From d3ed8b37731724bec9766fea5bfa2077dfdd06ee Mon Sep 17 00:00:00 2001 From: Yodel <3114680004@qq.com> Date: Fri, 4 Jul 2025 20:58:06 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=94=B9=E4=BA=86=E5=BE=88=E5=A4=9A?= =?UTF-8?q?=E4=B8=9C=E8=A5=BF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Src/stm32f4xx_hal_can.c | 1 - MDK-ARM/AUTO_CHASSIS.uvguix.Yodel | 134 +- MDK-ARM/AUTO_CHASSIS.uvoptx | 53 +- MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf | Bin 2907064 -> 2912428 bytes .../ELE_CHASSIS/AUTO_CHASSIS.build_log.htm | 33 +- MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm | 4591 ++++++++-------- MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map | 4781 +++++++++-------- .../ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep | 194 +- MDK-ARM/ELE_CHASSIS/action.crf | Bin 874965 -> 874990 bytes MDK-ARM/ELE_CHASSIS/action.o | Bin 976264 -> 976268 bytes MDK-ARM/ELE_CHASSIS/action_task.crf | Bin 962437 -> 962795 bytes MDK-ARM/ELE_CHASSIS/action_task.o | Bin 1031916 -> 1032148 bytes MDK-ARM/ELE_CHASSIS/atti_esti.crf | Bin 966642 -> 967000 bytes MDK-ARM/ELE_CHASSIS/atti_esti.o | Bin 1039084 -> 1039316 bytes MDK-ARM/ELE_CHASSIS/bmi088.crf | Bin 922864 -> 923222 bytes MDK-ARM/ELE_CHASSIS/bmi088.o | Bin 1030788 -> 1031020 bytes MDK-ARM/ELE_CHASSIS/calc_task.crf | Bin 962237 -> 962595 bytes MDK-ARM/ELE_CHASSIS/calc_task.o | Bin 1031712 -> 1031944 bytes MDK-ARM/ELE_CHASSIS/can_task.crf | Bin 962646 -> 963004 bytes MDK-ARM/ELE_CHASSIS/can_task.o | Bin 1032076 -> 1032308 bytes MDK-ARM/ELE_CHASSIS/can_use.crf | Bin 894342 -> 894342 bytes MDK-ARM/ELE_CHASSIS/can_use.o | Bin 988612 -> 988612 bytes MDK-ARM/ELE_CHASSIS/chassis.crf | Bin 913087 -> 915179 bytes MDK-ARM/ELE_CHASSIS/chassis.o | Bin 1011620 -> 1018552 bytes MDK-ARM/ELE_CHASSIS/chassis_task.crf | Bin 962990 -> 963348 bytes MDK-ARM/ELE_CHASSIS/chassis_task.o | Bin 1033668 -> 1033900 bytes MDK-ARM/ELE_CHASSIS/cmd.crf | Bin 875173 -> 875312 bytes MDK-ARM/ELE_CHASSIS/cmd.o | Bin 968044 -> 968136 bytes MDK-ARM/ELE_CHASSIS/cmd_task.crf | Bin 962469 -> 962827 bytes MDK-ARM/ELE_CHASSIS/cmd_task.o | Bin 1032328 -> 1032560 bytes MDK-ARM/ELE_CHASSIS/config.crf | Bin 915351 -> 915709 bytes MDK-ARM/ELE_CHASSIS/config.o | Bin 995932 -> 996188 bytes MDK-ARM/ELE_CHASSIS/error_detect_task.crf | Bin 967867 -> 968225 bytes MDK-ARM/ELE_CHASSIS/error_detect_task.o | Bin 1045628 -> 1045860 bytes MDK-ARM/ELE_CHASSIS/freertos.crf | Bin 967368 -> 967726 bytes MDK-ARM/ELE_CHASSIS/freertos.o | Bin 1039024 -> 1039256 bytes MDK-ARM/ELE_CHASSIS/init.crf | Bin 962870 -> 963228 bytes MDK-ARM/ELE_CHASSIS/init.o | Bin 1031788 -> 1032020 bytes MDK-ARM/ELE_CHASSIS/kalman.crf | Bin 1012 -> 984 bytes MDK-ARM/ELE_CHASSIS/kalman.o | Bin 10424 -> 10396 bytes MDK-ARM/ELE_CHASSIS/main.crf | Bin 936524 -> 936549 bytes MDK-ARM/ELE_CHASSIS/main.o | Bin 1016836 -> 1016840 bytes MDK-ARM/ELE_CHASSIS/map.crf | Bin 873404 -> 873580 bytes MDK-ARM/ELE_CHASSIS/map.o | Bin 963492 -> 963776 bytes MDK-ARM/ELE_CHASSIS/navi.crf | Bin 908781 -> 908806 bytes MDK-ARM/ELE_CHASSIS/navi.o | Bin 999632 -> 999636 bytes MDK-ARM/ELE_CHASSIS/navi_task.crf | Bin 962386 -> 962744 bytes MDK-ARM/ELE_CHASSIS/navi_task.o | Bin 1032040 -> 1032272 bytes MDK-ARM/ELE_CHASSIS/nuc.crf | Bin 914171 -> 914534 bytes MDK-ARM/ELE_CHASSIS/nuc.o | Bin 1004476 -> 1004708 bytes MDK-ARM/ELE_CHASSIS/nuc_task.crf | Bin 964597 -> 964955 bytes MDK-ARM/ELE_CHASSIS/nuc_task.o | Bin 1035256 -> 1035492 bytes MDK-ARM/ELE_CHASSIS/remote_control.crf | Bin 894538 -> 894563 bytes MDK-ARM/ELE_CHASSIS/remote_control.o | Bin 990336 -> 990340 bytes MDK-ARM/ELE_CHASSIS/remote_control_task.crf | Bin 965675 -> 966033 bytes MDK-ARM/ELE_CHASSIS/remote_control_task.o | Bin 1034776 -> 1035008 bytes MDK-ARM/ELE_CHASSIS/stm32f4xx_hal_can.crf | Bin 859846 -> 859846 bytes MDK-ARM/ELE_CHASSIS/stm32f4xx_hal_can.o | Bin 999580 -> 999580 bytes MDK-ARM/ELE_CHASSIS/user_task.crf | Bin 962117 -> 962475 bytes MDK-ARM/ELE_CHASSIS/user_task.o | Bin 1030464 -> 1030696 bytes MDK-ARM/ELE_CHASSIS/vofa.crf | Bin 895119 -> 895119 bytes MDK-ARM/ELE_CHASSIS/vofa.o | Bin 972884 -> 972884 bytes User/Algorithm/kalman.c | 16 +- User/Algorithm/kalman.h | 1 - User/Module/Chassis.c | 246 +- User/Module/Chassis.h | 24 +- User/Module/config.c | 90 +- User/device/can_use.c | 2 +- User/device/cmd.c | 25 +- User/device/cmd.h | 8 +- User/device/map.c | 41 +- User/device/nuc.c | 22 +- User/device/remote_control.c | 2 +- User/task/can_task.c | 3 +- User/task/remote_control_task.c | 2 +- readme.md | 34 +- 76 files changed, 5152 insertions(+), 5151 deletions(-) diff --git a/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c b/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c index 4abdc60..a3bb27b 100644 --- a/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c +++ b/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c @@ -215,7 +215,6 @@ /** @addtogroup STM32F4xx_HAL_Driver * @{ */ - #if defined(CAN1) /** @defgroup CAN CAN diff --git a/MDK-ARM/AUTO_CHASSIS.uvguix.Yodel b/MDK-ARM/AUTO_CHASSIS.uvguix.Yodel index f3932fc..627d6a6 100644 --- a/MDK-ARM/AUTO_CHASSIS.uvguix.Yodel +++ b/MDK-ARM/AUTO_CHASSIS.uvguix.Yodel @@ -15,17 +15,17 @@ 38003 Registers - 124 100 + 124 71 346 Code Coverage - 877 820 + 877 160 204 Performance Analyzer - 1037 155 155 350 + 1037 @@ -110,8 +110,8 @@ 0 - 1283 - 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+ 477 + 0100000004000000010000000100000001000000010000000000000002000000000000000100000001000000000000002800000028000000010000000300000000000000010000004C443A5C525C6D61696E5C7374656572696E6720776865656C20636861737369735C32355F52315F636861737369735C636861737369735C557365725C4D6F64756C655C436861737369732E630000000009436861737369732E6300000000C5D4F200FFFFFFFF4B443A5C525C6D61696E5C7374656572696E6720776865656C20636861737369735C32355F52315F636861737369735C636861737369735C557365725C4D6F64756C655C636F6E6669672E630000000008636F6E6669672E6300000000FFDC7800FFFFFFFF4B443A5C525C6D61696E5C7374656572696E6720776865656C20636861737369735C32355F52315F636861737369735C636861737369735C557365725C4D6F64756C655C646566696E652E680000000008646566696E652E6800000000BECEA100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000D100000066000000AB060000E9020000 @@ -130,11 +130,11 @@ 0 16 - 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1423 @@ -3603,102 +3603,30 @@ 0 100 - 2 + 0 ..\User\Module\Chassis.c 0 - 394 - 422 + 390 + 1 1 0 ..\User\Module\config.c - 14 - 151 - 181 + 0 + 1 + 1 1 0 ..\User\Module\define.h - 3 - 1 - 40 - 1 - - 0 - - - ..\User\device\nuc.c - 57 - 127 - 153 - 1 - - 0 - - - ..\User\device\cmd.h - 16 - 130 - 158 - 1 - - 0 - - - ..\User\device\cmd.c - 7 - 222 - 226 - 1 - - 0 - - - ..\User\Algorithm\kalman.c - 29 - 22 - 31 - 1 - - 0 - - - ..\User\device\map.c - 27 - 1 - 13 - 1 - - 0 - - - startup_stm32f407xx.s 0 - 165 - 176 - 1 - - 0 - - - ../Core/Src/main.c - 0 - 75 - 87 - 1 - - 0 - - - ..\User\task\navi_task.c - 7 1 - 12 + 1 1 0 diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/AUTO_CHASSIS.uvoptx index 1073044..80a246e 100644 --- a/MDK-ARM/AUTO_CHASSIS.uvoptx +++ b/MDK-ARM/AUTO_CHASSIS.uvoptx @@ -163,63 +163,18 @@ 1 1 - cmd,0x0A + ctrl,0x0A 2 1 - nuc_raw,0x0A + e,0x0A 3 1 - cmd_fromnuc - - - 4 - 1 - cmd_nuc,0x0A - - - 5 - 1 - a,0x0A - - - 6 - 1 - b,0x0A - - - 7 - 1 - c,0x0A - - - 8 - 1 - e,0x0A - - 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b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm @@ -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).

Software Packages used:

@@ -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 diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm index 24bfd04..3fb001d 100644 --- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm +++ b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm @@ -3,7 +3,7 @@ Static Call Graph - [ELE_CHASSIS\AUTO_CHASSIS.axf]

Static Call Graph for image ELE_CHASSIS\AUTO_CHASSIS.axf

-

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Tue Jul 01 10:57:02 2025 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Fri Jul 04 20:57:13 2025

Maximum Stack Usage = 376 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -183,8 +183,8 @@ Function Pointers Global Symbols

__main (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main)) -

[Calls]