更改了运球赛
This commit is contained in:
parent
33b360fc23
commit
df8ba6c16e
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@ -120,7 +120,7 @@
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<SetRegEntry>
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<Number>0</Number>
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<Key>JL2CM3</Key>
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<Name>-U207400620 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
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<Name>-U207400620 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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@ -185,6 +185,36 @@
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<WinNumber>1</WinNumber>
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<ItemText>c</ItemText>
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</Ww>
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<Ww>
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<count>5</count>
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<WinNumber>1</WinNumber>
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<ItemText>cmd_rc,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>6</count>
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<WinNumber>1</WinNumber>
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<ItemText>cmd,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>7</count>
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<WinNumber>1</WinNumber>
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<ItemText>o,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>8</count>
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<WinNumber>1</WinNumber>
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<ItemText>pos,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>9</count>
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<WinNumber>1</WinNumber>
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<ItemText>ops_out,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>10</count>
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<WinNumber>1</WinNumber>
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<ItemText>can,0x0A</ItemText>
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</Ww>
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</WatchWindow1>
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<Tracepoint>
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<THDelay>0</THDelay>
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Binary file not shown.
@ -17,7 +17,7 @@ Library Manager: ArmAr.exe V5.06 update 7 (build 960)
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Hex Converter: FromElf.exe V5.06 update 7 (build 960)
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CPU DLL: SARMCM3.DLL V5.34.0.0
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Dialog DLL: DCM.DLL V1.17.3.0
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Target DLL: Segger\JL2CM3.dll V2.99.38.0
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Target DLL: CMSIS_AGDI.dll V1.32.13.0
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Dialog DLL: TCM.DLL V1.48.0.0
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<h2>Project:</h2>
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@ -29,9 +29,6 @@ Project File Date: 07/08/2025
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Build target 'AUTO_CHASSIS'
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Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.
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Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
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compiling config.c...
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linking...
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Program Size: Code=88916 RO-data=1632 RW-data=1092 ZI-data=35036
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"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
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<h2>Software Packages used:</h2>
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@ -56,7 +53,7 @@ Package Vendor: Keil
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* Component: ARM::CMSIS:CORE:5.4.0
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Include file: CMSIS\Core\Include\tz_context.h
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Build Time Elapsed: 00:00:03
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Build Time Elapsed: 00:00:01
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</pre>
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</body>
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</html>
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@ -175,7 +175,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
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I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
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I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
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I (../User/device\device.h)(0x666C4CF9)
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I (../User/device/can_use.h)(0x686FA15F)
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I (../User/device/can_use.h)(0x68710808)
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I (../User/bsp/bsp_can.h)(0x663B6621)
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I (../Core/Inc/can.h)(0x664876DC)
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I (../User/bsp/bsp.h)(0x663B6621)
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@ -1542,7 +1542,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
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I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x64D895DA)
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I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
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I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
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F (..\User\Module\Chassis.c)(0x6870CC14)(--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)
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F (..\User\Module\Chassis.c)(0x6870E679)(--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)
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I (..\User\Module\Chassis.h)(0x6870A195)
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I (../User/Algorithm/struct_typedef.h)(0x663B6621)
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I (../User/Algorithm/pid.h)(0x6870A195)
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@ -1589,7 +1589,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
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I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
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I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
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I (../User/device\device.h)(0x666C4CF9)
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I (../User/device/can_use.h)(0x686FA15F)
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I (../User/device/can_use.h)(0x68710808)
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I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
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I (../User/bsp/bsp_can.h)(0x663B6621)
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I (../Core/Inc/can.h)(0x664876DC)
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@ -1602,8 +1602,8 @@ I (../Core/Inc/usart.h)(0x664876DC)
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I (../User/Algorithm/filter.h)(0x663B6620)
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I (../User/Algorithm/kalman.h)(0x686430C8)
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I (../User/bsp\pwm.h)(0x685AE3BC)
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I (..\User\Module\define.h)(0x686FEC1E)
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F (..\User\Module\config.c)(0x6870CD2E)(--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)
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I (..\User\Module\define.h)(0x6870FD8A)
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F (..\User\Module\config.c)(0x687100C3)(--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)
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I (..\User\Module\config.h)(0x683FAE78)
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I (..\User\Module\Chassis.h)(0x6870A195)
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I (../User/Algorithm/struct_typedef.h)(0x663B6621)
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@ -1651,7 +1651,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
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I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
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I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
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I (../User/device\device.h)(0x666C4CF9)
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I (../User/device/can_use.h)(0x686FA15F)
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I (../User/device/can_use.h)(0x68710808)
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I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
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I (../User/bsp/bsp_can.h)(0x663B6621)
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I (../Core/Inc/can.h)(0x664876DC)
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@ -1669,7 +1669,7 @@ I (../User/device/map.h)(0x682338DB)
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I (../User/bsp/bsp_delay.h)(0x663B6621)
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I (../User/bsp/flash.h)(0x663B6621)
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I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
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F (..\User\Module\define.h)(0x686FEC1E)()
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F (..\User\Module\define.h)(0x6870FD8A)()
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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)
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I (..\User\bsp\bsp_delay.h)(0x663B6621)
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I (../User/Algorithm/struct_typedef.h)(0x663B6621)
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@ -2146,7 +2146,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
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I (../User/Module/config.h)(0x683FAE78)
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I (../User/Module/Chassis.h)(0x6870A195)
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I (../User/Algorithm/pid.h)(0x6870A195)
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I (../User/device/can_use.h)(0x686FA15F)
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I (../User/device/can_use.h)(0x68710808)
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I (../User/bsp/bsp_can.h)(0x663B6621)
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I (../Core/Inc/can.h)(0x664876DC)
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I (../Core/Inc/main.h)(0x6868CAA3)
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@ -2223,7 +2223,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
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I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
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I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
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I (../User/device\device.h)(0x666C4CF9)
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I (../User/device/can_use.h)(0x686FA15F)
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I (../User/device/can_use.h)(0x68710808)
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I (../User/bsp/bsp_can.h)(0x663B6621)
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I (../Core/Inc/can.h)(0x664876DC)
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I (../Core/Inc/main.h)(0x6868CAA3)
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@ -2285,7 +2285,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
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I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
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I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
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I (../User/device\device.h)(0x666C4CF9)
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I (../User/device/can_use.h)(0x686FA15F)
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I (../User/device/can_use.h)(0x68710808)
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I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
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I (../User/bsp/bsp_can.h)(0x663B6621)
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I (../Core/Inc/can.h)(0x664876DC)
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@ -2379,7 +2379,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
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I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
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I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
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I (../User/device\device.h)(0x666C4CF9)
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I (../User/device/can_use.h)(0x686FA15F)
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I (../User/device/can_use.h)(0x68710808)
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I (../User/bsp/bsp_can.h)(0x663B6621)
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I (../Core/Inc/can.h)(0x664876DC)
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I (../Core/Inc/main.h)(0x6868CAA3)
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@ -2398,8 +2398,8 @@ I (..\User\task\atti_esti.h)(0x663B6622)
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I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h)(0x64D895DA)
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I (../User/Algorithm/error_detect.h)(0x663B6620)
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I (../User/device/vofa.h)(0x685B9AD7)
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F (..\User\task\can_task.c)(0x686F7344)(--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)
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I (../User/device/can_use.h)(0x686FA15F)
|
||||
F (..\User\task\can_task.c)(0x68710808)(--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)(0x68710808)
|
||||
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)
|
||||
@ -2537,7 +2537,7 @@ 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)(0x686FA15F)
|
||||
I (../User/device/can_use.h)(0x68710808)
|
||||
I (../User/bsp/bsp_can.h)(0x663B6621)
|
||||
I (../Core/Inc/can.h)(0x664876DC)
|
||||
I (../Core/Inc/main.h)(0x6868CAA3)
|
||||
@ -2614,7 +2614,7 @@ 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)(0x686FA15F)
|
||||
I (../User/device/can_use.h)(0x68710808)
|
||||
I (../User/bsp/bsp_can.h)(0x663B6621)
|
||||
I (../Core/Inc/can.h)(0x664876DC)
|
||||
I (../Core/Inc/main.h)(0x6868CAA3)
|
||||
@ -2694,7 +2694,7 @@ 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)(0x686FA15F)
|
||||
I (../User/device/can_use.h)(0x68710808)
|
||||
I (../User/bsp/bsp_can.h)(0x663B6621)
|
||||
I (../Core/Inc/can.h)(0x664876DC)
|
||||
I (../Core/Inc/main.h)(0x6868CAA3)
|
||||
@ -2780,7 +2780,7 @@ 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)(0x686FA15F)
|
||||
I (../User/device/can_use.h)(0x68710808)
|
||||
I (../User/bsp/bsp_can.h)(0x663B6621)
|
||||
I (../Core/Inc/can.h)(0x664876DC)
|
||||
I (../User/Algorithm/filter.h)(0x663B6620)
|
||||
@ -2851,7 +2851,7 @@ 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)(0x686FA15F)
|
||||
I (../User/device/can_use.h)(0x68710808)
|
||||
I (../User/bsp/bsp_can.h)(0x663B6621)
|
||||
I (../Core/Inc/can.h)(0x664876DC)
|
||||
I (../Core/Inc/main.h)(0x6868CAA3)
|
||||
@ -2928,7 +2928,7 @@ 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)(0x686FA15F)
|
||||
I (../User/device/can_use.h)(0x68710808)
|
||||
I (../User/bsp/bsp_can.h)(0x663B6621)
|
||||
I (../Core/Inc/can.h)(0x664876DC)
|
||||
I (../Core/Inc/main.h)(0x6868CAA3)
|
||||
@ -3013,7 +3013,7 @@ I (../User/Module/Chassis.h)(0x6870A195)
|
||||
I (../User/Algorithm/pid.h)(0x6870A195)
|
||||
I (../User/device/bmi088.h)(0x685CA251)
|
||||
I (../User/Algorithm/ahrs.h)(0x663B6620)
|
||||
I (../User/device/can_use.h)(0x686FA15F)
|
||||
I (../User/device/can_use.h)(0x68710808)
|
||||
I (../User/bsp/bsp_can.h)(0x663B6621)
|
||||
I (../Core/Inc/can.h)(0x664876DC)
|
||||
I (../User/Algorithm/filter.h)(0x663B6620)
|
||||
@ -3306,7 +3306,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
|
||||
I (../User/Algorithm/pid.h)(0x6870A195)
|
||||
I (../User/Module/config.h)(0x683FAE78)
|
||||
I (../User/Module/Chassis.h)(0x6870A195)
|
||||
I (../User/device/can_use.h)(0x686FA15F)
|
||||
I (../User/device/can_use.h)(0x68710808)
|
||||
I (../User/bsp/bsp_can.h)(0x663B6621)
|
||||
I (../Core/Inc/can.h)(0x664876DC)
|
||||
I (../User/device/cmd.h)(0x686FF4C1)
|
||||
@ -3318,8 +3318,8 @@ 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)(0x6870BBCE)(--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)(0x686FA15F)
|
||||
F (..\User\device\can_use.c)(0x68710808)(--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)(0x68710808)
|
||||
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)
|
||||
@ -3372,8 +3372,8 @@ 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/error_detect.h)(0x663B6620)
|
||||
I (../User/Module/define.h)(0x686FEC1E)
|
||||
F (..\User\device\cmd.c)(0x686FF4E4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
-I.\RTE\_AUTO_CHASSIS
-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"
-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o ele_chassis\cmd.o --omf_browse ele_chassis\cmd.crf --depend ele_chassis\cmd.d)
|
||||
I (../User/Module/define.h)(0x6870FD8A)
|
||||
F (..\User\device\cmd.c)(0x6870FEE6)(--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)(0x686FF4C1)
|
||||
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
|
||||
I (..\User\device\device.h)(0x666C4CF9)
|
||||
@ -3421,8 +3421,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
|
||||
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
|
||||
I (../Core/Inc/gpio.h)(0x664876DA)
|
||||
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
|
||||
I (../User/Module/define.h)(0x686FEC1E)
|
||||
F (..\User\device\nuc.c)(0x687063BA)(--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)(0x6870FD8A)
|
||||
F (..\User\device\nuc.c)(0x6870D45F)(--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)
|
||||
@ -3477,7 +3477,7 @@ 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)(0x686FA15F)
|
||||
I (../User/device/can_use.h)(0x68710808)
|
||||
I (../User/bsp/bsp_can.h)(0x663B6621)
|
||||
I (../Core/Inc/can.h)(0x664876DC)
|
||||
I (../User/Algorithm/filter.h)(0x663B6620)
|
||||
@ -3486,7 +3486,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
|
||||
I (../User/bsp/protocol.h)(0x686C6078)
|
||||
I (../User/bsp/crc16.h)(0x67FB9F9F)
|
||||
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
|
||||
I (../User/Module/define.h)(0x686FEC1E)
|
||||
I (../User/Module/define.h)(0x6870FD8A)
|
||||
I (../User/Algorithm/error_detect.h)(0x663B6620)
|
||||
F (..\User\device\vofa.c)(0x685D0043)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
-I.\RTE\_AUTO_CHASSIS
-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"
-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o ele_chassis\vofa.o --omf_browse ele_chassis\vofa.crf --depend ele_chassis\vofa.d)
|
||||
I (..\User\device\vofa.h)(0x685B9AD7)
|
||||
@ -3541,7 +3541,7 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
|
||||
I (../User/bsp/bsp.h)(0x663B6621)
|
||||
I (../Core/Inc/usart.h)(0x664876DC)
|
||||
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
|
||||
I (../User/Module/define.h)(0x686FEC1E)
|
||||
I (../User/Module/define.h)(0x6870FD8A)
|
||||
F (..\User\device\Action.c)(0x6809A469)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
-I.\RTE\_AUTO_CHASSIS
-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"
-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o ele_chassis\action.o --omf_browse ele_chassis\action.crf --depend ele_chassis\action.d)
|
||||
I (../Core/Inc/tim.h)(0x664876DC)
|
||||
I (../Core/Inc/main.h)(0x6868CAA3)
|
||||
@ -3590,7 +3590,7 @@ I (../Core/Inc/usart.h)(0x664876DC)
|
||||
I (..\User\device\cmd.h)(0x686FF4C1)
|
||||
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
|
||||
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
|
||||
F (..\User\device\map.c)(0x686FF950)(--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)(0x6870FB2F)(--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)
|
||||
@ -3637,8 +3637,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
|
||||
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
|
||||
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
|
||||
I (..\User\device\cmd.h)(0x686FF4C1)
|
||||
I (../User/Module/define.h)(0x686FEC1E)
|
||||
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/Module/define.h)(0x6870FD8A)
|
||||
F (..\User\device\navi.c)(0x68710D83)(--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)
|
||||
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
|
||||
@ -3693,11 +3693,11 @@ 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)(0x686FA15F)
|
||||
I (..\User\device\can_use.h)(0x68710808)
|
||||
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)(0x686FEC1E)
|
||||
I (../User/Module/define.h)(0x6870FD8A)
|
||||
F (..\User\device\remote_control.c)(0x686FB242)(--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)
|
||||
@ -3751,7 +3751,7 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
|
||||
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
|
||||
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
|
||||
I (../User/Algorithm/error_detect.h)(0x663B6620)
|
||||
I (../User/Module/define.h)(0x686FEC1E)
|
||||
I (../User/Module/define.h)(0x6870FD8A)
|
||||
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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5375
MDK-ARM/JLinkLog.txt
5375
MDK-ARM/JLinkLog.txt
File diff suppressed because it is too large
Load Diff
@ -104,7 +104,7 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
|
||||
void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
|
||||
|
||||
// RC模式下松开遥控器防止6020回到默认位置导致侧翻
|
||||
if (c->mode == RC&&fabs(c->move_vec.Vx) < 1000 && fabs(c->move_vec.Vy) < 1000 && fabs(c->move_vec.Vw) < 1000) {
|
||||
if (c->mode == RC&&fabs(c->move_vec.Vx) < 500 && fabs(c->move_vec.Vy) < 500 && fabs(c->move_vec.Vw) < 500) {
|
||||
// 如果之前不处于保持模式，则记录当前角度
|
||||
if (!c->keeping_angle_flag) {
|
||||
c->keeping_angle_flag = 1; // 进入保持模式
|
||||
|
||||
@ -37,7 +37,7 @@ static const ConfigParam_t param_chassis ={
|
||||
.i_limit = 0.0f,
|
||||
.out_limit =6000.0f,
|
||||
},
|
||||
// 家里pid
|
||||
// 家里雷达pid
|
||||
// .RadarAngle_param = {
|
||||
// .p = 22.0f,
|
||||
// .i = 20.0f,
|
||||
@ -53,7 +53,7 @@ static const ConfigParam_t param_chassis ={
|
||||
// .out_limit =8000.0f,
|
||||
// },
|
||||
|
||||
//备馆pid
|
||||
//备馆雷达pid
|
||||
// .RadarAngle_param = {
|
||||
// .p = 20.0f,
|
||||
// .i = 0.06f,
|
||||
@ -146,20 +146,20 @@ static const ConfigParam_t param_chassis ={
|
||||
.i_limit = 0.0f,
|
||||
.out_limit = 5000.0f,
|
||||
},
|
||||
.C6020pitAngle_param = {
|
||||
.p = 10.0f,
|
||||
.i = 0.025f,
|
||||
.d =5.0f,
|
||||
.i_limit = 2000.0f,
|
||||
.out_limit = 3000.0f,
|
||||
},
|
||||
.C6020pitOmega_param = {
|
||||
.p =10.0f,
|
||||
.i =0.0f,
|
||||
.d =0.0f,
|
||||
.i_limit = 2000.0f,
|
||||
.out_limit = 3000.0f,
|
||||
},
|
||||
// .C6020pitAngle_param = {
|
||||
// .p = 10.0f,
|
||||
// .i = 0.025f,
|
||||
// .d =5.0f,
|
||||
// .i_limit = 2000.0f,
|
||||
// .out_limit = 3000.0f,
|
||||
// },
|
||||
// .C6020pitOmega_param = {
|
||||
// .p =10.0f,
|
||||
// .i =0.0f,
|
||||
// .d =0.0f,
|
||||
// .i_limit = 2000.0f,
|
||||
// .out_limit = 3000.0f,
|
||||
// },
|
||||
},
|
||||
|
||||
/*码盘导航*/
|
||||
@ -171,53 +171,71 @@ static const ConfigParam_t param_chassis ={
|
||||
//不要盲目的为了提高速度直接给大out，一定要慢慢往上加并根据情况调整pid参数
|
||||
|
||||
/*原本的pid，速度不快，很稳定，适合作为基础速度*/
|
||||
// .path_speed_pid_param=
|
||||
// {
|
||||
// .p = 20.0f,
|
||||
// .i = 0.02f,
|
||||
// .d = 3.2f,
|
||||
// .i_limit = 200.0f,
|
||||
// .out_limit =6000.0f,
|
||||
// },
|
||||
// .pid_PosSpeed_xy_param={
|
||||
// .p =5.0f,
|
||||
// .i =0.1f,
|
||||
// .d =0.0f,
|
||||
// .i_limit =5.0f,
|
||||
// .out_limit =6000.0f,
|
||||
// },
|
||||
/*家里的的pid*/
|
||||
.path_speed_pid_param=
|
||||
{
|
||||
.p = 0.5f,
|
||||
.i = 0.0f,
|
||||
.d = 0.0f,
|
||||
.i_limit = 0.0f,
|
||||
.out_limit =1000.0f,
|
||||
.p = 20.0f,
|
||||
.i = 0.02f,
|
||||
.d = 3.2f,
|
||||
.i_limit = 200.0f,
|
||||
.out_limit =6000.0f,
|
||||
},
|
||||
.pid_PosSpeed_xy_param={
|
||||
.p =25.0f,
|
||||
.i =0.1f,
|
||||
.d =500.0f,
|
||||
.i_limit =500.0f,
|
||||
.out_limit =25000.0f,
|
||||
.d =0.0f,
|
||||
.i_limit =5.0f,
|
||||
.out_limit =6000.0f,
|
||||
},
|
||||
|
||||
/*码盘导航陀螺仪角度纠正内外环*/
|
||||
.pid_OutAngle_param={ //外环数据非常合适
|
||||
// //比赛pid
|
||||
// .path_speed_pid_param=
|
||||
// {
|
||||
// .p = 0.5f,
|
||||
// .i = 0.0f,
|
||||
// .d = 0.0f,
|
||||
// .i_limit = 0.0f,
|
||||
// .out_limit =1000.0f,
|
||||
// },
|
||||
//
|
||||
// /*远距离xy纠正*/
|
||||
// .pid_PosSpeed_xy_param={
|
||||
// .p =25.0f,
|
||||
// .i =0.1f,
|
||||
// .d =500.0f,
|
||||
// .i_limit =500.0f,
|
||||
// .out_limit =20000.0f,
|
||||
// },
|
||||
/*远距离角度纠正*/
|
||||
.pid_OutAngle_param={
|
||||
.p = 20.0f,
|
||||
.i = 0.0f,
|
||||
.d = 0.0f,
|
||||
.i_limit = 0.0f,
|
||||
.out_limit =2000.0f,
|
||||
},
|
||||
.pid_InnerAngle_param={
|
||||
.pid_InnerAngle_param={
|
||||
.p = 20.0f,
|
||||
.i = 0.04f,
|
||||
.d = 0.0f,
|
||||
.i_limit = 0.0f,
|
||||
.out_limit =16000.0f,
|
||||
},
|
||||
|
||||
/*近距离xy纠正*/
|
||||
.pid_pos_xy_outer_param={
|
||||
.p =4.0f,
|
||||
.i =0.1f,
|
||||
.d =0.5f,
|
||||
.i_limit =5.0f,
|
||||
.out_limit =1000.0f,
|
||||
},
|
||||
.pid_pos_xy_inner_param={
|
||||
.p =4.0f,
|
||||
.i =0.1f,
|
||||
.d =0.5f,
|
||||
.i_limit =5.0f,
|
||||
.out_limit =6000.0f,
|
||||
},
|
||||
/*近距离角度纠正*/
|
||||
//原本的pid
|
||||
// .pid_OutAngle_hold_param={
|
||||
// .p = 50.0f,
|
||||
@ -233,8 +251,8 @@ static const ConfigParam_t param_chassis ={
|
||||
// .i_limit = 0.0f,
|
||||
// .out_limit =7000.0f,
|
||||
// },
|
||||
//目前的pid r1跑到目标点会震荡，i大了
|
||||
.pid_OutAngle_hold_param={
|
||||
//比赛pid
|
||||
.pid_OutAngle_hold_param={
|
||||
.p = 25.0f,
|
||||
.i = 0.1f,
|
||||
.d = 5.0f,
|
||||
@ -249,30 +267,15 @@ static const ConfigParam_t param_chassis ={
|
||||
.out_limit =7000.0f,
|
||||
},
|
||||
|
||||
|
||||
.pid_pos_xy_inner_param={
|
||||
.p =4.0f,
|
||||
.i =0.1f,
|
||||
.d =0.5f,
|
||||
.i_limit =5.0f,
|
||||
.out_limit =4000.0f,
|
||||
},
|
||||
.pid_pos_xy_outer_param={
|
||||
.p =4.0f,
|
||||
.i =0.1f,
|
||||
.d =0.5f,
|
||||
.i_limit =5.0f,
|
||||
.out_limit =4000.0f,
|
||||
},
|
||||
/*sick校准*/
|
||||
.pid_sick_out_param={
|
||||
/*sick校准pid*/
|
||||
.pid_sick_out_param={
|
||||
.p =8.0f,
|
||||
.i =0.1f,
|
||||
.d =0.5f,
|
||||
.i_limit =5.0f,
|
||||
.out_limit =4000.0f,
|
||||
},
|
||||
.pid_sick_inner_param={
|
||||
.pid_sick_inner_param={
|
||||
.p =5.0f,
|
||||
.i =0.1f,
|
||||
.d =0.5f,
|
||||
|
||||
@ -20,14 +20,8 @@
|
||||
/*导航方式*/
|
||||
|
||||
|
||||
#define radar //雷达
|
||||
//#define action_sick //码盘sick跑点
|
||||
|
||||
|
||||
|
||||
/*运球赛点位*/
|
||||
#define dribble_1 //点上运球
|
||||
//#define dribble_2 //边走边运
|
||||
//#define radar //雷达
|
||||
#define action_sick //码盘sick跑点
|
||||
|
||||
|
||||
|
||||
|
||||
@ -233,7 +233,7 @@ int8_t CAN_DJIMotor_Control(CAN_MotorGroup_e group, CAN_Output_t *output,
|
||||
return DEVICE_OK;
|
||||
}
|
||||
|
||||
int8_t CAN_VESC_Control(int id,CAN_MotorGroup_e group, CAN_Output_t *output,CAN_t *can,CMD_t *cmd){
|
||||
int8_t CAN_VESC_Control(int id,CAN_MotorGroup_e group, CAN_Output_t *output,CAN_t *can,CAN_Output_t* can_out){
|
||||
if (output == NULL) return DEVICE_ERR_NULL;
|
||||
int Byte[4];
|
||||
Vesc_ByteGet raw[4];
|
||||
@ -257,7 +257,7 @@ int8_t CAN_VESC_Control(int id,CAN_MotorGroup_e group, CAN_Output_t *output,CAN_
|
||||
Byte[2] = raw[i].byte.byte3;
|
||||
Byte[3] = raw[i].byte.byte4;
|
||||
|
||||
if(cmd->Vx !=0||cmd->Vy !=0||cmd->Vw !=0){
|
||||
if(can_out->chassis5065.erpm[0] !=0){
|
||||
can->vesc_damp =0;
|
||||
|
||||
raw_tx.tx_header.ExtId = id+i;
|
||||
|
||||
@ -174,7 +174,7 @@ int8_t CAN_ClearFlag(CAN_t *can,uint32_t flag);
|
||||
|
||||
int8_t CAN_DJIMotor_Control(CAN_MotorGroup_e group,CAN_Output_t *output,CAN_t *can);
|
||||
|
||||
int8_t CAN_VESC_Control(int id,CAN_MotorGroup_e group, CAN_Output_t *output,CAN_t *can,CMD_t *cmd);
|
||||
int8_t CAN_VESC_Control(int id,CAN_MotorGroup_e group, CAN_Output_t *output,CAN_t *can, CAN_Output_t* can_out);
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
@ -148,8 +148,7 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
|
||||
cmd->C_cmd.communicate = NO;
|
||||
}
|
||||
|
||||
//点位切换
|
||||
#ifdef dribble_1 //点上运球
|
||||
//点位切换
|
||||
static int previous_pos = -1;
|
||||
|
||||
if(rc->LD.knob_left > 199 && rc->LD.knob_left < 265){ //200
|
||||
@ -208,94 +207,17 @@ else if(rc->LD.knob_left > 1150 && rc->LD.knob_left < 1300){ //1224
|
||||
previous_pos = POS_8;
|
||||
}
|
||||
}
|
||||
#elif defined(dribble_2) //线上运球
|
||||
static int previous_pos = -1;
|
||||
|
||||
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 > 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 > 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 > 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 > 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 > 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 > 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;
|
||||
}
|
||||
else if(rc->LD.knob_left > 1300 && rc->LD.knob_left < 1448){ //1373
|
||||
if(cmd->C_cmd.pos != POS_9) {
|
||||
if(previous_pos != POS_9) cmd->C_cmd.dribble = RUNNING;
|
||||
cmd->C_cmd.pos = POS_9;
|
||||
previous_pos = POS_9;
|
||||
}
|
||||
else if(rc->LD.knob_left > 1448 && rc->LD.knob_left < 1596){ //1522
|
||||
if(cmd->C_cmd.pos != POS_10) {
|
||||
if(previous_pos != POS_10) cmd->C_cmd.dribble = RUNNING;
|
||||
cmd->C_cmd.pos = POS_10;
|
||||
previous_pos = POS_10;
|
||||
}
|
||||
else if(rc->LD.knob_left > 1596 && rc->LD.knob_left < 1735){ //1670
|
||||
if(cmd->C_cmd.pos != POS_11) {
|
||||
if(previous_pos != POS_11) cmd->C_cmd.dribble = RUNNING;
|
||||
cmd->C_cmd.pos = POS_11;
|
||||
previous_pos = POS_11;
|
||||
}
|
||||
else if(rc->LD.knob_left > 1735 && rc->LD.knob_left < 1801){ //1800
|
||||
if(cmd->C_cmd.pos != POS_12) {
|
||||
if(previous_pos != POS_12) cmd->C_cmd.dribble = RUNNING;
|
||||
cmd->C_cmd.pos = POS_12;
|
||||
previous_pos = POS_12;
|
||||
}
|
||||
}
|
||||
#endif
|
||||
//运球时锁死
|
||||
if(rc->LD.key_G == CMD_SW_UP&&cmd->C_cmd.pos != POS_1){
|
||||
cmd->C_cmd.dribble = Pause;
|
||||
}
|
||||
//运球时锁死底盘
|
||||
// if(rc->LD.key_G == CMD_SW_DOWN&&cmd->C_cmd.pos != POS_1){
|
||||
// cmd->C_cmd.dribble = Pause;
|
||||
// }
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -7,13 +7,13 @@
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
|
||||
/*
|
||||
1 ________ 7
|
||||
0---- 1 ______ 7
|
||||
/ \
|
||||
2 6
|
||||
| |
|
||||
3 ---- 4 ---- 5
|
||||
|
||||
计算值: 1-2: 根2x 2-3：2.5-x 3-4:1.25+x 4-5:1.25+x 5-6:2.5-x 6-7:根2x 7-1:2.5m
|
||||
计算值: 0-1：3.1m 1-2: 根2x 2-3：2.5-x 3-4:1.25+x 4-5:1.25+x 5-6:2.5-x 6-7:根2x 7-1:2.5m
|
||||
测量值：x≈0.8（量的） 1-2: 2-3: 3-4: 4-5: 5-6: 6-7: 7-1:
|
||||
|
||||
*/
|
||||
@ -38,18 +38,7 @@ point_t path_8;
|
||||
sick_t sick_8;
|
||||
point_t path_9;
|
||||
sick_t sick_9;
|
||||
point_t path_10;
|
||||
sick_t sick_10;
|
||||
point_t path_11;
|
||||
sick_t sick_11;
|
||||
point_t path_12;
|
||||
sick_t sick_12;
|
||||
point_t path_13;
|
||||
sick_t sick_13;
|
||||
point_t path_14;
|
||||
sick_t sick_14;
|
||||
point_t path_15;
|
||||
sick_t sick_15;
|
||||
|
||||
//点位坐标x轴朝前，y轴朝右
|
||||
void block_select(Action_POS_t*pos,CMD_t*cmd){
|
||||
|
||||
@ -62,127 +51,52 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
|
||||
// path_2.y = pos->pos_y;
|
||||
// path_2.angle= 0;
|
||||
// sick_2.sick_flag = 0;
|
||||
|
||||
#ifdef dribble_1 //点上运球
|
||||
|
||||
//1
|
||||
path_1.x = 0;
|
||||
path_1.y = 0;
|
||||
path_1.angle=0;
|
||||
sick_1.sick_flag = 0;
|
||||
//2
|
||||
path_2.x = -800;
|
||||
path_2.y = -800;
|
||||
path_2.angle=0;
|
||||
sick_2.sick_flag = 0;
|
||||
//3
|
||||
path_3.x = -2500;
|
||||
path_3.y = -800;
|
||||
path_3.angle=0;
|
||||
sick_3.sick_flag = 0;
|
||||
//4
|
||||
path_4.x = -2500;
|
||||
path_4.y = 1250;
|
||||
path_4.angle= 0;
|
||||
sick_4.sick_flag = 0;
|
||||
//5
|
||||
path_5.x = -2500;
|
||||
path_5.y = 3300;
|
||||
path_5.angle= 0;
|
||||
sick_5.sick_flag = 0;
|
||||
//6
|
||||
path_6.x = -800;
|
||||
path_6.y = 3300;
|
||||
path_6.angle= 0;
|
||||
sick_6.sick_flag = 0;
|
||||
//7
|
||||
path_7.x = 0;
|
||||
path_7.y = 2500;
|
||||
path_7.angle= 0;
|
||||
sick_7.sick_flag = 0;
|
||||
//8
|
||||
path_8.x = 0;
|
||||
path_8.y = 0;
|
||||
path_8.angle= 0;
|
||||
sick_8.sick_flag = 0;
|
||||
|
||||
#elif defined(dribble_2) //线上运球
|
||||
//1
|
||||
path_1.x = 0;
|
||||
path_1.y = 0;
|
||||
path_1.angle=0;
|
||||
sick_1.sick_flag = 0;
|
||||
//2
|
||||
path_2.x = -400;
|
||||
path_2.y = -400;
|
||||
path_2.x = 0;
|
||||
path_2.y = 3100;
|
||||
path_2.angle=0;
|
||||
sick_2.sick_flag = 0;
|
||||
//3
|
||||
path_3.x = -800;
|
||||
path_3.y = -800;
|
||||
path_3.y = 2300;
|
||||
path_3.angle=0;
|
||||
sick_3.sick_flag = 0;
|
||||
//4
|
||||
path_4.x = -1650;
|
||||
path_4.y = -800;
|
||||
path_4.x = -2500;
|
||||
path_4.y = 2300;
|
||||
path_4.angle= 0;
|
||||
sick_4.sick_flag = 0;
|
||||
//5
|
||||
path_5.x = -2500;
|
||||
path_5.y = -800;
|
||||
path_5.y = 4350;
|
||||
path_5.angle= 0;
|
||||
sick_5.sick_flag = 0;
|
||||
//6
|
||||
path_6.x = -2500;
|
||||
path_6.y = 200;
|
||||
path_6.y = 6400;
|
||||
path_6.angle= 0;
|
||||
sick_6.sick_flag = 0;
|
||||
//7
|
||||
path_7.x = -2500;
|
||||
path_7.y = 1250;
|
||||
path_7.x = -800;
|
||||
path_7.y = 6400;
|
||||
path_7.angle= 0;
|
||||
sick_7.sick_flag = 0;
|
||||
//8
|
||||
path_8.x = -2500;
|
||||
path_8.y = 2300;
|
||||
path_8.x = 0;
|
||||
path_8.y = 5600;
|
||||
path_8.angle= 0;
|
||||
sick_8.sick_flag = 0;
|
||||
sick_8.sick_flag = 0;
|
||||
//9
|
||||
path_9.x = -2500;
|
||||
path_9.y = 3300;
|
||||
path_9.x = 0;
|
||||
path_9.y = 3100;
|
||||
path_9.angle= 0;
|
||||
sick_9.sick_flag = 0;
|
||||
//10
|
||||
path_10.x = -1650;
|
||||
path_10.y = 3300;
|
||||
path_10.angle= 0;
|
||||
sick_10.sick_flag = 0;
|
||||
//11
|
||||
path_11.x = -800;
|
||||
path_11.y = 3300;
|
||||
path_11.angle= 0;
|
||||
sick_11.sick_flag = 0;
|
||||
//12
|
||||
path_12.x = -400;
|
||||
path_12.y = 2900;
|
||||
path_12.angle= 0;
|
||||
sick_12.sick_flag = 0;
|
||||
//13
|
||||
path_13.x = 0;
|
||||
path_13.y = 2500;
|
||||
path_13.angle= 0;
|
||||
sick_13.sick_flag = 0;
|
||||
//14
|
||||
path_14.x = 0;
|
||||
path_14.y = 1250;
|
||||
path_14.angle= 0;
|
||||
sick_14.sick_flag = 0;
|
||||
//15
|
||||
path_15.x = 0;
|
||||
path_15.y = 0;
|
||||
path_15.angle= 0;
|
||||
sick_15.sick_flag = 0;
|
||||
|
||||
#endif
|
||||
sick_9.sick_flag = 0;
|
||||
}
|
||||
|
||||
|
||||
@ -227,6 +141,10 @@ void path_select(CMD_t*cmd){
|
||||
case POS_8:
|
||||
path_state.target = &path_8;
|
||||
path_state.sick = &sick_8;
|
||||
break;
|
||||
case POS_9:
|
||||
path_state.target = &path_9;
|
||||
path_state.sick = &sick_9;
|
||||
break;
|
||||
}
|
||||
path_state.points_flag = 0; //标志位清零
|
||||
|
||||
@ -16,22 +16,23 @@ int8_t Navi_init(ops_t *o,const ops_param_t *param,Action_POS_t *pos){
|
||||
|
||||
//底盘路径速度pid初始化
|
||||
PID_init(&o->pid.path_speed_pid,PID_POSITION,(&o->param->ops_pid.path_speed_pid_param));
|
||||
|
||||
/*全场定位pid初始化*/
|
||||
//全场定位跑路径的xy方向速度环pid
|
||||
/*xy远距离pid*/
|
||||
for(int i=0;i<2;i++){
|
||||
PID_init(&o->pid.pid_PosSpeed_xy[i], PID_POSITION,(&o->param->ops_pid.pid_PosSpeed_xy_param));
|
||||
}
|
||||
/* 初始化角度纠正PID */
|
||||
PID_init(&o->pid.pid_OutAngle,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_param));//外环
|
||||
PID_init(&o->pid.pid_InnerAngle,PID_POSITION,(&o->param->ops_pid.pid_InnerAngle_param));//内环
|
||||
|
||||
}
|
||||
/*远距离角度纠正pid */
|
||||
PID_init(&o->pid.pid_OutAngle,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_param));
|
||||
PID_init(&o->pid.pid_InnerAngle,PID_POSITION,(&o->param->ops_pid.pid_InnerAngle_param));
|
||||
|
||||
/*xy近距离pid*/
|
||||
PID_init(&o->pid.pid_pos_xy_outer,PID_POSITION,(&o->param->ops_pid.pid_pos_xy_outer_param));
|
||||
PID_init(&o->pid.pid_pos_xy_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_xy_inner_param));
|
||||
/*近距离角度纠正pid*/
|
||||
PID_init(&o->pid.pid_OutAngle_hold,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_hold_param));//外环
|
||||
PID_init(&o->pid.pid_InnerAngle_hold,PID_POSITION,(&o->param->ops_pid.pid_InnerAngle_hold_param));//内环
|
||||
|
||||
//底盘xy方向位置环pid初始化
|
||||
PID_init(&o->pid.pid_pos_xy_outer,PID_POSITION,(&o->param->ops_pid.pid_pos_xy_outer_param));
|
||||
PID_init(&o->pid.pid_pos_xy_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_xy_inner_param));
|
||||
|
||||
//sick
|
||||
PID_init(&o->pid.pid_sick_outer,PID_POSITION,(&o->param->ops_pid.pid_sick_out_param));
|
||||
PID_init(&o->pid.pid_sick_inner,PID_POSITION,(&o->param->ops_pid.pid_sick_inner_param));
|
||||
@ -51,7 +52,7 @@ int8_t Navi_init(ops_t *o,const ops_param_t *param,Action_POS_t *pos){
|
||||
//底盘获取地图
|
||||
o->chassis_map = get_map_pointer();
|
||||
//设置全场定位允许的误差范围
|
||||
o->chassis_map->pos_mistake = 30;
|
||||
o->chassis_map->pos_mistake = 20;
|
||||
//小量程sick1分米大概变30，大量程sick1分米大概变60
|
||||
o->chassis_map->sick_mistake = 15;
|
||||
//o->state.points_num = param->path_num;
|
||||
@ -265,8 +266,8 @@ void go_path(ops_t *o,CMD_ACTION_t *ops_out){
|
||||
float distance = sqrtf(delta_x * delta_x + delta_y * delta_y);
|
||||
|
||||
//计算速度
|
||||
//o->chassis_speed_set = o->chassis_map->target->v;//此处设定为固定的期望速度
|
||||
o->chassis_speed_set = PID_calc(&o->pid.path_speed_pid,-distance,0);
|
||||
o->chassis_speed_set = 12000;//此处设定为固定的期望速度
|
||||
//o->chassis_speed_set = PID_calc(&o->pid.path_speed_pid,-distance,0);
|
||||
|
||||
//速度分解
|
||||
float chassis_vx,chassis_vy;//底盘xy分速度
|
||||
@ -285,24 +286,25 @@ void go_path(ops_t *o,CMD_ACTION_t *ops_out){
|
||||
|
||||
POS_chassis_set(o,chassis_vx,chassis_vy,o->chassis_map->target->angle);
|
||||
o->navi_flag = 1;
|
||||
|
||||
ops_out->out.Vx = o->final_out.action.vx/fabsf(o->final_out.action.vx)*6000;
|
||||
ops_out->out.Vy = o->final_out.action.vy/fabsf(o->final_out.action.vy)*6000;
|
||||
ops_out->out.Vw = o->final_out.action.vz;
|
||||
}
|
||||
else{
|
||||
//已到达目标点附近，进行微调
|
||||
hold_point(o,*(o->chassis_map->target),o->chassis_map->target->angle);
|
||||
o->navi_flag = 2;
|
||||
}
|
||||
|
||||
o->navi_flag = 2;
|
||||
ops_out->out.Vx = o->final_out.action.vx;
|
||||
ops_out->out.Vy = o->final_out.action.vy;
|
||||
ops_out->out.Vw = o->final_out.action.vz;
|
||||
ops_out->out.Vw = o->final_out.action.vz;
|
||||
}
|
||||
|
||||
//路径完成,具体的判断值根据之后导航速度提上来之后再定
|
||||
if (fabsf(o->final_out.action.vx) < 1000.0f &&
|
||||
fabsf(o->final_out.action.vy) < 1000.0f &&
|
||||
fabsf(o->final_out.action.vz) < 1000.0f){
|
||||
|
||||
// o->chassis_map->points_flag = 1;
|
||||
o->chassis_map->points_flag = 1;
|
||||
o->sick_flag = 0;
|
||||
}
|
||||
}
|
||||
|
||||
@ -173,13 +173,13 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
|
||||
instance.data[1] = nucbuf[2];
|
||||
instance.data[2] = nucbuf[3];
|
||||
instance.data[3] = nucbuf[4];
|
||||
n->nuc.angle = instance.x[0]/3.1415926535f*360;
|
||||
n->nuc.angle = (instance.x[0] != 0.0f) ? (instance.x[0]/3.1415926535f*360) : 0.0f;
|
||||
|
||||
instance.data[4] = nucbuf[9];
|
||||
instance.data[5] = nucbuf[10];
|
||||
instance.data[6] = nucbuf[11];
|
||||
instance.data[7] = nucbuf[12];
|
||||
n->nuc.yaw = instance.x[1]/3.1415926535f*360;
|
||||
n->nuc.yaw = (instance.x[2] != 0.0f) ? (instance.x[2]/3.1415926535f*360) : 0.0f;
|
||||
|
||||
#endif
|
||||
//接收正常时绿灯翻转
|
||||
|
||||
@ -65,7 +65,7 @@ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
|
||||
|
||||
if (osMessageQueueGet(task_runtime.msgq.can.output.chassis5065,
|
||||
&(can_out.chassis5065), 0, 0) == osOK) {
|
||||
CAN_VESC_Control(11,CAN_MOTOR_CHASSIS5065, &can_out ,&can,&cmd);
|
||||
CAN_VESC_Control(11,CAN_MOTOR_CHASSIS5065, &can_out ,&can,&can_out);
|
||||
}
|
||||
|
||||
if (osMessageQueueGet(task_runtime.msgq.can.output.chassis6020,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user