Yodel/25_R1_chassis
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

底盘校准完成，再走不直我就趋势了

Browse Source
This commit is contained in:
Yodel 2025-06-06 16:41:33 +08:00
parent 871a5ee26d
commit c07f4d759b
43 changed files with 4478 additions and 4366 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Core/Src/main.c
View File

@ -83,7 +83,7 @@ int main(void)
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
HAL_Init();
/* USER CODE BEGIN Init */

119
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
View File

File diff suppressed because one or more lines are too long

23
MDK-ARM/AUTO_CHASSIS.uvoptx
View File

@ -158,37 +158,42 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>chassis,0x0A</ItemText>
<ItemText>task_runtime,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>cmd,0x0A</ItemText>
<ItemText>chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>pos,0x0A</ItemText>
<ItemText>can,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>o,0x0A</ItemText>
<ItemText>cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>param_chassis,0x0A</ItemText>
<ItemText>nuc_raw,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf,0x0A</ItemText>
<ItemText>pos,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>can,0x0A</ItemText>
<ItemText>cmd_calc,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>o,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
@ -277,7 +282,7 @@
<Group>
<GroupName>Application/User/Core</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -881,7 +886,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
View File

Binary file not shown.

15
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
View File

@ -29,17 +29,10 @@ 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...
compiling map.c...
linking...
Program Size: Code=85884 RO-data=2152 RW-data=1200 ZI-data=33656
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 1 Warning(s).
Program Size: Code=86404 RO-data=1640 RW-data=1200 ZI-data=33688
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -63,7 +56,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:05
Build Time Elapsed: 00:00:03
</pre>
</body>
</html>

4251
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
View File

File diff suppressed because it is too large Load Diff

4097
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
View File

File diff suppressed because it is too large Load Diff

34
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
View File

@ -2,7 +2,7 @@ Dependencies for Project 'AUTO_CHASSIS', Target 'AUTO_CHASSIS': (DO NOT MODIFY !
CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARMCC
F (startup_stm32f407xx.s)(0x666D93A6)(--cpu Cortex-M4.fp.sp -g --apcs=interwork -I ..\Core\Inc -I ../Core/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" --pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --pd "_RTE_ SETA 1" --list startup_stm32f407xx.lst --xref -o ele_chassis\startup_stm32f407xx.o --depend ele_chassis\startup_stm32f407xx.d)
F (..\Drivers\CMSIS\Lib\ARM\arm_cortexM4lf_math.lib)(0x663B661D)()
F (../Core/Src/main.c)(0x6825C31B)(--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\main.o --omf_browse ele_chassis\main.crf --depend ele_chassis\main.d)
F (../Core/Src/main.c)(0x68408EAC)(--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\main.o --omf_browse ele_chassis\main.crf --depend ele_chassis\main.d)
I (../Core/Inc/main.h)(0x666C4A91)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x64D895F2)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x664876DD)
@ -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)(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)
F (..\User\Module\Chassis.c)(0x68429E6C)(--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)
@ -1598,8 +1598,8 @@ 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)(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\define.h)(0x68429DD4)
F (..\User\Module\config.c)(0x68428E1A)(--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)
@ -1663,7 +1663,7 @@ I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/bsp/flash.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\Module\define.h)(0x6840009B)()
F (..\User\Module\define.h)(0x68429DD4)()
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)
@ -2227,7 +2227,7 @@ I (../User/Algorithm/filter.h)(0x663B6620)
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)
F (..\User\task\chassis_task.c)(0x684035EE)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
@ -3337,8 +3337,8 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\device\device.h)(0x666C4CF9)
I (../User/Algorithm/error_detect.h)(0x663B6620)
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/Module/define.h)(0x68429DD4)
F (..\User\device\cmd.c)(0x68408DAA)(--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)
@ -3386,8 +3386,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (../Core/Inc/gpio.h)(0x664876DA)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(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/Module/define.h)(0x68429DD4)
F (..\User\device\nuc.c)(0x6842458E)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\nuc.o --omf_browse ele_chassis\nuc.crf --depend ele_chassis\nuc.d)
I (..\User\device\nuc.h)(0x68099E48)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -3441,8 +3441,9 @@ 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 (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(0x68429DD4)
I (../User/Algorithm/error_detect.h)(0x663B6620)
F (..\User\device\vofa.c)(0x678A4C68)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\vofa.o --omf_browse ele_chassis\vofa.crf --depend ele_chassis\vofa.d)
F (..\User\device\vofa.c)(0x684006BC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\vofa.o --omf_browse ele_chassis\vofa.crf --depend ele_chassis\vofa.d)
I (..\User\device\vofa.h)(0x6661C23A)
I (../USB_DEVICE/App/usbd_cdc_if.h)(0x664876DD)
I (../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h)(0x64D895D9)
@ -3540,7 +3541,7 @@ I (../Core/Inc/usart.h)(0x664876DC)
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)(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)
F (..\User\device\map.c)(0x6842A954)(--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)
@ -3587,7 +3588,8 @@ 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)(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/Module/define.h)(0x68429DD4)
F (..\User\device\navi.c)(0x6842921A)(--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)
@ -3646,8 +3648,8 @@ 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/Module/define.h)(0x68429DD4)
F (..\User\device\remote_control.c)(0x68426FCC)(--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)
@ -3700,7 +3702,7 @@ 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)(0x6840009B)
I (../User/Module/define.h)(0x68429DD4)
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)

BIN
MDK-ARM/ELE_CHASSIS/can_use.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/can_use.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/chassis.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/chassis.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/chassis_task.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/chassis_task.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/cmd.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/cmd.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/config.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/config.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/main.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/main.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/map.crf
View File

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/map.d
View File

@ -47,3 +47,4 @@ ele_chassis\map.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h
ele_chassis\map.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h
ele_chassis\map.o: ..\User\device\cmd.h
ele_chassis\map.o: ..\User\device\Action.h
ele_chassis\map.o: ../User/Module/define.h

BIN
MDK-ARM/ELE_CHASSIS/map.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/navi.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/navi.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/nuc.crf
View File

Binary file not shown.

1
MDK-ARM/ELE_CHASSIS/nuc.d
View File

@ -54,4 +54,5 @@ ele_chassis\nuc.o: ../User/Algorithm/user_math.h
ele_chassis\nuc.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\float.h
ele_chassis\nuc.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\math.h
ele_chassis\nuc.o: D:\keil mdk\ARM\ARMCC\Bin\..\include\string.h
ele_chassis\nuc.o: ../User/Module/define.h
ele_chassis\nuc.o: ../User/Algorithm/error_detect.h

BIN
MDK-ARM/ELE_CHASSIS/nuc.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/remote_control.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/remote_control.o
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/vofa.crf
View File

Binary file not shown.

BIN
MDK-ARM/ELE_CHASSIS/vofa.o
View File

Binary file not shown.

86
User/Module/Chassis.c
View File

@ -2,7 +2,8 @@
#include "define.h"
/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处，
进debug将四个轮子编码器朝左查看6020反馈值，将6020反馈值放入motor_offset中*/
进debug将四个轮子编码器朝右（左右无所谓，可能会导致5065方向反，在解算里加个负号就行）
查看6020反馈值，将6020反馈值放入motor_offset中*/
static int8_t Chassis_SetCtrl(Chassis_t *c,CMD_t *ctrl){
@ -40,19 +41,19 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
switch(c->mode){
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
//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(
(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.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.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.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
@ -78,20 +79,20 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
break;
case NAVI:
#if defined(carmera_angle) || defined(radar)
//相机纠正时就用正常解算
c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
//相机，雷达纠正时就用正常解算
c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
@ -104,7 +105,7 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
#elif defined(action_sick)
#elif defined(action_sick)|| defined(camera_angle_static)
//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);
@ -116,19 +117,19 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
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(
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(
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(
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(
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)));
@ -212,7 +213,7 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
c->param = param; /*初始化参数 */
//舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向左面
MotorOffset_t motor_offset = { {209.281338, 329.226851, 328.404256, 208.594717} };
MotorOffset_t motor_offset = { {30.106215, 149.432297, 149.212555, 27.205469}};
c->motoroffset = motor_offset; // 将 motor_offset 的值赋给 c->motoroffset
PID_init(&(c->pid.chassis_6020OmegaPid), PID_POSITION,&(c->param->C6020Omega_param));
@ -220,12 +221,22 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
PID_init(&(c->pid.chassis_CameraanglePID),PID_POSITION,&(c->param->CameraAngle_param));
PID_init(&(c->pid.chassis_CameraspeedPID),PID_POSITION,&(c->param->CameraSpeed_param));
LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给w 做滤波
LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给y做滤波
LowPassFilter2p_Init(&(c->filled[3]),target_freq,80.0f); //给x 做滤波
LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f); //给x 做滤波
LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给y 做滤波
LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给w 做滤波
LowPassFilter2p_Init(&(c->filled[3]),target_freq,8.0f); //给相机 做滤波
return CHASSIS_OK;
}
//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）
void carmera_angle_correct(Chassis_t *c,CMD_t *ctrl){
fp32 camera_detangle;
ctrl->nuc.vw = LowPassFilter2p_Apply(&(c->filled[3]),ctrl->nuc.vw);
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);
}
//底盘控制
int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*pos){
@ -233,12 +244,9 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
fp32 chassis6020_detangle[4];
//对相机发送的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->nuc.vw,0);
c->chassis_yaw_pid = PID_calc(&(c->pid.chassis_CameraspeedPID),c->pos088.bmi088.gyro.z,camera_detangle);
switch (c->mode){
carmera_angle_correct(c,ctrl);
switch (c->mode){
case RC:
c->move_vec.Vx = ctrl->Vx*95000;
c->move_vec.Vy = ctrl->Vy*95000;
@ -262,7 +270,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
c->move_vec.Vy =ctrl->nuc.vy ;
c->move_vec.Vw =ctrl->nuc.vw ;
#elif defined(action_sick)
#elif defined(action_sick)|| defined(camera_angle_static)
c->move_vec.Vx =ctrl->C_navi.vx ;
c->move_vec.Vy =ctrl->C_navi.vy ;
c->move_vec.Vw =ctrl->C_navi.wz ;
@ -270,17 +278,14 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
break;
}
//进行滤波
c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);
c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vy);
c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[3]),c->move_vec.Vx);
//进行滤波
c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[0]),c->move_vec.Vx);
c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vy);
c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vw);
Chassis_speed_calculate(c,pos);
#ifdef calibration
#else
Chassis_speed_calculate(c,pos);
#endif
#else
for (uint8_t i = 0 ; i <4 ; i++){
c->hopemotorout.motor6020_target[i]=c->hopemotorout.rotor6020_jiesuan_2[i];
@ -295,10 +300,11 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
out->chassis5065.erpm[i] = c->final_out.final_5065out[i];
}
//vofa发送
// c->vofa_send[0] =c->motorfeedback.rotor_angle6020[0];
// c->vofa_send[1] =c->hopemotorout.motor6020_target[0];
// c->vofa_send[2] =;
#endif
//vofa发送
c->vofa_send[0] =ctrl->nuc.vx;
c->vofa_send[1] =ctrl->nuc.vy;
c->vofa_send[2] =ctrl->nuc.vw;
// c->vofa_send[3] =;
// c->vofa_send[4] =;
// c->vofa_send[5] =;

18
User/Module/config.c
View File

@ -19,17 +19,17 @@ static const ConfigParam_t param_chassis ={
.C6020Angle_param = {
.p = 18.0f,
.i = 0.0f,
.d =6.0f,
.f=0.1f,
.d = 6.0f,
.f = 0.1f,
.i_limit = 200.0f,
.out_limit = 5000.0f,
},
.C6020Omega_param = {
.p =70.0f,
.i =0.015f,
.d =2.0f,
.f=0.1f,
.i_limit = 150.0f,
.p = 70.0f,
.i = 0.3f,
.d = 2.0f,
.f = 0.1f,
.i_limit = 15000.0f,
.out_limit = 25000.0f
},
.CameraAngle_param = {
@ -40,7 +40,7 @@ static const ConfigParam_t param_chassis ={
.out_limit =1000.0f,
},
.CameraSpeed_param = {
.p = 10.0f,
.p = 25.0f,
.i = 0.01f,
.d = 0.5f,
.i_limit = 500.0f,
@ -87,7 +87,7 @@ static const ConfigParam_t param_chassis ={
.pid_PosSpeed_xy_param={
.p =5.0f,
.i =0.1f,
.d =0.5f,
.d =0.0f,
.i_limit =5.0f,
.out_limit =6000.0f,
},

21
User/Module/define.h
View File

@ -1,24 +1,29 @@
#ifndef DEFINE_h
#define DEFINE_h
/**
/*
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
/*舵轮校准*/
//#define calibration //校准
//遥控器
/*遥控器*/
#define DR16 //大疆
//#define R12DS //乐迪
//#define DR16 //大疆
#define R12DS //乐迪
//导航方式
/*导航方式*/
//#define carmera_angle //相机纠正动态角度
//#define camera_angle_static //相机纠正静态角度
@ -26,7 +31,7 @@
#define action_sick //码盘sick跑点
//sick数据
/*sick数据*/
#define sick4 //接收4个sick小板数据
//#define sick_mini //接收sick_mini板数据

2
User/device/cmd.c
View File

@ -153,7 +153,7 @@ int8_t CMD_ParseAction(CMD_t *cmd,CMD_ACTION_t *act)
int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
#ifdef carmera_angle
#if defined(carmera_angle) || defined(camera_angle_static)
cmd->nuc.vw = n->nuc.vx;
#elif defined(radar)

50
User/device/map.c
View File

@ -3,6 +3,7 @@
*
*/
#include "map.h"
#include "define.h"
/* Private variables -------------------------------------------------------- */
@ -28,7 +29,7 @@ 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 = 0;
sick_2.sick_you = 0;
@ -38,35 +39,38 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
//3
path_3.x = pos->pos_x;
path_3.y = pos->pos_y;
path_3.angle= 0;
//path_3.angle= 0;
sick_3.sick_qian = 0;
sick_3.sick_you = 0;
sick_3.sick_hou = 0;
sick_3.sick_zuo = 0;
sick_3.sick_flag = 0;
//// 状态控制变量
// static float fixed_yaw = 0;
// static int is_calibrating = 0;
// static float prev_camera_yaw = 0;
//
// // 非NAVI模式直接重置状态
// if (cmd->C_cmd.mode != NAVI) {
// is_calibrating = 0;
// }
//
// if (cmd->camera_yaw != 0) {
// // 只有未校准时才更新固定值
// if (is_calibrating == 0) {
//
// fixed_yaw = pos->pos_yaw + cmd->camera_yaw;
// is_calibrating = 1;
// }
#ifdef camera_angle_static
// 锁死相机偏差角度
static float fixed_yaw = 0;
static int is_calibrating = 0;
static float prev_camera_yaw = 0;
// 非NAVI模式直接重置状态
if (cmd->C_cmd.mode != NAVI) {
is_calibrating = 0;
}
if (cmd->nuc.vw != 0) {
// 只有未校准时才更新固定值
if (is_calibrating == 0) {
fixed_yaw = pos->pos_yaw + cmd->nuc.vw;
is_calibrating = 1;
}
// 校准期间始终使用fixed_yaw
path_3.angle = fixed_yaw;
prev_camera_yaw = cmd->nuc.vw;
}
#endif
// // 校准期间始终使用fixed_yaw
// path_3.angle = fixed_yaw;
// prev_camera_yaw = cmd->camera_yaw;
// }
}

9
User/device/navi.c
View File

@ -1,5 +1,10 @@
#include "navi.h"
#include "define.h"
/*
启用码盘跑点时会自动纠正底盘，所以不管舵轮纠正如何基本上都是走的直线
*/
//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){
@ -244,7 +249,7 @@ void sick_calculate_d(ops_t *o,const CAN_t *can){
}
}
}
//寻迹函数
void go_path(ops_t *o,CMD_ACTION_t *ops_out){
@ -348,12 +353,14 @@ void go_path(ops_t *o,CMD_ACTION_t *ops_out){
ops_out->out.Vw = o->final_out.sick.vz;
}
else{
//sick纠正完毕
ops_out->out.Vx = 0;
ops_out->out.Vy = 0;
ops_out->out.Vw = 0;
}
}
}else{
//码盘校准有误
ops_out->out.Vx = 0;
ops_out->out.Vy = 0;
ops_out->out.Vw = 0;

41
User/device/nuc.c
View File

@ -1,13 +1,14 @@
#include "nuc.h"
#include "crc16.h"
#include <string.h>
#include "define.h"
#include "error_detect.h"
static volatile uint32_t drop_message = 0;
static osThreadId_t thread_alert;
uint8_t nucbuf[18];
uint8_t nucbuf[31];
static void NUC_IdleCallback(void) {
osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
@ -69,17 +70,17 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
} instance; // 方便在浮点数和字符数组之间进行数据转换
// 校验数据包头
if (nucbuf[0] != HEAD) {
return DEVICE_ERR;
}
// if (nucbuf[0] != HEAD) {
// return DEVICE_ERR;
// }
// 提取数据包中的 CRC 值（假设 CRC 值在数据包的最后两个字节）
uint16_t received_crc = (nucbuf[16] << 8) | nucbuf[17]; // 假设 CRC 在第 16 和 17 字节
uint16_t calculated_crc = do_crc_table(nucbuf, 16); // 计算前 16 字节的 CRC
// uint16_t received_crc = (nucbuf[16] << 8) | nucbuf[17]; // 假设 CRC 在第 16 和 17 字节
// uint16_t calculated_crc = do_crc_table(nucbuf, 16); // 计算前 16 字节的 CRC
// 校验 CRC
// if (received_crc == calculated_crc) {
n->status_fromnuc = nucbuf[1];
n->pit_status = nucbuf[2];
// n->status_fromnuc = nucbuf[1];
// n->pit_status = nucbuf[2];
//switch (n->status_fromnuc) {
// case navi:
@ -92,7 +93,26 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
z fp32
0xFE TAIL
*/
#ifdef radar
instance.data[0] = nucbuf[3];
instance.data[1] = nucbuf[4];
instance.data[2] = nucbuf[5];
instance.data[3] = nucbuf[6];
n->nuc.vx = instance.x[0];
instance.data[4] = nucbuf[7];
instance.data[5] = nucbuf[8];
instance.data[6] = nucbuf[9];
instance.data[7] = nucbuf[10];
n->nuc.vy = instance.x[1];
instance.data[8] = nucbuf[11];
instance.data[9] = nucbuf[12];
instance.data[10] = nucbuf[13];
instance.data[11] = nucbuf[14];
n->nuc.vw = instance.x[2];
#elif defined(carmera_angle)|| defined(camera_angle_static)
instance.data[3] = nucbuf[3];
instance.data[2] = nucbuf[4];
instance.data[1] = nucbuf[5];
@ -109,7 +129,10 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
instance.data[10] = nucbuf[12];
instance.data[9] = nucbuf[13];
instance.data[8] = nucbuf[14];
n->nuc.vw = instance.x[2];
n->nuc.vw = instance.x[2];
#endif
// break;
// }

7
User/device/remote_control.c
View File

@ -145,7 +145,12 @@ int8_t LD_ParseRaw( LD_raw_t *raw){
raw->ch[1] -= 24.5; //(-693.5,693.5)
raw->ch[2] -= 125; //(-693,693)
raw->ch[3] += 24.5; //(-693.5,693.5)
//死区
if(raw->ch[0]>-50&&raw->ch[0]<50) raw->ch[0]=0;
if(raw->ch[1]>-50&&raw->ch[1]<50) raw->ch[1]=0;
if(raw->ch[2]>-50&&raw->ch[2]<50) raw->ch[2]=0;
if(raw->ch[3]>-50&&raw->ch[3]<50) raw->ch[3]=0;
return 1;
/*

39
User/device/vofa.c
View File

@ -11,26 +11,21 @@ float vofa_send[8];
//发送函数
void vofa_tx_main(float *data)
{
float fdata[8]={0};
uint8_t tail[4];
tail[0]=0x00;
tail[1]=0x00;
tail[2]=0x80;
tail[3]=0x7f;
/*在下面添加发送的数据*/
fdata[0] = data[0];
fdata[1] = data[1];
fdata[2] = data[2];
fdata[3] = data[3];
fdata[4] = data[4];
fdata[5] = data[5];
fdata[6] = data[6];
fdata[7] = data[7];
/*在下面使用对应的串口发送函数*/
CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata));
osDelay(1);
CDC_Transmit_FS( tail, 4);
}
float fdata[8] = {0};
uint8_t tail[4] = {0x00, 0x00, 0x80, 0x7f};
// 拷贝数据
for (int i = 0; i < 8; i++) {
fdata[i] = data[i];
}
// 合成一个数据包
uint8_t packet[8 * sizeof(float) + 4];
memcpy(packet, fdata, 8 * sizeof(float));
memcpy(packet + 8 * sizeof(float), tail, 4);
/*通过usb口发送数据到vofa*/
CDC_Transmit_FS( packet, sizeof(packet));
osDelay(1);
}

20
User/task/chassis_task.c
View File

@ -88,16 +88,16 @@ void Task_Chassis(void *argument)
// osMessageQueueReset(task_runtime.msgq.can.output.pitch6020);
// osMessageQueuePut(task_runtime.msgq.can.output.pitch6020, &out.pitch6020, 0, 0);
// vofa_send[0] = chassis.vofa_send[0];
// vofa_send[1] = chassis.vofa_send[1];
// vofa_send[2] = chassis.vofa_send[2];
// vofa_send[3] = chassis.vofa_send[3];
// vofa_send[4] = chassis.vofa_send[4];
// vofa_send[5] = chassis.vofa_send[5];
// vofa_send[6] = chassis.vofa_send[6];
// vofa_send[7] = chassis.vofa_send[7];
//
// vofa_tx_main(vofa_send);
vofa_send[0] = chassis.vofa_send[0];
vofa_send[1] = chassis.vofa_send[1];
vofa_send[2] = chassis.vofa_send[2];
vofa_send[3] = chassis.vofa_send[3];
vofa_send[4] = chassis.vofa_send[4];
vofa_send[5] = chassis.vofa_send[5];
vofa_send[6] = chassis.vofa_send[6];
vofa_send[7] = chassis.vofa_send[7];
vofa_tx_main(vofa_send);
tick += delay_tick;
osDelayUntil(tick);

8
readme.md
View File

@ -36,15 +36,15 @@
目前存在的问题：
1，调相机pid
1，调6020pid，改进6020锁死时传不过去的问题
2，改进遥控器控制时6020会小幅度动的问题
2，调相机pid
3，锁死时5065能动，改进一下让5065锁死
2，加上雷达
4，加快跑点速度（如果要跑点的话）
5，加一个防翻虚拟云台