Yodel/25_R1_chassis
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又增加了些宏定义

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Yodel 2025-06-04 16:16:16 +08:00
parent 8465ee558a
commit 871a5ee26d
68 changed files with 4269 additions and 4153 deletions
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78
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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7
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -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>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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12
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -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
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
Program Size: Code=85884 RO-data=2152 RW-data=1200 ZI-data=33656
"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>

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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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106
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)(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)
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\define.h)(0x6840009B)
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\device\cmd.h)(0x683FAD99)
I (../User/Module/define.h)(0x6840009B)
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)
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\cmd.h)(0x683FDCE6)
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)(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)

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MDK-ARM/ELE_CHASSIS/can_use.d
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@ -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

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MDK-ARM/ELE_CHASSIS/cmd.d
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@ -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

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MDK-ARM/ELE_CHASSIS/navi.d
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@ -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

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User/Module/Chassis.c
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@ -33,7 +33,8 @@ 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 {
}
else {
// 如果有速度输入，则退出保持模式
c->keeping_angle_flag = 0;
switch(c->mode){
@ -106,40 +107,40 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
#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);
// float sin_yaw = sinf(c->chassis_yaw);
//
// // 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 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
// c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
// (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)));
//
// c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
// (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)));
//
// c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
// (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)));
//
// c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
// (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)));
//
// //解算得到6020角度（-180°——+180°）
// 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);
// 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);
// 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);
// 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);
c->chassis_yaw = pos->pos_yaw* (M_PI / 180.0f);
float cos_yaw = cosf(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
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;
//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(
(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)));
c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
(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)));
c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
(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)));
c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
(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)));
//解算得到6020角度（-180°——+180°）
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);
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);
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);
c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
(Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
#endif
break;
}
@ -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 ;

15
User/Module/define.h
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@ -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

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User/device/can_use.c
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@ -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_ID2:
// case CAN_SICK_ID3:
// case CAN_SICK_ID4:
// index = can_rx->rx_header.StdId - CAN_SICK_ID1;
// can->recive_flag |= 1 << (index);
// CAN_Sick_Receive(&(can->sickfed.as_array[index]), can_rx->rx_data);
// break;
case CAN_SICK_ID1:
case CAN_SICK_ID2:
case CAN_SICK_ID3:
case CAN_SICK_ID4:
index = can_rx->rx_header.StdId - CAN_SICK_ID1;
can->recive_flag |= 1 << (index);
CAN_Sick_Receive(&(can->sickfed.as_array[index]), can_rx->rx_data);
break;
#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;

17
User/device/cmd.c
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@ -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){
// case NAVI:
// cmd->C_navi.vx = n->navi.vx;
// cmd->C_navi.vy = n->navi.vy;
cmd->camera.vw = n->nuc.vx;
// break;
// }
#ifdef carmera_angle
cmd->nuc.vw = n->nuc.vx;
#elif defined(radar)
cmd->nuc.vx = n->nuc.vx;
cmd->nuc.vy = n->nuc.vy;
cmd->nuc.vw = n->nuc.vw;
#endif
return 0;
}

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User/device/cmd.h
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@ -130,7 +130,7 @@ typedef struct {
float vx;
float vy;
float vw;
}camera;
}nuc;
} CMD_t;

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User/device/map.c
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@ -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_you = 2180;
sick_2.sick_qian = 0;
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;

114
User/device/navi.c
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@ -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){
// 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
else if(o->chassis_map->points_flag == 1 &&o->chassis_map->sick->sick_flag == 1){
if(o->sick_flag != 1){
// // X 轴检查
// 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
o->navi_flag = 3;
// // Y 轴检查
// if (o->sick_d.status[1] == normal) { // 右 Sick 可用
// 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 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
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
// // 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;
// }
// }
// X 轴检查
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
if (o->sick_d.status[1] == normal) { // 右 Sick 可用
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 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
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;

3
User/device/navi.h
View File

@ -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

12
User/task/navi_task.c
View File

@ -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);

2
User/task/nuc_task.c
View File

@ -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);
}
}