7.9没改之前的代码

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -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>

MDK-ARM/AUTO_CHASSIS.uvprojx

@@ -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>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm

@@ -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>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep

@@ -71,7 +71,7 @@ I (../User/bsp/bsp.h)(0x663B6621)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/device/device.h)(0x666C4CF9)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
-I (../User/device/cmd.h)(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)
+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)(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)
@@ -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)
+I (../User/Module/define.h)(0x686CACCC)
-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)
+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)(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)
@@ -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)
+I (../User/Module/define.h)(0x686CACCC)
-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)
+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\device\cmd.h)(0x686C64E3)
-I (../User/Module/define.h)(0x686AF09F)
+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)

User/Module/Chassis.c

@@ -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_radar_angle,200,1000,0.9); 
-	 Buzzer_Init(&c->buzzer_sick_calibration,200,1000,0.5);	 
+	 Buzzer_Init(&c->buzzer_nuc_flag,200,1000,0.9);	 
-	 Buzzer_Init(&c->buzzer_nuc_flag,200,1000,0.5);	 
 	 
 	 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));
+  for(int i=0;i<2;i++){	 
-	 PID_init(&(c->pid.chassis_RadarspeedPID),PID_POSITION,&(c->param->RadarSpeed_param));
+	 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[3]),target_freq,8.0f);  //给雷达angle做滤波
-	 LowPassFilter2p_Init(&(c->filled[4]),target_freq,8.0f); 
+	 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);  //给雷达z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);	
+ detla_angle = PID_calc(&(c->pid.chassis_RadaranglePID[0]),ctrl->nuc.angle,0);	
- c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,detla_angle);	
+ 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:

User/Module/Chassis.h

@@ -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_RadaranglePID[2]; 
-    pid_type_def chassis_RadarspeedPID;  			
+    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;

User/Module/define.h

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

User/bsp/protocol.h

@@ -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 */  
+  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; 
 
 } Protocol_DownDataChassis_t;
 

User/device/cmd.c

@@ -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)
+#ifdef nuc_1
-		 cmd->nuc.vw = n->nuc.vx;
-		 
-#elif defined(radar)
 	   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;

User/device/cmd.h

@@ -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

User/device/nuc.c

@@ -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];
+#ifdef nuc_1  
-   n->ctrl_status = nucbuf[2];
+	 /* 协议格式 
-   switch (n->status_fromnuc) {
+      0xFF  HEAD
-     case MID:
+      0x09  控制帧
-       /* 协议格式 
+      0x01  相机帧
-         0xFF  HEAD
+      flag  fp32
-         0x09  控制帧
+      angle fp32
-         0x01  相机帧
+      yaw   fp32
-         flag  fp32
+      0xFE  TAIL
-         angle fp32
+    */
-         yaw   fp32
+    if (nucbuf[15] != TAIL) goto error;
-         0xFE  TAIL
+       instance.data[0] = nucbuf[3];
-          */
+       instance.data[1] = nucbuf[4];
-       if (nucbuf[15] != TAIL) goto error;
+       instance.data[2] = nucbuf[5];
-          instance.data[0] = nucbuf[3];
+       instance.data[3] = nucbuf[6];
-          instance.data[1] = nucbuf[4];
+       n->nuc.flag = instance.x[0];
-          instance.data[2] = nucbuf[5];
-          instance.data[3] = nucbuf[6];
-          n->nuc.flag = instance.x[0];
 
-          instance.data[4] = nucbuf[7];
+       instance.data[4] = nucbuf[7];
-          instance.data[5] = nucbuf[8];
+       instance.data[5] = nucbuf[8];
-          instance.data[6] = nucbuf[9];
+       instance.data[6] = nucbuf[9];
-          instance.data[7] = nucbuf[10];
+       instance.data[7] = nucbuf[10];
-          n->nuc.angle = instance.x[1]/3.1415926535f*360;
+       n->nuc.angle = instance.x[1]/3.1415926535f*360;
 					
-          instance.data[8] = nucbuf[11];
+       instance.data[8] = nucbuf[11];
-          instance.data[9] = nucbuf[12];
+       instance.data[9] = nucbuf[12];
-          instance.data[10] = nucbuf[13];
+       instance.data[10] = nucbuf[13];
-          instance.data[11] = nucbuf[14];
+       instance.data[11] = nucbuf[14];
-					n->nuc.yaw = instance.x[2];
+			 n->nuc.yaw = instance.x[2];
-					//将 n->nuc.yaw映射到（0，360）
+			//将 n->nuc.yaw映射到（0，360）
-          n->nuc.yaw = instance.x[2]/3.1415926535f*180;
+       n->nuc.yaw = instance.x[2]/3.1415926535f*180;
-					if(n->nuc.yaw<0){
+			 if(n->nuc.yaw<0)	n->nuc.yaw +=360;	
-					 n->nuc.yaw +=360;
+#elif defined(nuc_2)
-					}	
+	 /* 协议格式 
-				//接收正常时蓝灯翻转	
+      0xFF         HEAD
-        HAL_GPIO_TogglePin(GPIOH,LED_B_Pin);						
+      angle        fp32     //框的角度
-					e++;
+      yaw          fp32     //r2的角度
-    break;
+      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;
   }