Yodel/25_R1_chassis
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更改了很多东西

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This commit is contained in:
Yodel 2025-07-04 20:58:06 +08:00
parent ab462855e7
commit d3ed8b3773
76 changed files with 5152 additions and 5151 deletions
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1
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
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@ -215,7 +215,6 @@
/** @addtogroup STM32F4xx_HAL_Driver
* @{
*/
#if defined(CAN1)
/** @defgroup CAN CAN

134
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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File diff suppressed because one or more lines are too long

53
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -163,63 +163,18 @@
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>cmd,0x0A</ItemText>
<ItemText>ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>nuc_raw,0x0A</ItemText>
<ItemText>e,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_nuc,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>a,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>b,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>c,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>e,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>pos,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf,0x10</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>o,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -307,7 +262,7 @@
<Group>
<GroupName>Application/User/Core</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -911,7 +866,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

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

33
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -29,22 +29,37 @@ Project File Date: 06/04/2025
Build target 'AUTO_CHASSIS'
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
compiling error_detect_task.c...
compiling config.c...
compiling navi_task.c...
compiling cmd_task.c...
compiling can_task.c...
compiling init.c...
compiling Calc_task.c...
compiling Chassis.c...
compiling freertos.c...
compiling chassis_task.c...
compiling user_task.c...
compiling action_task.c...
compiling remote_control_task.c...
compiling nuc_task.c...
compiling atti_esti.c...
compiling cmd.c...
compiling navi.c...
compiling nuc.c...
compiling can_use.c...
..\User\device\can_use.c(82): warning: #177-D: function "CAN_Sick_Receive_mini" was declared but never referenced
static void CAN_Sick_Receive_mini(CAN_SickFeedback_mini_t *feedback,const uint8_t *raw) {
..\User\device\can_use.c: 1 warning, 0 errors
compiling bmi088.c...
compiling map.c...
compiling remote_control.c...
..\User\device\remote_control.c(73): warning: #177-D: function "DR16_DataCorrupted" was declared but never referenced
static bool DR16_DataCorrupted(const DR16_t *dr16) {
..\User\device\remote_control.c: 1 warning, 0 errors
compiling nuc.c...
compiling can_use.c...
..\User\device\can_use.c(83): warning: #177-D: function "CAN_Sick_Receive_mini" was declared but never referenced
static void CAN_Sick_Receive_mini(CAN_SickFeedback_mini_t *feedback,const uint8_t *raw) {
..\User\device\can_use.c: 1 warning, 0 errors
compiling navi.c...
compiling vofa.c...
compiling Chassis.c...
linking...
Program Size: Code=88896 RO-data=1636 RW-data=1068 ZI-data=34692
Program Size: Code=92292 RO-data=1632 RW-data=1084 ZI-data=34796
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 2 Warning(s).
<h2>Software Packages used:</h2>
@ -69,7 +84,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:04
Build Time Elapsed: 00:00:10
</pre>
</body>
</html>

4591
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
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File diff suppressed because it is too large Load Diff

4781
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
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File diff suppressed because it is too large Load Diff

194
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)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
F (../Core/Src/gpio.c)(0x666D939D)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\gpio.o --omf_browse ele_chassis\gpio.crf --depend ele_chassis\gpio.d)
I (../Core/Inc/gpio.h)(0x664876DA)
I (../Core/Inc/main.h)(0x666C4A91)
@ -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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -175,16 +175,16 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -1104,7 +1104,7 @@ 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 (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c)(0x64D895F2)(--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\stm32f4xx_hal_can.o --omf_browse ele_chassis\stm32f4xx_hal_can.crf --depend ele_chassis\stm32f4xx_hal_can.d)
F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c)(0x68655C24)(--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\stm32f4xx_hal_can.o --omf_browse ele_chassis\stm32f4xx_hal_can.crf --depend ele_chassis\stm32f4xx_hal_can.d)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x64D895F2)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x664876DD)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x64D895F2)
@ -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)(0x686290C0)(--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)(0x68628DCC)
F (..\User\Module\Chassis.c)(0x6867C614)(--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)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -1589,23 +1589,23 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (..\User\Module\define.h)(0x68634E7A)
F (..\User\Module\config.c)(0x68634347)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
I (..\User\Module\define.h)(0x6866E077)
F (..\User\Module\config.c)(0x6867A34F)(--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)(0x68628DCC)
I (..\User\Module\Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -1651,25 +1651,25 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
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)(0x68634E7A)()
F (..\User\Module\define.h)(0x6866E077)()
F (..\User\bsp\bsp_delay.c)(0x663B6621)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\bsp_delay.o --omf_browse ele_chassis\bsp_delay.crf --depend ele_chassis\bsp_delay.d)
I (..\User\bsp\bsp_delay.h)(0x663B6621)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -2144,19 +2144,19 @@ 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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2223,23 +2223,23 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2285,18 +2285,18 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (..\User\task\user_task.h)(0x685844EB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
@ -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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2379,17 +2379,17 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -2398,8 +2398,8 @@ I (..\User\task\atti_esti.h)(0x663B6622)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h)(0x64D895DA)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/device/vofa.h)(0x685B9AD7)
F (..\User\task\can_task.c)(0x684FD506)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\can_task.o --omf_browse ele_chassis\can_task.crf --depend ele_chassis\can_task.d)
I (../User/device/can_use.h)(0x6811C5CD)
F (..\User\task\can_task.c)(0x68655C98)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\can_task.o --omf_browse ele_chassis\can_task.crf --depend ele_chassis\can_task.d)
I (../User/device/can_use.h)(0x6864D417)
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)
@ -2456,7 +2456,7 @@ 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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2465,12 +2465,12 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2537,17 +2537,17 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2614,17 +2614,17 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2694,17 +2694,17 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -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)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\task\user_task.h)(0x685844EB)
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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2780,11 +2780,11 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/Algorithm/kalman.h)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2851,17 +2851,17 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
@ -2928,28 +2928,28 @@ 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/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x666C4A91)
I (../User/bsp/bsp.h)(0x663B6621)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\remote_control_task.c)(0x681DFED8)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\remote_control_task.o --omf_browse ele_chassis\remote_control_task.crf --depend ele_chassis\remote_control_task.d)
F (..\User\task\remote_control_task.c)(0x6863C457)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\remote_control_task.o --omf_browse ele_chassis\remote_control_task.crf --depend ele_chassis\remote_control_task.d)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
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)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/device/device.h)(0x666C4CF9)
I (../User/device/Action.h)(0x67CAEC48)
@ -3009,15 +3009,15 @@ 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)(0x68628DCC)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/Algorithm/kalman.h)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
@ -3109,8 +3109,8 @@ 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\struct_typedef.h)(0x663B6621)
F (..\User\Algorithm\kalman.c)(0x68628500)(--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\kalman.o --omf_browse ele_chassis\kalman.crf --depend ele_chassis\kalman.d)
I (..\User\Algorithm\kalman.h)(0x677FBC67)
F (..\User\Algorithm\kalman.c)(0x6864D328)(--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\kalman.o --omf_browse ele_chassis\kalman.crf --depend ele_chassis\kalman.d)
I (..\User\Algorithm\kalman.h)(0x686430C8)
F (..\User\Algorithm\user_cmsis_os2.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\user_cmsis_os2.o --omf_browse ele_chassis\user_cmsis_os2.crf --depend ele_chassis\user_cmsis_os2.d)
I (..\User\Algorithm\user_cmsis_os2.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
@ -3305,21 +3305,21 @@ 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)(0x68628DCC)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/Module/Chassis.h)(0x6867AD71)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/device/cmd.h)(0x68625860)
I (../User/device/cmd.h)(0x6867ACA8)
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)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/device/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\device\can_use.c)(0x684FFED9)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\can_use.o --omf_browse ele_chassis\can_use.crf --depend ele_chassis\can_use.d)
I (..\User\device\can_use.h)(0x6811C5CD)
F (..\User\device\can_use.c)(0x68656DA7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\can_use.o --omf_browse ele_chassis\can_use.crf --depend ele_chassis\can_use.d)
I (..\User\device\can_use.h)(0x6864D417)
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)
@ -3368,9 +3368,9 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\device\device.h)(0x666C4CF9)
I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Module/define.h)(0x68634E7A)
F (..\User\device\cmd.c)(0x68634A6C)(--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)(0x68625860)
I (../User/Module/define.h)(0x6866E077)
F (..\User\device\cmd.c)(0x6867ACC0)(--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)(0x6867ACA8)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3417,8 +3417,8 @@ 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)(0x68634E7A)
F (..\User\device\nuc.c)(0x686257F0)(--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)(0x6866E077)
F (..\User\device\nuc.c)(0x6867CC81)(--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)
@ -3462,10 +3462,10 @@ 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)(0x68625860)
I (..\User\device\cmd.h)(0x6867ACA8)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/Module/chassis.h)(0x68628DCC)
I (../User/Module/chassis.h)(0x6867AD71)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/device/bmi088.h)(0x685CA251)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -3473,16 +3473,16 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/device/can_use.h)(0x6864D417)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/Algorithm/kalman.h)(0x677FBC67)
I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/bsp/protocol.h)(0x6851732E)
I (../User/bsp/crc16.h)(0x67FB9F9F)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(0x68634E7A)
I (../User/Module/define.h)(0x6866E077)
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)
@ -3537,7 +3537,7 @@ 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)(0x68634E7A)
I (../User/Module/define.h)(0x6866E077)
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)(0x666C4A91)
@ -3583,10 +3583,10 @@ I (..\User\device\device.h)(0x666C4CF9)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../User/bsp/bsp.h)(0x663B6621)
I (../Core/Inc/usart.h)(0x664876DC)
I (..\User\device\cmd.h)(0x68625860)
I (..\User\device\cmd.h)(0x6867ACA8)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\device\map.c)(0x68633FD5)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
F (..\User\device\map.c)(0x6864DBB0)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
I (..\User\device\map.h)(0x682338DB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3632,8 +3632,8 @@ 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)(0x68625860)
I (../User/Module/define.h)(0x68634E7A)
I (..\User\device\cmd.h)(0x6867ACA8)
I (../User/Module/define.h)(0x6866E077)
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)
@ -3679,7 +3679,7 @@ 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)(0x68625860)
I (..\User\device\cmd.h)(0x6867ACA8)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x685CBDA2)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3689,17 +3689,17 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\device\bmi088.h)(0x685CA251)
I (..\User\device\map.h)(0x682338DB)
I (..\User\device\can_use.h)(0x6811C5CD)
I (..\User\device\can_use.h)(0x6864D417)
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)(0x68634E7A)
F (..\User\device\remote_control.c)(0x685F9680)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\remote_control.o --omf_browse ele_chassis\remote_control.crf --depend ele_chassis\remote_control.d)
I (../User/Module/define.h)(0x6866E077)
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)(0x68625860)
I (..\User\device\cmd.h)(0x6867ACA8)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\device.h)(0x666C4CF9)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3747,7 +3747,7 @@ 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)(0x68634E7A)
I (../User/Module/define.h)(0x6866E077)
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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User/Algorithm/kalman.c
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@ -1,6 +1,6 @@
/**
* @author Liu heng
* 一阶卡尔曼滤波器来自RoboMaster论坛
* 一阶卡尔曼滤波器来自RoboMaster论坛 https://bbs.robomaster.com/article/1038?source=4
* 一维卡尔曼滤波器
* 使用时先定义一个kalman指针，然后调用kalmanCreate()创建一个滤波器
* 每次读取到传感器数据后即可调用KalmanFilter()来对数据进行滤波
@ -14,7 +14,9 @@
* SersorData = KalmanFilter(&p,SersorData); //对数据进行滤波
* }
*/
/*****************************************************************************************
* MPU6050的卡尔曼滤波器参考参数 Q：10 R：400 *
*****************************************************************************************/
#include "kalman.h"
/**
@ -35,7 +37,6 @@ void KalmanCreate(extKalman_t *p,float T_Q,float T_R)
p->Q = T_Q;
p->R = T_R;
p->A = 1;
p->B = 0;
p->H = 1;
p->X_mid = p->X_last;
}
@ -45,9 +46,14 @@ void KalmanCreate(extKalman_t *p,float T_Q,float T_R)
* @brief 卡尔曼滤波器
* @param p: 滤波器
* dat:待滤波数据
* @retval 滤波后的数据
* @retval 滤波后的数据
* Xnow=(1−k)Xlast+Kdat这个公式简单展现了Q，R对最终输出Xnow的影响
* K 越大（接近1）：滤波器更信任测量值 dat，响应更快（但受噪声影响更大）。
* K 越小（接近0）：滤波器更信任预测值 X_last，响应更慢（但更平滑）。
* 增大 Q（过程噪声） → K 增大 → 更信任测量值，响应更快。
* 增大 R（测量噪声） → K 减小 → 更信任预测值，滤波更平滑。
* @attention Z(k)是系统输入,即测量值 X(k|k)是卡尔曼滤波后的值,即最终输出
* A=1 B=0 H=1 I=1 W(K) V(k)是高斯白噪声,叠加在测量值上了,可以不用管
* A=1 H=1 I=1 W(K) V(k)是高斯白噪声,叠加在测量值上了,可以不用管
* 以下是卡尔曼的5个核心公式
* 一阶H'即为它本身,否则为转置矩阵
*/

1
User/Algorithm/kalman.h
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@ -16,7 +16,6 @@ typedef struct {
float P_last; //上一时刻最优结果的协方差 P(k-1|k-1)
float kg; //kalman增益
float A; //系统参数
float B;
float Q;
float R;
float H;

246
User/Module/Chassis.c
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@ -1,7 +1,7 @@
#include "Chassis.h"
#include "define.h"
/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处，
/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处(define.h里有快捷方法)，
进debug将四个轮子编码器朝右（左右无所谓，可能会导致5065方向反，在解算里加个负号就行）
查看6020反馈值，将6020反馈值放入motor_offset中*/
@ -11,14 +11,17 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
c->param = param; /*初始化参数 */
//舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
MotorOffset_t motor_offset = { {90.208771, 270.846054, 208.655842, 28.282257}};
MotorOffset_t motor_offset = { {89.901093, 330.179474, 208.084482, 29.337082}};
c->motoroffset = motor_offset; // 将 motor_offset 的值赋给 c->motoroffset
//在这里修改雷达校准时sick的值
c->SICK_FALG = 0;
//在这里修改雷达校准时sick的值
c->sick_set[0] = 2500;
c->sick_set[1] = 2500;
c->sick_set[2] = 600;
//校准初始化
c->reset_sick_flag = 0;
c->radar_reset_flag = 0;
//蜂鸣器初始化
Buzzer_Init(&c->buzzer_radar_angle,200,1000,0.5);
@ -29,6 +32,8 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
PID_init(&(c->pid.chassis_6020anglePid[i]), PID_POSITION,&(c->param->C6020Angle_param));
}
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));
@ -41,11 +46,13 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
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[5]),target_freq,8.0f); //给雷达z做滤波
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;
}
@ -87,6 +94,9 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
c->sick[i] = LowPassFilter2p_Apply(&(c->filled[i+6]),c->sick[i]);
c->sick[i] = c->sick[i]/10;
}
// 将 IMU 的 yaw 从 [+180°, 0,-180°] 转换到 [0°, 360°]
c->angle_current = - AngleChange(DEGREE, c->pos088.imu_eulr.yaw);
if (c->angle_current < 0) c->angle_current += 360.0f;
return CHASSIS_OK;
}
@ -157,6 +167,7 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
case NAVI:
#ifdef radar
if(ctrl->C_cmd.nuc_radar == ANGLE ||ctrl->C_cmd.nuc_radar == RADAR_RESET){
//雷达纠正时就用正常解算
c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
@ -184,47 +195,48 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
break;
}
else if(ctrl->C_cmd.nuc_radar == WORLD){
//利用雷达反馈的自身角度把机器人坐标系转到世界坐标系
// c->chassis_yaw = ctrl->nuc.yaw* (M_PI / 180.0f);
// float cos_yaw = cosf(c->chassis_yaw);
// float sin_yaw = sinf(c->chassis_yaw);
//
// // 将速度从世界坐标系转换到底盘坐标系
// float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
// float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
//
// //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
// c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
// (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
// (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
//
// c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
// (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
// (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
//
// c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
// (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
// (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//
// c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
// (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
// (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//
// //解算得到6020角度（-180°——+180°）
// c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
// (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
// (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
// (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
// (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// break;
c->chassis_yaw = ctrl->nuc.yaw* (M_PI / 180.0f);
float cos_yaw = cosf(c->chassis_yaw);
float sin_yaw = sinf(c->chassis_yaw);
// 将速度从世界坐标系转换到底盘坐标系
float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
//解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
(Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
(Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
(Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
(Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
(Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
(Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
(Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
(Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//解算得到6020角度（-180°——+180°）
c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
(Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
(Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
(Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
(Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
break;
}
#elif defined(action_sick)
if(ctrl->C_cmd.nuc_radar == FORBIDDEN && ctrl->C_cmd.dribble == Pause){
if(ctrl->C_cmd.nuc_radar == WORLD && ctrl->C_cmd.dribble == Pause){
//运球时锁死
for(int i =0 ; i < 4 ; i++){
c->hopemotorout.rotor5065_jiesuan_1[i]=0;
@ -309,6 +321,31 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
}
}
//利用c板yaw纠正底盘角度
//void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
// // 将 IMU 的 yaw 从 [+180°, 0,-180°] 转换到 [0°, 360°]
// c->angle_current = - AngleChange(DEGREE, c->pos088.imu_eulr.yaw);
// if (c->angle_current < 0) c->angle_current += 360.0f;
// CircleAdd(&c->set_point.yaw, ctrl->Vw, 360.0f);
// c->yaw_out = PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_current,c->set_point.yaw);
//}
void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
fp32 current_angle;
if(c->move_vec.Vw== 0){
c->angle_piancha=current_angle-c->angle_current;
}
else{
current_angle = c->angle_current;
c->angle_piancha=0;
}
c->yaw_out = -PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_piancha,0);
}
//根据陀螺仪反馈的数据来防止速度过快时侧翻
void Chassis_RolPrevent(Chassis_t *c){
/*这里pit轴rol轴根据c板安装方向*/
@ -326,35 +363,74 @@ void Chassis_RolPrevent(Chassis_t *c){
//左侧腾空
else if(c->pos088.imu_eulr.rol < -0.1f)
c->move_vec.Vy = 20000; //往右挪
}
fp32 nuc_detangle;
//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;
//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.vw = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.vw);
ctrl->nuc.angle = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.angle);
//卡尔曼滤波
//ctrl->nuc.vw = KalmanFilter(&c->kalman_filled[0], ctrl->nuc.vw);
//一个单环pid
c->radar_yaw = -PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw,0);
// c->radar_yaw = (fabsf(ctrl->nuc.angle)>1?- PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw,0):0);
// if(c->radar_yaw>0){
// c->radar_yaw +=500;
// }
// else if(c->radar_yaw<0){
// c->radar_yaw -=500;
// }
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);
}
//uint8_t angle_locked; // 角度锁定标志
//float locked_target_angle; // 锁定时的目标角度
//uint32_t angle_lock_timer = 0; // 锁定计时器
//float normalize_angle(float angle) {
// while(angle < 0) angle += 360;
// while(angle >= 360) angle -= 360;
// return angle;
//}
//// 计算最短路径角度差（返回-180~180之间的差值）
//float angle_difference(float current, float target) {
// float diff = target - current;
// if(diff > 180) diff -= 360;
// else if(diff < -180) diff += 360;
// return diff;
//}
//void nuc_angle_correct(Chassis_t *c, CMD_t *ctrl) {
// fp32 detla_angle;
// // 雷达数据滤波
// ctrl->nuc.angle = LowPassFilter2p_Apply(&(c->filled[5]), ctrl->nuc.angle);
// if(c->mode != NAVI|| ctrl->C_cmd.nuc_radar != ANGLE||(c->move_vec.Vx||c->move_vec.Vy)){
// angle_locked = 0; // 解锁
// angle_lock_timer = 0;
// }
// if(ctrl->nuc.angle != 0){
// if(angle_locked == 0){
// locked_target_angle = normalize_angle(c->angle_current - ctrl->nuc.angle);
// angle_locked = 1;
// angle_lock_timer = HAL_GetTick(); // 记录锁定时间
// }
// }
// if(angle_locked){
// if(fabs(angle_difference(c->angle_current, locked_target_angle)) < 1){
// // 误差小于阈值时开始计时
// if((HAL_GetTick() - angle_lock_timer) > 50){
// angle_locked = 0;
// }
// } else {
// // 误差变大则重置计时
// angle_lock_timer = HAL_GetTick();
// }
// }
// detla_angle = PID_calc(&(c->pid.chassis_RadaranglePID),c->angle_current,locked_target_angle);
// c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,detla_angle);
//}
//雷达运用sick来校准
void radar_sick_calibration(Chassis_t *c){
void radar_sick_calibration(Chassis_t *c,CMD_t *ctrl){
fp32 diff_x = c->sick[2] - c->sick_set[2];
fp32 diff_y = c->sick[0] - c->sick_set[0];
fp32 diff_w = (c->sick[0] - c->sick[1]);
fp32 diff_w = (c->sick[0] - c->sick[1]);
c->move_sick.Vx = (fabsf(diff_x)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVx),diff_x,0): 0;
c->move_sick.Vy = (fabsf(diff_y)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVy),diff_y,0): 0;
c->move_sick.Vw = PID_calc(&(c->pid.chassis_SickVw),diff_w*4,0); //放大偏角误差
@ -364,32 +440,34 @@ void radar_sick_calibration(Chassis_t *c){
if (fabsf(diff_x) <= SICKXY_ERROR && fabsf(diff_y) <= SICKXY_ERROR &&fabsf(diff_w)<= SICKW_ERROR) {
reach_cnt++;
if (reach_cnt >= 50) {
c->SICK_FALG = 1;
c->reset_sick_flag = 1;
reach_cnt = 0;
}
}
else {
c->SICK_FALG = 0;
}
c->reset_sick_flag = 0;
}
}
//底盘控制
int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*pos){
Chassis_SetCtrl(c,ctrl);
fp32 chassis6020_detangle[4];
fp32 chassis6020_detangle[4];
Chassis_SetCtrl(c,ctrl);
//陀螺仪yaw纠正底盘偏角
Chassis_AngleCompensate(c,ctrl);
#ifdef radar
//关于nuc纠正的函数都要一直运行
nuc_angle_correct(c,ctrl);
radar_sick_calibration(c);
// radar_sick_calibration(c,ctrl);
#endif
switch (c->mode){
case RC:
c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;
// c->move_vec.Vw = c->yaw_out*ctrl->throttle;
break;
case STOP:
@ -403,13 +481,13 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
case ANGLE:
c->move_vec.Vx = ctrl->Vx*95000;
c->move_vec.Vy = ctrl->Vy*95000;
c->move_vec.Vw = c->radar_yaw*400;
// c->move_vec.Vw = ctrl->nuc.vw*400;
//
// c->move_vec.Vw = c->radar_yaw*400;
c->move_vec.Vw = c->radar_yaw;
// Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.vw) < 1 && ctrl->nuc.vw != 0));
break;
case FORBIDDEN:
case WORLD:
#ifdef action_sick
//跑点
if(ctrl->C_cmd.dribble == RUNNING){
@ -429,26 +507,24 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
c->move_vec.Vw = ctrl->Vw*ctrl->throttle*6000;
#endif
break;
case RADAR_RESET:
c->move_vec.Vx = c->move_sick.Vx;
c->move_vec.Vy = c->move_sick.Vy;
c->move_vec.Vw = c->move_sick.Vw;
Buzzer_Control(&c->buzzer_sick_calibration,(c->SICK_FALG == 1));
break;
break;
case NAVI:
// c->move_vec.Vx = c->move_sick.Vx;
// c->move_vec.Vy = c->move_sick.Vy;
// c->move_vec.Vw = c->move_sick.Vw;
c->radar_reset_flag = 1;
break;
}
break;
}
//防翻
Chassis_RolPrevent(c);
//进行滤波
c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[0]),c->move_vec.Vx);
c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vy);
c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vw);
//防翻
Chassis_RolPrevent(c);
Chassis_speed_calculate(c,pos,ctrl);
#ifdef calibration
@ -472,7 +548,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
// c->vofa_send[1] =c->sick_set[2];
// c->vofa_send[2] =c->sick[0];
// c->vofa_send[3] =c->sick_set[0];
// c->vofa_send[4] =c->sick[0] - c->sick[1];
c->vofa_send[4] =c->sick[0] - c->sick[1];
c->vofa_send[5] =ctrl->nuc.angle;
c->vofa_send[6] =ctrl->nuc.vw;
// c->vofa_send[7] =0;

24
User/Module/Chassis.h
View File

@ -72,7 +72,8 @@ typedef struct
/*该部分决定PID的参数整定在config中修改*/
pid_param_t C6020Omega_param;
pid_param_t C6020Angle_param;
pid_param_t C6020Angle_param;
pid_param_t Chassis_AngleAdjust_param;
pid_param_t RadarAngle_param;
pid_param_t RadarSpeed_param;
pid_param_t SickVx_param;
@ -108,9 +109,11 @@ typedef struct{
/*sick跑点数据*/
fp32 sick[3];
fp32 sick_set[3];
uint8_t SICK_FALG;
ChassisMove_Vec move_sick; //sick跑点速度
fp32 sick_set[3];
ChassisMove_Vec move_sick; //sick跑点速度
uint8_t reset_sick_flag; //sick校准
uint8_t radar_reset_flag; //雷达校准标志位
/*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
struct{
@ -152,7 +155,8 @@ typedef struct{
/*pid*/
struct{
pid_type_def chassis_6020anglePid[4];
pid_type_def chassis_6020OmegaPid[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_SickVx;
@ -167,6 +171,11 @@ typedef struct{
fp32 chassis_yaw; //码盘世界坐标系下底盘角度
uint8_t keeping_angle_flag; // 是否处于保持角度模式
AHRS_Eulr_t set_point; //底盘纠正目标角
fp32 angle_current; //当前角度
fp32 angle_piancha; //偏差角度
fp32 yaw_out; //角度pid输出值
ChassisImu_t pos088; //088的实时姿态
MotorOffset_t motoroffset; //5065校准数据
const Chassis_Param_t *param; //一些固定的参数
@ -175,7 +184,8 @@ typedef struct{
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_sick_calibration; // 用于SICK校准雷达的蜂鸣器控制
}Chassis_t;
/**
@ -196,7 +206,7 @@ typedef struct{
*/
int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can);
void radar_sick_correct(Chassis_t *c);
void radar_sick_calibration(Chassis_t *c,CMD_t *ctrl);
/**
* \brief

90
User/Module/config.c
View File

@ -17,7 +17,7 @@ static const ConfigParam_t param_chassis ={
.chassis = {/**/
.C6020Angle_param = {
.p = 45.0f,
.p = 30.0f,
.i = 0.05f,
.d = 2.0f,
.i_limit = 20.0f,
@ -30,73 +30,27 @@ static const ConfigParam_t param_chassis ={
.i_limit = 2000.0f,
.out_limit = 25000.0f
},
//1，两套单环pid
// .RadarAngle_param = {
// .p = 20.0f,
// .i = 0.8f,
// .d = 500.0f,
// .i_limit = 100.0f,
// .out_limit =1000.0f,
// },
// .RadarSpeed_param = {
// .p = 20.0f,
// .i = 0.3f,
// .d = 200.0f,
// .i_limit = 90.0f,
// .out_limit =500.0f,
// },
//2，k给了5的pid
// .RadarAngle_param = {
// .p = 30.0f,
// .i = 0.6f,
// .d = 1400.0f,
// .i_limit = 1800.0f,
// .out_limit =8000.0f,
// },
//3，加了500补偿，没有k的pid
// .RadarAngle_param = {
// .p = 100.0f,
// .i = 1.2f,
// .d = 4000.0f,
// .i_limit = 1600.0f,
// .out_limit =8000.0f,
// },
//4，视觉那边改pid
.Chassis_AngleAdjust_param={
.p = 10.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit =6000.0f,
},
.RadarAngle_param = {
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit =30.0f,
.p = 40.0f,
.i = 0.01f,
.d = 1000.0f,
.i_limit = 100.0f,
.out_limit =1500.0f,
},
//第一套：原本的pid
// .SickVx_param = {
// .p =14.0f,
// .i =0.3f,
// .d =3.0f,
// .i_limit =2500.0f,
// .out_limit =15000.0f,
// },
// .SickVy_param = {
// .p =15.0f,
// .i =0.3f,
// .d =6.0f,
// .i_limit =2500.0f,
// .out_limit =15000.0f,
// },
// .SickVw_param = {
// .p =40.0f,
// .i =0.02f,
// .d =4.0f,
// .i_limit = 1600.0f,
// .out_limit = 8000.0f
// },
//第一套改
.RadarSpeed_param = {
.p = 7.0f,
.i = 0.01f,
.d = 50.0f,
.i_limit = 500.0f,
.out_limit =8000.0f,
},
.SickVx_param = {
.p =12.0f,
.i =0.3f,
@ -177,9 +131,9 @@ static const ConfigParam_t param_chassis ={
},
.pid_PosSpeed_xy_param={
.p =27.0f,
.i =0.0f,
.i =0.1f,
.d =500.0f,
.i_limit =0.0f,
.i_limit =500.0f,
.out_limit =25000.0f,
},

2
User/device/can_use.c
View File

@ -34,7 +34,6 @@ static CAN_RawRx_t raw_rx2;
CAN_RawTx_t raw_tx;
static CAN_t *gcan;//有什么用＄1<EFBC84>7
/* Private function -------------------------------------------------------- */
static void CAN_DJIMotor_Decode(CAN_MotorFeedback_t *feedback,
@ -88,6 +87,7 @@ static void CAN_Sick_Receive_mini(CAN_SickFeedback_mini_t *feedback,const uint8_
feedback->sick_distance[3] = (uint16_t)(raw[6] << 8| raw[7]);
}
static void CAN_CAN1RxFifoMsgPendingCallback(void) {
HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_1), CAN_RX_FIFO0,
&raw_rx1.rx_header, raw_rx1.rx_data);

25
User/device/cmd.c
View File

@ -126,7 +126,7 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
cmd->C_cmd.mode = RC;
break;
case CMD_SW_MID:
cmd->C_cmd.mode = STOP;
cmd->C_cmd.mode = STOP;
}
//导航切换
switch(rc->LD.key_E){
@ -134,7 +134,7 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
cmd->C_cmd.nuc_radar = ANGLE;
break;
case CMD_SW_MID:
cmd->C_cmd.nuc_radar = FORBIDDEN;
cmd->C_cmd.nuc_radar = WORLD;
break;
case CMD_SW_DOWN:
cmd->C_cmd.nuc_radar = RADAR_RESET;
@ -173,55 +173,62 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
static int previous_pos = -1;
if(rc->LD.knob_left > 199 && rc->LD.knob_left < 350){
if(rc->LD.knob_left > 199 && rc->LD.knob_left < 265){ //200
if(cmd->C_cmd.pos != POS_1) {
if(previous_pos != POS_1) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_1;
previous_pos = POS_1;
}
}
else if(rc->LD.knob_left > 350 && rc->LD.knob_left < 650){
else if(rc->LD.knob_left > 265 && rc->LD.knob_left < 405){//330
if(cmd->C_cmd.pos != POS_2) {
if(previous_pos != POS_2) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_2;
previous_pos = POS_2;
}
}
else if(rc->LD.knob_left > 650 && rc->LD.knob_left < 900){
else if(rc->LD.knob_left > 405 && rc->LD.knob_left < 554){ //479
if(cmd->C_cmd.pos != POS_3) {
if(previous_pos != POS_3) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_3;
previous_pos = POS_3;
}
}
else if(rc->LD.knob_left > 900 && rc->LD.knob_left < 1150){
else if(rc->LD.knob_left > 554 && rc->LD.knob_left < 704){ //629
if(cmd->C_cmd.pos != POS_4) {
if(previous_pos != POS_4) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_4;
previous_pos = POS_4;
}
}
else if(rc->LD.knob_left > 1150 && rc->LD.knob_left < 1400){
else if(rc->LD.knob_left > 704 && rc->LD.knob_left < 853){//778
if(cmd->C_cmd.pos != POS_5) {
if(previous_pos != POS_5) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_5;
previous_pos = POS_5;
}
}
else if(rc->LD.knob_left > 1400 && rc->LD.knob_left < 1650){
else if(rc->LD.knob_left > 853 && rc->LD.knob_left < 1002){//928
if(cmd->C_cmd.pos != POS_6) {
if(previous_pos != POS_6) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_6;
previous_pos = POS_6;
}
}
else if(rc->LD.knob_left > 1650 && rc->LD.knob_left < 1801){
else if(rc->LD.knob_left > 1002 && rc->LD.knob_left < 1150){ //1075
if(cmd->C_cmd.pos != POS_7) {
if(previous_pos != POS_7) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_7;
previous_pos = POS_7;
}
}
else if(rc->LD.knob_left > 1150 && rc->LD.knob_left < 1300){ //1224
if(cmd->C_cmd.pos != POS_8) {
if(previous_pos != POS_8) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_8;
previous_pos = POS_8;
}
}
//运球时锁死
if(rc->LD.key_G == CMD_SW_UP&&cmd->C_cmd.pos != POS_1){

8
User/device/cmd.h
View File

@ -97,6 +97,7 @@ typedef enum{
POS_5,
POS_6,
POS_7,
POS_8,
}CMD_Chassis_navi_pos;
typedef enum{
@ -106,7 +107,7 @@ typedef enum{
}CMD_Chassis_mode;
typedef enum{
FORBIDDEN, //遥控模式
WORLD, //无头模式
ANGLE, //角度纠正
RADAR_RESET, //雷达复位
}CMD_Chassis_radar;
@ -126,12 +127,13 @@ typedef struct{
CMD_Chassis_mode mode; //底盘模式
CMD_Chassis_radar nuc_radar; //导航模式
CMD_Chassis_Communication communicate; //瞄准模式
CMD_Chassis_Dribble dribble; //运球锁死模式
}CMD_Chassis_Ctrl_t;
CMD_Chassis_Dribble dribble; //运球锁死模式
}CMD_Chassis_Ctrl_t;
typedef struct {
float vx;

41
User/device/map.c
View File

@ -34,6 +34,8 @@ point_t path_6;
sick_t sick_6;
point_t path_7;
sick_t sick_7;
point_t path_8;
sick_t sick_8;
//点位坐标x轴朝前，y轴朝右
void block_select(Action_POS_t*pos,CMD_t*cmd){
@ -57,17 +59,17 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
// sick_2.sick_flag = 0;
//1
path_1.x = -800;
path_1.y = -800;
path_1.x = 0;
path_1.y = 0;
path_1.angle=0;
sick_1.sick_qian = 0;
sick_1.sick_you = 0;
sick_1.sick_hou = 0;
sick_1.sick_zuo = 0;
sick_1.sick_flag = 0;
sick_1.sick_flag = 0;
//2
path_2.x = -2500;
path_2.y = -800;
path_2.x = -800;
path_2.y = -800;
path_2.angle=0;
sick_2.sick_qian = 0;
sick_2.sick_you = 0;
@ -76,8 +78,8 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
sick_2.sick_flag = 0;
//3
path_3.x = -2500;
path_3.y = 1250;
path_3.angle= 0;
path_3.y = -800;
path_3.angle=0;
sick_3.sick_qian = 0;
sick_3.sick_you = 0;
sick_3.sick_hou = 0;
@ -85,7 +87,7 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
sick_3.sick_flag = 0;
//4
path_4.x = -2500;
path_4.y = 3300;
path_4.y = 1250;
path_4.angle= 0;
sick_4.sick_qian = 0;
sick_4.sick_you = 0;
@ -93,7 +95,7 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
sick_4.sick_zuo = 0;
sick_4.sick_flag = 0;
//5
path_5.x = -800;
path_5.x = -2500;
path_5.y = 3300;
path_5.angle= 0;
sick_5.sick_qian = 0;
@ -102,8 +104,8 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
sick_5.sick_zuo = 0;
sick_5.sick_flag = 0;
//6
path_6.x = 0;
path_6.y = 2500;
path_6.x = -800;
path_6.y = 3300;
path_6.angle= 0;
sick_6.sick_qian = 0;
sick_6.sick_you = 0;
@ -112,13 +114,22 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
sick_6.sick_flag = 0;
//7
path_7.x = 0;
path_7.y = 0;
path_7.y = 2500;
path_7.angle= 0;
sick_7.sick_qian = 0;
sick_7.sick_you = 0;
sick_7.sick_hou = 0;
sick_7.sick_zuo = 0;
sick_7.sick_flag = 0;
sick_7.sick_flag = 0;
//8
path_8.x = 0;
path_8.y = 0;
path_8.angle= 0;
sick_8.sick_qian = 0;
sick_8.sick_you = 0;
sick_8.sick_hou = 0;
sick_8.sick_zuo = 0;
sick_8.sick_flag = 0;
}
@ -161,6 +172,10 @@ void path_select(CMD_t*cmd){
case POS_7:
path_state.target = &path_7;
path_state.sick = &sick_7;
break;
case POS_8:
path_state.target = &path_8;
path_state.sick = &sick_8;
break;
}
path_state.points_flag = 0; //标志位清零

22
User/device/nuc.c
View File

@ -95,24 +95,28 @@ int8_t NUC_Send(fp32 *data) {
//发送控制函数
void NUC_Send_control(CMD_NUC_t *n,CMD_t *cmd,Chassis_t *chassis) {
static fp32 send_data[2];
//send_data[0]：sick校准标志位 1：sick校准成功
//send_data[0]：校准标志位 1：sick校准成功
//send_data[1]：锁框锁球标志位 0：锁框 1：锁车
//启动sick校准雷达
if (chassis->SICK_FALG == 1) {
//启动机械卡位校准雷达
if (chassis->reset_sick_flag == 1) {
send_data[0] = 1;
send_data[1] = 0;
NUC_Send(send_data); // 发送数据
NUC_Send(send_data);
}
//启动传球
else if(cmd->C_cmd.communicate == YES){
//传球模式
if(cmd->C_cmd.communicate == YES){
send_data[0] = 0;
send_data[1] = 1;
NUC_Send(send_data); // 发送数据
NUC_Send(send_data);
}
else if(cmd->C_cmd.communicate == NO){
//锁框模式
else if(cmd->C_cmd.communicate == NO){
send_data[0] = 0;
send_data[1] = 0;
NUC_Send(send_data); // 发送数据
NUC_Send(send_data);
}
}

2
User/device/remote_control.c
View File

@ -224,7 +224,7 @@ int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,LD_raw_t *LD) {
rc->LD.key_E = Keymap(LD->sw[4]);
rc->LD.key_F = Keymap(LD->sw[5]);
rc->LD.key_G = Keymap(LD->sw[6]);
rc->LD.knob_left = LD->sw[7];
rc->LD.knob_left = LD->sw[7]; //200 330 479 629 778 928 1075 1224 1373 1522 1670 1800
// /*离线处理，和dr16位置不同*/
if(LD->sw[3]==1400)

3
User/task/can_task.c
View File

@ -19,7 +19,6 @@ static CAN_RawRx_t can_rx;
#endif
void Task_can(void *argument)
{
(void)argument;
@ -45,7 +44,7 @@ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
osMessageQueueReset(task_runtime.msgq.can.feedback.chassisfed5065);
osMessageQueuePut(task_runtime.msgq.can.feedback.chassisfed5065, &can, 0, 0);
// osMessageQueueReset(task_runtime.msgq.can.feedback.pitchfed6020);
// osMessageQueuePut(task_runtime.msgq.can.feedback.pitchfed6020, &can, 0,0);

2
User/task/remote_control_task.c
View File

@ -19,7 +19,7 @@ LD_raw_t LD;
#else
static DR16_t dr16;
static CMD_RC_t cmd_rc;
static LD_raw_t LD_raw;
static LD_raw_t LD;
#endif
/* Private function --------------------------------------------------------- */

34
readme.md
View File

@ -52,40 +52,54 @@
6.27加了个防翻保护
7.4加了利用陀螺仪yaw来纠正只有vx，vy时的角度误差
目前存在的问题：
1,sick辅助雷达校准点位pid得调，差不多了，但调的很抽象，d贼大，没办法
1，雷达纠正角度那块pid得调
2，雷达纠正角度那块pid得调
2,sick辅助雷达校准点位pid得调，差不多了，但调的很抽象，d贼大，没办法
3,试一下雷达发自身角度，用世界坐标系实现边跑边锁框（已加入）
3，加一个上电后串口正常亮灯的代码
1，码盘运球赛提速
1，码盘运球赛提速,速度差不多了
2,改一下串口代码(已加上，但原代码没出现过什么问题)
3，舵轮前后校准和左右校准不一样，会导致前后校准后前后走的还可以，但是左右会歪，就像是转不够90度
3，2号舵6020貌似有问题，平移的时候总是往右面偏一点，导致左右平移都会往前移动，已经过验证
目标效果：
校准方法：
1，sick跑同一直线上的两点，然后把值发给雷达，纠正雷达yaw
2，码盘sick全场定位
3，雷达扫描
4，二维雷达1,低配版：+c板2，＋三位雷达3，+码盘
之前不成熟的目标效果：
1，雷达精准定位篮筐，sick辅助雷达校准
2，相机动态调试时由于帧率太低导致车体震荡，但是静态调试时又比较呆，而且相机可能会在今年赛题比较受限
3，码盘＋sick，我觉得码盘负责调整yaw为0，sick至少两个呈直角把模拟量与实际距离相拟合来得到自身距离进而实现全场定位有戏，但奈何没多少时间来验证这一想法。
3，码盘＋sick，我觉得码盘负责调整yaw为0，sick至少两个呈直角把模拟量与实际距离相拟合来得到自身距离进而实现全场定位
第二种是码盘和sick配合跑点，也是比较受限
赛场上运球赛r1打，码盘自动跑点，投篮赛r2打，正赛大部分都是r1持球，先用sick跑点校准并且运完球之后进入进攻区，在进攻区内找准时机锁框发射，实在不行传球。