Yodel/25_R1_chassis
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7.9没改之前的代码

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This commit is contained in:
Yodel 2025-07-09 05:39:45 +08:00
parent 3229d9ede8
commit c474c0aefe
65 changed files with 4318 additions and 4309 deletions
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111
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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24
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -962,18 +962,6 @@
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>57</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\bsp\crc16.c</PathWithFileName>
<FilenameWithoutPath>crc16.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>58</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -983,6 +971,18 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>58</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\bsp\crc16.c</PathWithFileName>
<FilenameWithoutPath>crc16.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>59</FileNumber>

10
MDK-ARM/AUTO_CHASSIS.uvprojx
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@ -1153,16 +1153,16 @@
<FileType>1</FileType>
<FilePath>..\User\bsp\bsp_usart.c</FilePath>
</File>
<File>
<FileName>crc16.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\bsp\crc16.c</FilePath>
</File>
<File>
<FileName>protocol.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\bsp\protocol.h</FilePath>
</File>
<File>
<FileName>crc16.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\bsp\crc16.c</FilePath>
</File>
<File>
<FileName>led.c</FileName>
<FileType>1</FileType>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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Binary file not shown.

6
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -22,16 +22,16 @@ Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\R\main\steering wheel chassis\25_R1_chassis\chassis\MDK-ARM\AUTO_CHASSIS.uvprojx
Project File Date: 06/04/2025
Project File Date: 07/08/2025
<h2>Output:</h2>
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil mdk\ARM\ARMCC\Bin'
Build target 'AUTO_CHASSIS'
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
compiling config.c...
compiling nuc.c...
linking...
Program Size: Code=88876 RO-data=1632 RW-data=1084 ZI-data=35012
Program Size: Code=88836 RO-data=1632 RW-data=1092 ZI-data=35028
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>

3999
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
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4173
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
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114
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)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
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)(0x6868CAA3)
@ -165,7 +165,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x
I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -179,7 +179,7 @@ I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -1542,8 +1542,8 @@ 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)(0x686AF09F)(--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)(0x68693257)
F (..\User\Module\Chassis.c)(0x686C6D20)(--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)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -1595,17 +1595,17 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
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/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (..\User\Module\define.h)(0x686AF09F)
I (..\User\Module\define.h)(0x686CACCC)
F (..\User\Module\config.c)(0x686B0860)(--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)(0x68693257)
I (..\User\Module\Chassis.h)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -1657,7 +1657,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -1669,7 +1669,7 @@ 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)(0x686AF09F)()
F (..\User\Module\define.h)(0x686CACCC)()
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)
@ -1958,6 +1958,7 @@ 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)
F (..\User\bsp\protocol.h)(0x686C6078)()
F (..\User\bsp\crc16.c)(0x67FB9F9F)(--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\crc16.o --omf_browse ele_chassis\crc16.crf --depend ele_chassis\crc16.d)
I (..\User\bsp\crc16.h)(0x67FB9F9F)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2001,7 +2002,6 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
F (..\User\bsp\protocol.h)(0x6851732E)()
F (..\User\bsp\led.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\led.o --omf_browse ele_chassis\led.crf --depend ele_chassis\led.d)
I (../User/bsp\led.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -2144,14 +2144,14 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2179,7 +2179,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2228,7 +2228,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2239,7 +2239,7 @@ I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\chassis_task.c)(0x685B8EBE)(--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)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2291,7 +2291,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2335,7 +2335,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2384,7 +2384,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2442,7 +2442,7 @@ 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/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/device.h)(0x666C4CF9)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
@ -2461,7 +2461,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2493,7 +2493,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2542,7 +2542,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2570,7 +2570,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2619,7 +2619,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2630,7 +2630,7 @@ I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/device/nuc.h)(0x685A5054)
I (../User/bsp/protocol.h)(0x6851732E)
I (../User/bsp/protocol.h)(0x686C6078)
F (..\User\task\error_detect_task.c)(0x686A5FD9)(--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\error_detect_task.o --omf_browse ele_chassis\error_detect_task.crf --depend ele_chassis\error_detect_task.d)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -2651,7 +2651,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2699,7 +2699,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2711,7 +2711,7 @@ I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/device/r12ds.h)(0x67CAE0AC)
I (../User/device/nuc.h)(0x685A5054)
I (../User/bsp/protocol.h)(0x6851732E)
I (../User/bsp/protocol.h)(0x686C6078)
F (..\User\task\action_task.c)(0x685B9253)(--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\action_task.o --omf_browse ele_chassis\action_task.crf --depend ele_chassis\action_task.d)
I (../User/device/Action.h)(0x67CAEC48)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
@ -2756,7 +2756,7 @@ 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)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\task\user_task.h)(0x6867E857)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
@ -2772,7 +2772,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2807,7 +2807,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2856,7 +2856,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2884,7 +2884,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2933,7 +2933,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -2949,7 +2949,7 @@ 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)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/device/device.h)(0x666C4CF9)
I (../User/device/Action.h)(0x67CAEC48)
@ -3009,7 +3009,7 @@ 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/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3305,11 +3305,11 @@ I (../Core/Inc/spi.h)(0x664876DC)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x68693257)
I (../User/Module/Chassis.h)(0x686C6BA3)
I (../User/device/can_use.h)(0x6867F7D7)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/device/cmd.h)(0x68692E9B)
I (../User/device/cmd.h)(0x686C64E3)
I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
@ -3362,7 +3362,7 @@ 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/bsp/bsp.h)(0x663B6621)
I (..\User\device\cmd.h)(0x68692E9B)
I (..\User\device\cmd.h)(0x686C64E3)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
@ -3372,9 +3372,9 @@ 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\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Module/define.h)(0x686AF09F)
F (..\User\device\cmd.c)(0x68692E9B)(--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)(0x68692E9B)
I (../User/Module/define.h)(0x686CACCC)
F (..\User\device\cmd.c)(0x686C69FB)(--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)(0x686C64E3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3421,8 +3421,8 @@ 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)(0x686AF09F)
F (..\User\device\nuc.c)(0x68692E73)(--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)(0x686CACCC)
F (..\User\device\nuc.c)(0x686CEBA7)(--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)(0x685A5054)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -3466,10 +3466,10 @@ 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)(0x68692E9B)
I (..\User\device\cmd.h)(0x686C64E3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/Module/chassis.h)(0x68693257)
I (../User/Module/chassis.h)(0x686C6BA3)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -3483,10 +3483,10 @@ I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/bsp/protocol.h)(0x6851732E)
I (../User/bsp/protocol.h)(0x686C6078)
I (../User/bsp/crc16.h)(0x67FB9F9F)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(0x686AF09F)
I (../User/Module/define.h)(0x686CACCC)
I (../User/Algorithm/error_detect.h)(0x663B6620)
F (..\User\device\vofa.c)(0x685D0043)(--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)(0x685B9AD7)
@ -3541,7 +3541,7 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../User/bsp/bsp.h)(0x663B6621)
I (../Core/Inc/usart.h)(0x664876DC)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/Module/define.h)(0x686AF09F)
I (../User/Module/define.h)(0x686CACCC)
F (..\User\device\Action.c)(0x6809A469)(--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\action.o --omf_browse ele_chassis\action.crf --depend ele_chassis\action.d)
I (../Core/Inc/tim.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3)
@ -3587,7 +3587,7 @@ 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)(0x68692E9B)
I (..\User\device\cmd.h)(0x686C64E3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\device\map.c)(0x6868E5EF)(--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)
@ -3636,8 +3636,8 @@ 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)(0x68692E9B)
I (../User/Module/define.h)(0x686AF09F)
I (..\User\device\cmd.h)(0x686C64E3)
I (../User/Module/define.h)(0x686CACCC)
F (..\User\device\navi.c)(0x685FAF15)(--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)(0x685FAF15)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3683,7 +3683,7 @@ 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)(0x68692E9B)
I (..\User\device\cmd.h)(0x686C64E3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3697,13 +3697,13 @@ I (..\User\device\can_use.h)(0x6867F7D7)
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)(0x686AF09F)
I (../User/Module/define.h)(0x686CACCC)
F (..\User\device\remote_control.c)(0x6863C5BC)(--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)(0x68692E9B)
I (..\User\device\cmd.h)(0x686C64E3)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3751,7 +3751,7 @@ 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)(0x686AF09F)
I (../User/Module/define.h)(0x686CACCC)
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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49
User/Module/Chassis.c
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@ -23,9 +23,8 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
c->radar_reset_flag = 0;
//蜂鸣器初始化
Buzzer_Init(&c->buzzer_radar_angle,200,1000,0.5);
Buzzer_Init(&c->buzzer_sick_calibration,200,1000,0.5);
Buzzer_Init(&c->buzzer_nuc_flag,200,1000,0.5);
Buzzer_Init(&c->buzzer_radar_angle,200,1000,0.9);
Buzzer_Init(&c->buzzer_nuc_flag,200,1000,0.9);
for(int i=0;i<4;i++){
PID_init(&(c->pid.chassis_6020OmegaPid[i]), PID_POSITION,&(c->param->C6020Omega_param));
@ -33,9 +32,11 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
}
PID_init(&(c->pid.Chassis_AngleAdjust),PID_POSITION,&(c->param->Chassis_AngleAdjust_param));
PID_init(&(c->pid.chassis_RadaranglePID),PID_POSITION,&(c->param->RadarAngle_param));
PID_init(&(c->pid.chassis_RadarspeedPID),PID_POSITION,&(c->param->RadarSpeed_param));
for(int i=0;i<2;i++){
PID_init(&(c->pid.chassis_RadaranglePID[i]),PID_POSITION,&(c->param->RadarAngle_param));
PID_init(&(c->pid.chassis_RadarspeedPID[i]),PID_POSITION,&(c->param->RadarSpeed_param));
}
PID_init(&(c->pid.chassis_SickVx), PID_POSITION,&(c->param->SickVx_param));
PID_init(&(c->pid.chassis_SickVy), PID_POSITION,&(c->param->SickVy_param));
@ -44,13 +45,12 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
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);
LowPassFilter2p_Init(&(c->filled[4]),target_freq,8.0f);
LowPassFilter2p_Init(&(c->filled[5]),target_freq,8.0f); //给雷达z做滤波
LowPassFilter2p_Init(&(c->filled[3]),target_freq,8.0f); //给雷达angle做滤波
LowPassFilter2p_Init(&(c->filled[4]),target_freq,8.0f); //给雷达yaw做滤波
LowPassFilter2p_Init(&(c->filled[5]),target_freq,8.0f);
LowPassFilter2p_Init(&(c->filled[6]),target_freq,10.0f); //给sick1做滤波
LowPassFilter2p_Init(&(c->filled[7]),target_freq,10.0f); //给sick2做滤波
LowPassFilter2p_Init(&(c->filled[8]),target_freq,10.0f); //给sick3做滤波
KalmanCreate(&(c->kalman_filled[0]),20,200);
c->set_point.yaw = 0.0f; // 初始化偏航角
return CHASSIS_OK;
@ -362,12 +362,18 @@ void Chassis_RolPrevent(Chassis_t *c){
//nuc纠正角度（右旋偏移量为正，左旋偏移量为负）
void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
fp32 detla_angle;
fp32 detla_angle;
fp32 detla_yaw;
//雷达数据必须滤波，否则波形是0和正常数组成的矩形
ctrl->nuc.angle = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.angle);
ctrl->nuc.angle = LowPassFilter2p_Apply(&(c->filled[3]),ctrl->nuc.angle);
ctrl->nuc.yaw = LowPassFilter2p_Apply(&(c->filled[4]),ctrl->nuc.yaw);
detla_angle = PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.angle,0);
c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,detla_angle);
detla_angle = PID_calc(&(c->pid.chassis_RadaranglePID[0]),ctrl->nuc.angle,0);
c->radar_angle = PID_calc(&(c->pid.chassis_RadarspeedPID[0]),c->pos088.bmi088.gyro.z,detla_angle);
detla_yaw = PID_calc(&(c->pid.chassis_RadaranglePID[1]),ctrl->nuc.yaw,0);
c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID[1]),c->pos088.bmi088.gyro.z,detla_yaw);
}
//雷达运用sick来校准
@ -426,9 +432,20 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
switch (ctrl->C_cmd.nuc_radar){
case ANGLE:
c->move_vec.Vx = ctrl->Vx*95000;
c->move_vec.Vy = ctrl->Vy*95000;
c->move_vec.Vy = ctrl->Vy*95000;
#ifdef nuc_1
c->move_vec.Vw = c->radar_angle;
Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.angle) < 1 && ctrl->nuc.angle != 0));
#elif defined(nuc_2)
if(ctrl->C_cmd.communicate == NO){
c->move_vec.Vw = c->radar_angle;
Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.angle) < 1 && ctrl->nuc.angle != 0));
}
else if(ctrl->C_cmd.communicate == YES){
c->move_vec.Vw = c->radar_yaw;
Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.angle) < 1 && ctrl->nuc.angle != 0));
Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.yaw) < 1 && ctrl->nuc.yaw != 0));
}
#endif
break;
case WORLD:

10
User/Module/Chassis.h
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@ -105,7 +105,8 @@ typedef struct{
ChassisMove_Vec move_vec; //最终输入速度
fp32 radar_yaw; //雷达纠正角度输出值
fp32 radar_angle; //雷达纠正角度输出值(锁框)
fp32 radar_yaw; //雷达纠正角度输出值(锁车)
/*sick跑点数据*/
fp32 sick[3];
@ -155,8 +156,8 @@ typedef struct{
pid_type_def chassis_6020anglePid[4];
pid_type_def chassis_6020OmegaPid[4];
pid_type_def Chassis_AngleAdjust;
pid_type_def chassis_RadaranglePID;
pid_type_def chassis_RadarspeedPID;
pid_type_def chassis_RadaranglePID[2];
pid_type_def chassis_RadarspeedPID[2];
pid_type_def chassis_SickVx;
pid_type_def chassis_SickVy;
pid_type_def chassis_SickVw;
@ -179,10 +180,9 @@ typedef struct{
const Chassis_Param_t *param; //一些固定的参数
fp32 vofa_send[8]; //vofa输出数据
LowPassFilter2p_t filled[9]; //低通滤波器
extKalman_t kalman_filled[1]; //卡尔曼滤波
float keep_angle[4]; // 保持的 6020 角度
Buzzer_t buzzer_radar_angle; // 用于雷达角度纠正的蜂鸣器控制
Buzzer_t buzzer_sick_calibration; // 用于SICK校准雷达的蜂鸣器控制
Buzzer_t buzzer_nuc_flag; // 用于nuc校准成功的蜂鸣器控制
}Chassis_t;

4
User/Module/define.h
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@ -36,7 +36,9 @@
/*nuc*/
//#define nuc_1 //炎辰的通信
#define nuc_2 //组成的通信

22
User/bsp/protocol.h
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@ -15,13 +15,6 @@ extern "C" {
#define MID (0x09)
#define TAIL (0xFE)
#define NAVI (0x05)
#define PICK (0x06)
#define TEAM_RED (0x01)
#define TEAM_BLUE (0x02)
typedef uint8_t Protocol_ID_t;
/* 电控 -> 视觉 MCU数据结构体*/
@ -33,20 +26,7 @@ typedef struct __attribute__((packed)) {
typedef struct __attribute__((packed)) {
Protocol_ID_t recv_id;//作为帧头使用确认通信ID正确
uint8_t status; /* 控制命令 */
struct __attribute__((packed)) {
float posy; /*pitch轴*/
float posx; /*yaw轴*/
char cmd;
float dis; /*距离*/
}pick;
struct __attribute__((packed)) {
float vx; /* x轴移动速度 */
float vy; /* y轴移动速度 */
float wz; /* z轴转动速度 */
}navi;
uint8_t status; /* 控制命令 */
} Protocol_DownDataChassis_t;

10
User/device/cmd.c
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@ -313,13 +313,13 @@ int8_t CMD_ParseAction(CMD_t *cmd,CMD_ACTION_t *act)
int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
#if defined(carmera_angle) || defined(camera_angle_static)
cmd->nuc.vw = n->nuc.vx;
#elif defined(radar)
#ifdef nuc_1
cmd->nuc.flag = n->nuc.flag;
cmd->nuc.angle = n->nuc.angle;
cmd->nuc.yaw = n->nuc.yaw;
cmd->nuc.yaw = n->nuc.yaw;
#elif defined(nuc_2)
cmd->nuc.angle = n->nuc.angle;
cmd->nuc.yaw = n->nuc.yaw;
#endif
return 0;

2
User/device/cmd.h
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@ -78,8 +78,6 @@ typedef struct {
//nuc数据
typedef struct {
uint8_t status_fromnuc;
uint8_t ctrl_status;
struct
{
float flag; //校准成功nuc反馈标志位

93
User/device/nuc.c
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@ -120,6 +120,7 @@ void NUC_Send_control(CMD_NUC_t *n,CMD_t *cmd,Chassis_t *chassis) {
}
//接收函数
/*车偏左需右旋，角度为正 车偏右需左旋，角度为负*/
int8_t NUC_RawParse(CMD_NUC_t *n) {
if (n == NULL) return DEVICE_ERR_NULL;
union {
@ -129,47 +130,61 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
else{
n->status_fromnuc = nucbuf[1];
n->ctrl_status = nucbuf[2];
switch (n->status_fromnuc) {
case MID:
/* 协议格式
0xFF HEAD
0x09 控制帧
0x01 相机帧
flag fp32
angle fp32
yaw fp32
0xFE TAIL
*/
if (nucbuf[15] != TAIL) goto error;
instance.data[0] = nucbuf[3];
instance.data[1] = nucbuf[4];
instance.data[2] = nucbuf[5];
instance.data[3] = nucbuf[6];
n->nuc.flag = instance.x[0];
#ifdef nuc_1
/* 协议格式
0xFF HEAD
0x09 控制帧
0x01 相机帧
flag fp32
angle fp32
yaw fp32
0xFE TAIL
*/
if (nucbuf[15] != TAIL) goto error;
instance.data[0] = nucbuf[3];
instance.data[1] = nucbuf[4];
instance.data[2] = nucbuf[5];
instance.data[3] = nucbuf[6];
n->nuc.flag = 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.angle = instance.x[1]/3.1415926535f*360;
instance.data[4] = nucbuf[7];
instance.data[5] = nucbuf[8];
instance.data[6] = nucbuf[9];
instance.data[7] = nucbuf[10];
n->nuc.angle = instance.x[1]/3.1415926535f*360;
instance.data[8] = nucbuf[11];
instance.data[9] = nucbuf[12];
instance.data[10] = nucbuf[13];
instance.data[11] = nucbuf[14];
n->nuc.yaw = instance.x[2];
//将 n->nuc.yaw映射到（0，360）
n->nuc.yaw = instance.x[2]/3.1415926535f*180;
if(n->nuc.yaw<0){
n->nuc.yaw +=360;
}
//接收正常时蓝灯翻转
HAL_GPIO_TogglePin(GPIOH,LED_B_Pin);
e++;
break;
}
instance.data[8] = nucbuf[11];
instance.data[9] = nucbuf[12];
instance.data[10] = nucbuf[13];
instance.data[11] = nucbuf[14];
n->nuc.yaw = instance.x[2];
//将 n->nuc.yaw映射到（0，360）
n->nuc.yaw = instance.x[2]/3.1415926535f*180;
if(n->nuc.yaw<0) n->nuc.yaw +=360;
#elif defined(nuc_2)
/* 协议格式
0xFF HEAD
angle fp32 //框的角度
yaw fp32 //r2的角度
0xFE TAIL
*/
if (nucbuf[9] != TAIL) goto error;
instance.data[0] = nucbuf[1];
instance.data[1] = nucbuf[2];
instance.data[2] = nucbuf[3];
instance.data[3] = nucbuf[4];
n->nuc.angle = instance.x[0]/3.1415926535f*360;
instance.data[4] = nucbuf[5];
instance.data[5] = nucbuf[6];
instance.data[6] = nucbuf[7];
instance.data[7] = nucbuf[8];
n->nuc.yaw = instance.x[1]/3.1415926535f*360;
#endif
//接收正常时蓝灯翻转
HAL_GPIO_TogglePin(GPIOH,LED_B_Pin);
e++;
return DEVICE_OK;
}