
+    c->keeping_angle_flag = 0;
-				case RC: //RC模式下遥控器控制底盘运动，操控为机器人坐标系  x朝前，y朝右
+    switch(c->mode){	
-				  //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
+			case RC: //RC模式下遥控器控制底盘运动，操控为机器人坐标系  x朝前，y朝右
-					c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
+				//解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
-					(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
+				c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
-					(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
+			  (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->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.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->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->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.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->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->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.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->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°）
+				//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->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->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->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->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->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->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->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);
+																			(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
-	     break;
+	    break;
-	     case STOP: //停止模式下轮子锁死
+	    case STOP: //停止模式下轮子锁死
-		     for(int i =0 ; i < 4 ; i++){
+		    for(int i =0 ; i < 4 ; i++){
-			   c->hopemotorout.rotor5065_jiesuan_1[i]=0;	
+			    c->hopemotorout.rotor5065_jiesuan_1[i]=0;	
-		     }
+		    }
 			
-		     c->hopemotorout.rotor6020_jiesuan_1[0]=315;
+		    c->hopemotorout.rotor6020_jiesuan_1[0]=315;
-		     c->hopemotorout.rotor6020_jiesuan_1[1]=45;
+		    c->hopemotorout.rotor6020_jiesuan_1[1]=45;
-		     c->hopemotorout.rotor6020_jiesuan_1[2]=45;
+		    c->hopemotorout.rotor6020_jiesuan_1[2]=45;
-		     c->hopemotorout.rotor6020_jiesuan_1[3]=315;   
+		    c->hopemotorout.rotor6020_jiesuan_1[3]=315;   
-		   break;
+		  break;
-	     case NAVI: 
+	    case NAVI: 
 #if defined(carmera_angle) || defined(radar)
-          //相机纠正时就用正常解算
+      //相机纠正时就用正常解算
-	         c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
+	    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.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->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->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.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->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->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.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->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->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.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->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°）
+			//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->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->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->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->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->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->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->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);		 
+																		(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);
+			   c->chassis_yaw = pos->pos_yaw* (M_PI / 180.0f);
-//			   float cos_yaw = cosf(c->chassis_yaw);
+			   float cos_yaw = cosf(c->chassis_yaw);
-//         float sin_yaw = sinf(c->chassis_yaw);
+         float sin_yaw = sinf(c->chassis_yaw);
-//			 
+			 
-//			   // 将速度从世界坐标系转换到底盘坐标系
+			   // 将速度从世界坐标系转换到底盘坐标系
-//         float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
+         float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
-//         float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
+         float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
-// 
+ 
-//			   //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
+			   //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
-//	       c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
+	       c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
-//	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
+	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
-//         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
+         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
-//  
+  
-//				 c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
+				 c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
-//	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
+	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
-//         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
+         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
-// 
+ 
-//	       c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
+	       c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
-//	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
+	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
-//         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
+         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
-// 
+ 
-//         c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
+         c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
-//	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
+	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
-//         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
+         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
-//	
+	
-//		     //解算得到6020角度（-180°——+180°）
+		     //解算得到6020角度（-180°——+180°）
-//         c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
+         c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
-//																			 (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
+																			 (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
-//         c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
+         c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
-//				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
+				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
-//         c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
+         c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
-//				                               (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
+				                               (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)),
+ 	       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);
+				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
 #endif	
-					 break;
+				break;
-       }	
      }	
+  }
 		 //角度归化到0°——360°
 		 for (uint8_t i = 0; i < 4; i++) {
 			
 			 if(c->hopemotorout.rotor6020_jiesuan_1[i]<0){
  				 c->hopemotorout.rotor6020_jiesuan_1[i]+=360;
-				}	
+			 }	
  			}
 		
      //舵向电机就近转位
@@ -159,23 +160,23 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
        //误差角度归化到-180°——+180°
        while (angle_error[i] > 180) angle_error[i] -= 360;
        while (angle_error[i] < -180) angle_error[i] += 360;
-                
+       /*这里发现如果下面的c->motorfeedback.rotor_angle6020[i]+angle_error[i]变为
+			 c->hopemotorout.rotor6020_jiesuan_1[i]会导致6020出现故障*/
        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->hopemotorout.rotor6020_jiesuan_1[i]-180;
+          c->hopemotorout.rotor6020_jiesuan_2[i]=c->motorfeedback.rotor_angle6020[i]+angle_error[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->hopemotorout.rotor6020_jiesuan_1[i]+180;
+          c->hopemotorout.rotor6020_jiesuan_2[i]=c->motorfeedback.rotor_angle6020[i]+angle_error[i]+180;
         }
          
         else{
           c->hopemotorout.rotor5065_jiesuan_2[i]=c->hopemotorout.rotor5065_jiesuan_1[i];
-          c->hopemotorout.rotor6020_jiesuan_2[i]=c->hopemotorout.rotor6020_jiesuan_1[i];
+          c->hopemotorout.rotor6020_jiesuan_2[i]=c->motorfeedback.rotor_angle6020[i]+angle_error[i];
         }
      }	 
-		 
 }
 
 //该函数用来更新can任务获得的电机反馈值
@@ -189,9 +190,10 @@ 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
+    //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){
@@ -199,12 +201,10 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
 		}		
 #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;
 
  }
-
   return CHASSIS_OK;
 }
 //底盘初始化
@@ -235,7 +235,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 	
 	//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.vw,0);
+	camera_detangle = -PID_calc(&(c->pid.chassis_CameraanglePID),ctrl->nuc.vw,0);
   c->chassis_yaw_pid = PID_calc(&(c->pid.chassis_CameraspeedPID),c->pos088.bmi088.gyro.z,camera_detangle);	
 	
   switch (c->mode){	
@@ -253,10 +253,16 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
 			
 #ifdef carmera_angle
 		//如果相机开始工作	
-	   if(ctrl->camera.vw != 0){
+	   if(ctrl->nuc.vw != 0){
 		  c->move_vec.Vw = c->chassis_yaw_pid;
      }	
-#elif action_sick
+		 
+#elif defined(radar)
+     c->move_vec.Vx =ctrl->nuc.vx ;
+     c->move_vec.Vy =ctrl->nuc.vy ;    
+	   c->move_vec.Vw =ctrl->nuc.vw ;		 
+		 
+#elif defined(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 ;		 

User/Module/define.h

@@ -3,6 +3,8 @@
 
 /**
 从这里一键快捷切换各个配置模式
+
+注意：宏定义名称不要和各文件中结构体名称相重
   */
 
  //舵轮校准
@@ -18,10 +20,19 @@
 
 //导航方式
 
-   #define carmera_angle        //相机纠正动态角度
+   //#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
+	 #define action_sick          //码盘sick跑点
+	 
+
+//sick数据    
+
+   #define sick4                 //接收4个sick小板数据
+	 //#define sick_mini            //接收sick_mini板数据
+	 
+	 
+	 
 	 
 	 
 #endif

User/device/can_use.c

@@ -9,6 +9,8 @@
 #include "user_math.h"
 #include "device.h"
 #include "error_detect.h"
+#include "define.h"
+
 #define CAN_MOTOR_ENC_RES (8191)  /* 电机编码器分辨率 */
 #define CAN_MOTOR_CUR_RES (16384) /* 电机转矩电流分辨玄1<E78E84>7 */
 
@@ -305,19 +307,22 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
 		  can->recive_flag |= 1 << (index);
 			CAN_DJIMotor_Decode(&(can->motor.pit6020.as_array[index]), can_rx->rx_data);
 		  break;
+#ifdef sick4
 		//接收四个sick小板数据
-//    case CAN_SICK_ID1:
+    case CAN_SICK_ID1:
-//    case CAN_SICK_ID2:
+    case CAN_SICK_ID2:
-//    case CAN_SICK_ID3:
+    case CAN_SICK_ID3:
-//    case CAN_SICK_ID4:
+    case CAN_SICK_ID4:
-//    index = can_rx->rx_header.StdId - CAN_SICK_ID1;
+      index = can_rx->rx_header.StdId - CAN_SICK_ID1;
-//		  can->recive_flag |= 1 << (index);
+		  can->recive_flag |= 1 << (index);
-//			CAN_Sick_Receive(&(can->sickfed.as_array[index]), can_rx->rx_data);
+			CAN_Sick_Receive(&(can->sickfed.as_array[index]), can_rx->rx_data);
-//		  break;  
+		  break;  				
-		//接收sick mini数据
+#elif defined(sick_mini) 
+	//接收sick mini数据
 		case CAN_SICK_ID0:
 				CAN_Sick_Receive_mini(&(can->sicked_mini), can_rx->rx_data);
 		break; 
+#endif			
     default:
       break;
 		

User/device/cmd.c

@@ -7,6 +7,7 @@
 #include "cmd.h"
 #include "gpio.h"
 #include <string.h>
+#include "define.h"
 
 /* Private function  -------------------------------------------------------- */
 /*Export function --------------------------------------------------------------*/
@@ -152,12 +153,14 @@ int8_t CMD_ParseAction(CMD_t *cmd,CMD_ACTION_t *act)
 
 int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
 
-	//    switch(cmd->cmd_status){
+#ifdef carmera_angle
-	//			case NAVI:
+		 cmd->nuc.vw = n->nuc.vx;
-				//  cmd->C_navi.vx = n->navi.vx;
+		 
-				//  cmd->C_navi.vy = n->navi.vy;
+#elif defined(radar)
-				  cmd->camera.vw = n->nuc.vx;
+     cmd->nuc.vx =  n->nuc.vx;
-	//			break;
+		 cmd->nuc.vy =  n->nuc.vy;
-	//		}
+	   cmd->nuc.vw =  n->nuc.vw;
+#endif		   	
+
 	return 0;
 }

User/device/cmd.h

@@ -130,7 +130,7 @@ typedef struct {
   float vx;
   float vy;
   float vw;
-  }camera;	
+  }nuc;	
 	
 } CMD_t;
 

User/device/map.c

@@ -28,12 +28,12 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
 	sick_1.sick_flag = 0;
 	//2
 	path_2.x = 2000;
-	path_2.y = -2000;	
+	path_2.y = 2000;	
 	path_2.angle=0;
-	sick_2.sick_qian = 1873;
+	sick_2.sick_qian = 0;
-	sick_2.sick_you = 2180;
+	sick_2.sick_you = 0;
 	sick_2.sick_hou = 0;
-	sick_2.sick_zuo = 3350;
+	sick_2.sick_zuo = 0;
 	sick_2.sick_flag = 1;
 	//3
 	path_3.x = pos->pos_x;

User/device/navi.c

@@ -1,4 +1,5 @@
 #include "navi.h"
+#include "define.h"
 
 //导航初始化一系列参数
 int8_t Navi_init(ops_t *o,const ops_param_t *param,Action_POS_t *pos){
@@ -162,7 +163,18 @@ void sick_point(ops_t *o){
 }
  
 // 计算sick微分函数
-void sick_calculate_d(ops_t *o){
+void sick_calculate_d(ops_t *o,const CAN_t *can){
+
+	//接收can发送的sick数据
+#ifdef sick4
+	for (uint8_t i = 0; i < 4; i++) {
+		o->sick_distance[i] = can->sickfed.as_array[i].sick_distance/10; 
+	}	
+#elif defined(sick_mini) 
+	for (uint8_t i = 0; i < 4; i++) {
+	  o->sick_distance[i] = can->sicked_mini.sick_distance[i]/10; 
+	}	
+#endif				
 		 		 
 	static uint32_t last_calc_time =0;
   uint32_t current_time = HAL_GetTick();
@@ -288,59 +300,59 @@ void go_path(ops_t *o,CMD_ACTION_t *ops_out){
         o->sick_flag = 0;						 
        }		 	
 	   }
-//  	 else if(o->chassis_map->points_flag == 1 &&o->chassis_map->sick->sick_flag == 1){
+  	 else if(o->chassis_map->points_flag == 1 &&o->chassis_map->sick->sick_flag == 1){
-//		   if(o->sick_flag != 1){
+		   if(o->sick_flag != 1){
-//				
-//			  o->navi_flag = 3;
-//				 
-//		    bool x_has_valid_sick = false;  // X 轴是否有可用的 Sick
-//        bool y_has_valid_sick = false;  // Y 轴是否有可用的 Sick
-//        bool x_adjusted = false;       // X 轴是否达标
-//        bool y_adjusted = false;       // Y 轴是否达标
 				
-//        // X 轴检查
+			  o->navi_flag = 3;
-//        if (o->sick_d.status[0] == normal) {  // 前 Sick 可用
-//            x_adjusted = (abs_float_double(o->sick_distance[0], o->chassis_map->sick->sick_qian) < o->chassis_map->sick_mistake);
-//            x_has_valid_sick = true;
-//        } 
-//        else if (o->sick_d.status[2] == normal) {  // 后 Sick 可用
-//            x_adjusted = (abs_float_double(o->sick_distance[2], o->chassis_map->sick->sick_hou) < o->chassis_map->sick_mistake);
-//            x_has_valid_sick = true;
-//        }
-//        // 如果 X 轴两个 Sick 都不可用，x_has_valid_sick 保持 false
 				 
-//        // Y 轴检查
+		    bool x_has_valid_sick = false;  // X 轴是否有可用的 Sick
-//        if (o->sick_d.status[1] == normal) {  // 右 Sick 可用
+        bool y_has_valid_sick = false;  // Y 轴是否有可用的 Sick
-//            y_adjusted = (abs_float_double(o->sick_distance[1], o->chassis_map->sick->sick_you) < o->chassis_map->sick_mistake);
+        bool x_adjusted = false;       // X 轴是否达标
-//            y_has_valid_sick = true;
+        bool y_adjusted = false;       // Y 轴是否达标
-//        } 
-//        else if (o->sick_d.status[3] == normal) {  // 左 Sick 可用
-//            y_adjusted = (abs_float_double(o->sick_distance[3], o->chassis_map->sick->sick_zuo) < o->chassis_map->sick_mistake);
-//            y_has_valid_sick = true;
-//        }
-//        // 如果 Y 轴两个 Sick 都不可用，y_has_valid_sick 保持 false
 
-//        // 只有 X 轴和 Y 轴各至少有一个 Sick 可用，且所有可用 Sick 都达标时，才标记完成
+        // X 轴检查
-//        if (x_has_valid_sick && y_has_valid_sick && x_adjusted && y_adjusted) {
+        if (o->sick_d.status[0] == normal) {  // 前 Sick 可用
-//					
+            x_adjusted = (abs_float_double(o->sick_distance[0], o->chassis_map->sick->sick_qian) < o->chassis_map->sick_mistake);
-//            o->sick_flag = 1;
+            x_has_valid_sick = true;
-//            o->sick_offest.x = o->chassis_map->target->x - o->chassis_pos->pos_x;
+        } 
-//            o->sick_offest.y = o->chassis_map->target->y - o->chassis_pos->pos_y;
+        else if (o->sick_d.status[2] == normal) {  // 后 Sick 可用
-//            o->navi_flag = 4;
+            x_adjusted = (abs_float_double(o->sick_distance[2], o->chassis_map->sick->sick_hou) < o->chassis_map->sick_mistake);
-//        }
+            x_has_valid_sick = true;
-//        
+        }
-//				sick_point(o);
+        // 如果 X 轴两个 Sick 都不可用，x_has_valid_sick 保持 false
-//				 
+
-////		    ops_out->out.Vx = o->final_out.sick.vx;
+        // Y 轴检查
-////	      ops_out->out.Vy = o->final_out.sick.vy;
+        if (o->sick_d.status[1] == normal) {  // 右 Sick 可用
-////	      ops_out->out.Vw = o->final_out.sick.vz;				
+            y_adjusted = (abs_float_double(o->sick_distance[1], o->chassis_map->sick->sick_you) < o->chassis_map->sick_mistake);
-//		   }
+            y_has_valid_sick = true;
-//       else{
+        } 
-//				 ops_out->out.Vx = 0;
+        else if (o->sick_d.status[3] == normal) {  // 左 Sick 可用
-//	       ops_out->out.Vy = 0;
+            y_adjusted = (abs_float_double(o->sick_distance[3], o->chassis_map->sick->sick_zuo) < o->chassis_map->sick_mistake);
-//	       ops_out->out.Vw = 0; 
+            y_has_valid_sick = true;
-//		 	 } 			 
+        }
-//	   }
+        // 如果 Y 轴两个 Sick 都不可用，y_has_valid_sick 保持 false
+
+        // 只有 X 轴和 Y 轴各至少有一个 Sick 可用，且所有可用 Sick 都达标时，才标记完成
+        if (x_has_valid_sick && y_has_valid_sick && x_adjusted && y_adjusted) {
+					
+            o->sick_flag = 1;
+            o->sick_offest.x = o->chassis_map->target->x - o->chassis_pos->pos_x;
+            o->sick_offest.y = o->chassis_map->target->y - o->chassis_pos->pos_y;
+            o->navi_flag = 4;
+        }
+        
+				sick_point(o);
+				 
+		    ops_out->out.Vx = o->final_out.sick.vx;
+	      ops_out->out.Vy = o->final_out.sick.vy;
+	      ops_out->out.Vw = o->final_out.sick.vz;				
+		   }
+       else{
+				 ops_out->out.Vx = 0;
+	       ops_out->out.Vy = 0;
+	       ops_out->out.Vw = 0; 
+		 	 } 			 
+	   }
 	 }else{
 	   ops_out->out.Vx = 0;
 	   ops_out->out.Vy = 0;

User/device/navi.h

@@ -7,6 +7,7 @@
 #include "ahrs.h"
 #include "bmi088.h"
 #include "map.h"
+#include "can_use.h"
 #include "bsp_delay.h"
 
 #define PI 3.1415926535f
@@ -123,7 +124,7 @@ void POS_chassis_set(ops_t *o,fp32 vx_set, fp32 vy_set, fp32 yaw_angle_set);
 fp32 ops9_AngleCorr(ops_t *o,fp32 hope_angle,pid_type_def *outer_yaw_pid_set,pid_type_def *inner_yaw_pid_set);
 void hold_point(ops_t *o,point_t p,fp32 yaw_angle_set);
 void sick_point(ops_t *o);
-void sick_calculate_d(ops_t *o);
+void sick_calculate_d(ops_t *o,const CAN_t *can);
 void go_path(ops_t *o,CMD_ACTION_t *ops_out);
 #endif
 

User/task/navi_task.c

@@ -5,7 +5,6 @@
 
 #include "user_task.h"
 #include "navi.h"
-#include "can_use.h"
 
 static CAN_t can;
 
@@ -47,17 +46,8 @@ void Task_navi(void *argument){
 
 		osMessageQueueGet(task_runtime.msgq.can.feedback.sickfed,&can,NULL,0);
 			
-		 //sick_mini板
-		 for (uint8_t i = 0; i < 4; i++) {
-			 o.sick_distance[i] = can.sicked_mini.sick_distance[i]/10; 
-		 }
-		 //sick板
-//		  for (uint8_t i = 0; i < 4; i++) {
-//			 o.sick_distance[i] = can.sickfed.as_array[i].sick_distance/10; 
-//		 }
-			
 		 //计算sick微分函数放在外面实时计算微分
-		 sick_calculate_d(&o);
+		 sick_calculate_d(&o,&can);
 		 
      go_path(&o,&ops_out);
 

User/task/nuc_task.c

@@ -38,7 +38,7 @@ void Task_nuc(void *argument){
      osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0);
 			
      
-		 tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
+		 tick += delay_tick; /* 计算下一个唤醒时刻*/
 		 osDelayUntil(tick);			
 		 }		 
 }