Yodel/25_R1_chassis
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更改了运球赛

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Yodel 2025-07-11 21:39:07 +08:00
parent 33b360fc23
commit df8ba6c16e
64 changed files with 4913 additions and 6653 deletions
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61
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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32
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -120,7 +120,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>JL2CM3</Key> <Key>JL2CM3</Key>
<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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name> <Name>-U207400620 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -185,6 +185,36 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>c</ItemText> <ItemText>c</ItemText>
</Ww> </Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_rc,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>o,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>pos,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>ops_out,0x0A</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>can,0x0A</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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7
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -17,7 +17,7 @@ Library Manager: ArmAr.exe V5.06 update 7 (build 960)
Hex Converter: FromElf.exe V5.06 update 7 (build 960) Hex Converter: FromElf.exe V5.06 update 7 (build 960)
CPU DLL: SARMCM3.DLL V5.34.0.0 CPU DLL: SARMCM3.DLL V5.34.0.0
Dialog DLL: DCM.DLL V1.17.3.0 Dialog DLL: DCM.DLL V1.17.3.0
Target DLL: Segger\JL2CM3.dll V2.99.38.0 Target DLL: CMSIS_AGDI.dll V1.32.13.0
Dialog DLL: TCM.DLL V1.48.0.0 Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2> <h2>Project:</h2>
@ -29,9 +29,6 @@ Project File Date: 07/08/2025
Build target 'AUTO_CHASSIS' 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\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'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
compiling config.c...
linking...
Program Size: Code=88916 RO-data=1632 RW-data=1092 ZI-data=35036
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s). "ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2> <h2>Software Packages used:</h2>
@ -56,7 +53,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0 * Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:03 Build Time Elapsed: 00:00:01
</pre> </pre>
</body> </body>
</html> </html>

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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
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72
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
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@ -175,7 +175,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2) 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\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp.h)(0x663B6621) I (../User/bsp/bsp.h)(0x663B6621)
@ -1542,7 +1542,7 @@ 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/mpu_wrappers.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA) I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA) I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
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) 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)
I (..\User\Module\Chassis.h)(0x6870A195) I (..\User\Module\Chassis.h)(0x6870A195)
I (../User/Algorithm/struct_typedef.h)(0x663B6621) I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6870A195) I (../User/Algorithm/pid.h)(0x6870A195)
@ -1589,7 +1589,7 @@ 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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x686FA15F) I (../User/device/can_use.h)(0x68710808)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA) I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/bsp/bsp_can.h)(0x663B6621) I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
@ -1602,8 +1602,8 @@ I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620) I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/Algorithm/kalman.h)(0x686430C8) I (../User/Algorithm/kalman.h)(0x686430C8)
I (../User/bsp\pwm.h)(0x685AE3BC) I (../User/bsp\pwm.h)(0x685AE3BC)
I (..\User\Module\define.h)(0x686FEC1E) I (..\User\Module\define.h)(0x6870FD8A)
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) 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)
I (..\User\Module\config.h)(0x683FAE78) I (..\User\Module\config.h)(0x683FAE78)
I (..\User\Module\Chassis.h)(0x6870A195) I (..\User\Module\Chassis.h)(0x6870A195)
I (../User/Algorithm/struct_typedef.h)(0x663B6621) I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -1651,7 +1651,7 @@ 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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x686FA15F) I (../User/device/can_use.h)(0x68710808)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA) I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/bsp/bsp_can.h)(0x663B6621) I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
@ -1669,7 +1669,7 @@ I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621) I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/bsp/flash.h)(0x663B6621) I (../User/bsp/flash.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\Module\define.h)(0x686FEC1E)() F (..\User\Module\define.h)(0x6870FD8A)()
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) 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\bsp\bsp_delay.h)(0x663B6621)
I (../User/Algorithm/struct_typedef.h)(0x663B6621) I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@ -2146,7 +2146,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78) I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6870A195) I (../User/Module/Chassis.h)(0x6870A195)
I (../User/Algorithm/pid.h)(0x6870A195) I (../User/Algorithm/pid.h)(0x6870A195)
I (../User/device/can_use.h)(0x686FA15F) I (../User/device/can_use.h)(0x68710808)
I (../User/bsp/bsp_can.h)(0x663B6621) I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3) I (../Core/Inc/main.h)(0x6868CAA3)
@ -2223,7 +2223,7 @@ 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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3) I (../Core/Inc/main.h)(0x6868CAA3)
@ -2285,7 +2285,7 @@ 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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) I (../User/device\device.h)(0x666C4CF9)
I (../User/device/can_use.h)(0x686FA15F) I (../User/device/can_use.h)(0x68710808)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA) I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (../User/bsp/bsp_can.h)(0x663B6621) I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
@ -2379,7 +2379,7 @@ 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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3) I (../Core/Inc/main.h)(0x6868CAA3)
@ -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 (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h)(0x64D895DA)
I (../User/Algorithm/error_detect.h)(0x663B6620) I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/device/vofa.h)(0x685B9AD7) I (../User/device/vofa.h)(0x685B9AD7)
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) 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)(0x686FA15F) I (../User/device/can_use.h)(0x68710808)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA) 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\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3) 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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3) 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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3) I (../Core/Inc/main.h)(0x6868CAA3)
@ -2780,7 +2780,7 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0) I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2) 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\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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620) 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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3) 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\float.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device\device.h)(0x666C4CF9) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3) I (../Core/Inc/main.h)(0x6868CAA3)
@ -3013,7 +3013,7 @@ I (../User/Module/Chassis.h)(0x6870A195)
I (../User/Algorithm/pid.h)(0x6870A195) I (../User/Algorithm/pid.h)(0x6870A195)
I (../User/device/bmi088.h)(0x685CA251) I (../User/device/bmi088.h)(0x685CA251)
I (../User/Algorithm/ahrs.h)(0x663B6620) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620) I (../User/Algorithm/filter.h)(0x663B6620)
@ -3306,7 +3306,7 @@ I (../User/bsp\pwm.h)(0x685AE3BC)
I (../User/Algorithm/pid.h)(0x6870A195) I (../User/Algorithm/pid.h)(0x6870A195)
I (../User/Module/config.h)(0x683FAE78) I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6870A195) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../User/device/cmd.h)(0x686FF4C1) 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/navi.h)(0x685FAF15)
I (../User/device/map.h)(0x682338DB) I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621) 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) 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)(0x686FA15F) I (..\User\device\can_use.h)(0x68710808)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA) 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\stdint.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stddef.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\math.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/Algorithm/error_detect.h)(0x663B6620) I (../User/Algorithm/error_detect.h)(0x663B6620)
I (../User/Module/define.h)(0x686FEC1E) I (../User/Module/define.h)(0x6870FD8A)
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) 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\device\cmd.h)(0x686FF4C1)
I (../User/Algorithm/struct_typedef.h)(0x663B6621) I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\device.h)(0x666C4CF9) 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 (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (../Core/Inc/gpio.h)(0x664876DA) I (../Core/Inc/gpio.h)(0x664876DA)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Module/define.h)(0x686FEC1E) I (../User/Module/define.h)(0x6870FD8A)
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) 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 (..\User\device\nuc.h)(0x685A5054)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA) 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\stdint.h)(0x5E8E3CC2)
@ -3477,7 +3477,7 @@ I (../User/Algorithm/ahrs.h)(0x663B6620)
I (../User/Algorithm/user_math.h)(0x68175EF0) I (../User/Algorithm/user_math.h)(0x68175EF0)
I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2) 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\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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620) 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/protocol.h)(0x686C6078)
I (../User/bsp/crc16.h)(0x67FB9F9F) I (../User/bsp/crc16.h)(0x67FB9F9F)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2) 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) 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) 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) I (..\User\device\vofa.h)(0x685B9AD7)
@ -3541,7 +3541,7 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../User/bsp/bsp.h)(0x663B6621) I (../User/bsp/bsp.h)(0x663B6621)
I (../Core/Inc/usart.h)(0x664876DC) I (../Core/Inc/usart.h)(0x664876DC)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA) 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) 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/tim.h)(0x664876DC)
I (../Core/Inc/main.h)(0x6868CAA3) I (../Core/Inc/main.h)(0x6868CAA3)
@ -3590,7 +3590,7 @@ I (../Core/Inc/usart.h)(0x664876DC)
I (..\User\device\cmd.h)(0x686FF4C1) I (..\User\device\cmd.h)(0x686FF4C1)
I (../User/Algorithm/struct_typedef.h)(0x663B6621) I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2) 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\device\map.h)(0x682338DB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621) I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48) 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_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (..\User\device\cmd.h)(0x686FF4C1) I (..\User\device\cmd.h)(0x686FF4C1)
I (../User/Module/define.h)(0x686FEC1E) I (../User/Module/define.h)(0x6870FD8A)
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) 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\navi.h)(0x685FAF15)
I (..\User\device\Action.h)(0x67CAEC48) I (..\User\device\Action.h)(0x67CAEC48)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA) 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 (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\device\bmi088.h)(0x685CA251) I (..\User\device\bmi088.h)(0x685CA251)
I (..\User\device\map.h)(0x682338DB) 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 (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC) I (../Core/Inc/can.h)(0x664876DC)
I (../User/bsp/bsp_delay.h)(0x663B6621) 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) 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 (..\User\device\remote_control.h)(0x6818B568)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA) 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\stdbool.h)(0x5E8E3CC2)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2) I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/Algorithm/error_detect.h)(0x663B6620) 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) 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 (../USB_DEVICE/App/usb_device.h)(0x664876DC)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x64D895D7) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x64D895D7)

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2
User/Module/Chassis.c
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@ -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) { 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 // 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 // 如果之前不处于保持模式，则记录当前角度
if (!c->keeping_angle_flag) { if (!c->keeping_angle_flag) {
c->keeping_angle_flag = 1; // 进入保持模式 c->keeping_angle_flag = 1; // 进入保持模式

131
User/Module/config.c
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@ -37,7 +37,7 @@ static const ConfigParam_t param_chassis ={
.i_limit = 0.0f, .i_limit = 0.0f,
.out_limit =6000.0f, .out_limit =6000.0f,
}, },
// 家里pid // 家里雷达pid
// .RadarAngle_param = { // .RadarAngle_param = {
// .p = 22.0f, // .p = 22.0f,
// .i = 20.0f, // .i = 20.0f,
@ -53,7 +53,7 @@ static const ConfigParam_t param_chassis ={
// .out_limit =8000.0f, // .out_limit =8000.0f,
// }, // },
//备馆pid //备馆雷达pid
// .RadarAngle_param = { // .RadarAngle_param = {
// .p = 20.0f, // .p = 20.0f,
// .i = 0.06f, // .i = 0.06f,
@ -146,20 +146,20 @@ static const ConfigParam_t param_chassis ={
.i_limit = 0.0f, .i_limit = 0.0f,
.out_limit = 5000.0f, .out_limit = 5000.0f,
}, },
.C6020pitAngle_param = { // .C6020pitAngle_param = {
.p = 10.0f, // .p = 10.0f,
.i = 0.025f, // .i = 0.025f,
.d =5.0f, // .d =5.0f,
.i_limit = 2000.0f, // .i_limit = 2000.0f,
.out_limit = 3000.0f, // .out_limit = 3000.0f,
}, // },
.C6020pitOmega_param = { // .C6020pitOmega_param = {
.p =10.0f, // .p =10.0f,
.i =0.0f, // .i =0.0f,
.d =0.0f, // .d =0.0f,
.i_limit = 2000.0f, // .i_limit = 2000.0f,
.out_limit = 3000.0f, // .out_limit = 3000.0f,
}, // },
}, },
/*码盘导航*/ /*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 //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*/ /*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= .path_speed_pid_param=
{ {
.p = 0.5f, .p = 20.0f,
.i = 0.0f, .i = 0.02f,
.d = 0.0f, .d = 3.2f,
.i_limit = 0.0f, .i_limit = 200.0f,
.out_limit =1000.0f, .out_limit =6000.0f,
}, },
.pid_PosSpeed_xy_param={ .pid_PosSpeed_xy_param={
.p =25.0f, .p =25.0f,
.i =0.1f, .i =0.1f,
.d =500.0f, .d =0.0f,
.i_limit =500.0f, .i_limit =5.0f,
.out_limit =25000.0f, .out_limit =6000.0f,
}, },
// //比赛pid
/*码盘导航陀螺仪角度纠正内外环*/ // .path_speed_pid_param=
.pid_OutAngle_param={ //外环数据非常合适 // {
// .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, .p = 20.0f,
.i = 0.0f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
.i_limit = 0.0f, .i_limit = 0.0f,
.out_limit =2000.0f, .out_limit =2000.0f,
}, },
.pid_InnerAngle_param={ .pid_InnerAngle_param={
.p = 20.0f, .p = 20.0f,
.i = 0.04f, .i = 0.04f,
.d = 0.0f, .d = 0.0f,
.i_limit = 0.0f, .i_limit = 0.0f,
.out_limit =16000.0f, .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 //原本的pid
// .pid_OutAngle_hold_param={ // .pid_OutAngle_hold_param={
// .p = 50.0f, // .p = 50.0f,
@ -233,8 +251,8 @@ static const ConfigParam_t param_chassis ={
// .i_limit = 0.0f, // .i_limit = 0.0f,
// .out_limit =7000.0f, // .out_limit =7000.0f,
// }, // },
//目前的pid r1跑到目标点会震荡，i大了 //比赛pid
.pid_OutAngle_hold_param={ .pid_OutAngle_hold_param={
.p = 25.0f, .p = 25.0f,
.i = 0.1f, .i = 0.1f,
.d = 5.0f, .d = 5.0f,
@ -249,30 +267,15 @@ static const ConfigParam_t param_chassis ={
.out_limit =7000.0f, .out_limit =7000.0f,
}, },
/*sick校准pid*/
.pid_pos_xy_inner_param={ .pid_sick_out_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={
.p =8.0f, .p =8.0f,
.i =0.1f, .i =0.1f,
.d =0.5f, .d =0.5f,
.i_limit =5.0f, .i_limit =5.0f,
.out_limit =4000.0f, .out_limit =4000.0f,
}, },
.pid_sick_inner_param={ .pid_sick_inner_param={
.p =5.0f, .p =5.0f,
.i =0.1f, .i =0.1f,
.d =0.5f, .d =0.5f,

10
User/Module/define.h
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@ -20,14 +20,8 @@
/*导航方式*/ /*导航方式*/
#define radar //雷达 //#define radar //雷达
//#define action_sick //码盘sick跑点 #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

4
User/device/can_use.c
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@ -233,7 +233,7 @@ int8_t CAN_DJIMotor_Control(CAN_MotorGroup_e group, CAN_Output_t *output,
return DEVICE_OK; 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; if (output == NULL) return DEVICE_ERR_NULL;
int Byte[4]; int Byte[4];
Vesc_ByteGet raw[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[2] = raw[i].byte.byte3;
Byte[3] = raw[i].byte.byte4; 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; can->vesc_damp =0;
raw_tx.tx_header.ExtId = id+i; raw_tx.tx_header.ExtId = id+i;

2
User/device/can_use.h
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@ -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_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 #endif

88
User/device/cmd.c
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@ -148,8 +148,7 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
cmd->C_cmd.communicate = NO; cmd->C_cmd.communicate = NO;
} }
//点位切换 //点位切换
#ifdef dribble_1 //点上运球
static int previous_pos = -1; static int previous_pos = -1;
if(rc->LD.knob_left > 199 && rc->LD.knob_left < 265){ //200 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; 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 else if(rc->LD.knob_left > 1300 && rc->LD.knob_left < 1448){ //1373
if(cmd->C_cmd.pos != POS_9) { if(cmd->C_cmd.pos != POS_9) {
if(previous_pos != POS_9) cmd->C_cmd.dribble = RUNNING; if(previous_pos != POS_9) cmd->C_cmd.dribble = RUNNING;
cmd->C_cmd.pos = POS_9; cmd->C_cmd.pos = POS_9;
previous_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 //运球时锁死底盘
//运球时锁死 // if(rc->LD.key_G == CMD_SW_DOWN&&cmd->C_cmd.pos != POS_1){
if(rc->LD.key_G == CMD_SW_UP&&cmd->C_cmd.pos != POS_1){ // cmd->C_cmd.dribble = Pause;
cmd->C_cmd.dribble = Pause; // }
}
} }
return 0; return 0;
} }

128
User/device/map.c
View File

@ -7,13 +7,13 @@
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* /*
1 ________ 7 0---- 1 ______ 7
/ \ / \
2 6 2 6
| | | |
3 ---- 4 ---- 5 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: 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; sick_t sick_8;
point_t path_9; point_t path_9;
sick_t sick_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 //点位坐标x轴朝前，y轴朝右
void block_select(Action_POS_t*pos,CMD_t*cmd){ 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.y = pos->pos_y;
// path_2.angle= 0; // path_2.angle= 0;
// sick_2.sick_flag = 0; // sick_2.sick_flag = 0;
#ifdef dribble_1 //点上运球
//1 //1
path_1.x = 0; path_1.x = 0;
path_1.y = 0; path_1.y = 0;
path_1.angle=0; path_1.angle=0;
sick_1.sick_flag = 0; sick_1.sick_flag = 0;
//2 //2
path_2.x = -800; path_2.x = 0;
path_2.y = -800; path_2.y = 3100;
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.angle=0; path_2.angle=0;
sick_2.sick_flag = 0; sick_2.sick_flag = 0;
//3 //3
path_3.x = -800; path_3.x = -800;
path_3.y = -800; path_3.y = 2300;
path_3.angle=0; path_3.angle=0;
sick_3.sick_flag = 0; sick_3.sick_flag = 0;
//4 //4
path_4.x = -1650; path_4.x = -2500;
path_4.y = -800; path_4.y = 2300;
path_4.angle= 0; path_4.angle= 0;
sick_4.sick_flag = 0; sick_4.sick_flag = 0;
//5 //5
path_5.x = -2500; path_5.x = -2500;
path_5.y = -800; path_5.y = 4350;
path_5.angle= 0; path_5.angle= 0;
sick_5.sick_flag = 0; sick_5.sick_flag = 0;
//6 //6
path_6.x = -2500; path_6.x = -2500;
path_6.y = 200; path_6.y = 6400;
path_6.angle= 0; path_6.angle= 0;
sick_6.sick_flag = 0; sick_6.sick_flag = 0;
//7 //7
path_7.x = -2500; path_7.x = -800;
path_7.y = 1250; path_7.y = 6400;
path_7.angle= 0; path_7.angle= 0;
sick_7.sick_flag = 0; sick_7.sick_flag = 0;
//8 //8
path_8.x = -2500; path_8.x = 0;
path_8.y = 2300; path_8.y = 5600;
path_8.angle= 0; path_8.angle= 0;
sick_8.sick_flag = 0; sick_8.sick_flag = 0;
//9 //9
path_9.x = -2500; path_9.x = 0;
path_9.y = 3300; path_9.y = 3100;
path_9.angle= 0; path_9.angle= 0;
sick_9.sick_flag = 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
} }
@ -227,6 +141,10 @@ void path_select(CMD_t*cmd){
case POS_8: case POS_8:
path_state.target = &path_8; path_state.target = &path_8;
path_state.sick = &sick_8; path_state.sick = &sick_8;
break;
case POS_9:
path_state.target = &path_9;
path_state.sick = &sick_9;
break; break;
} }
path_state.points_flag = 0; //标志位清零 path_state.points_flag = 0; //标志位清零

40
User/device/navi.c
View File

@ -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 //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)); 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++){ 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)); 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 */ /*远距离角度纠正pid */
PID_init(&o->pid.pid_OutAngle,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_param));//外环 PID_init(&o->pid.pid_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));//内环 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_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 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 //sick
PID_init(&o->pid.pid_sick_outer,PID_POSITION,(&o->param->ops_pid.pid_sick_out_param)); 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)); 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 //底盘获取地图
o->chassis_map = get_map_pointer(); o->chassis_map = get_map_pointer();
//设置全场定位允许的误差范围 //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 //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->chassis_map->sick_mistake = 15;
//o->state.points_num = param->path_num; //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); float distance = sqrtf(delta_x * delta_x + delta_y * delta_y);
//计算速度 //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 = 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); //o->chassis_speed_set = PID_calc(&o->pid.path_speed_pid,-distance,0);
//速度分解 //速度分解
float chassis_vx,chassis_vy;//底盘xy分速度 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); POS_chassis_set(o,chassis_vx,chassis_vy,o->chassis_map->target->angle);
o->navi_flag = 1; 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{ else{
//已到达目标点附近，进行微调 //已到达目标点附近，进行微调
hold_point(o,*(o->chassis_map->target),o->chassis_map->target->angle); 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.Vx = o->final_out.action.vx;
ops_out->out.Vy = o->final_out.action.vy; 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 //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 && if (fabsf(o->final_out.action.vx) < 1000.0f &&
fabsf(o->final_out.action.vy) < 1000.0f && fabsf(o->final_out.action.vy) < 1000.0f &&
fabsf(o->final_out.action.vz) < 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; o->sick_flag = 0;
} }
} }

4
User/device/nuc.c
View File

@ -173,13 +173,13 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
instance.data[1] = nucbuf[2]; instance.data[1] = nucbuf[2];
instance.data[2] = nucbuf[3]; instance.data[2] = nucbuf[3];
instance.data[3] = nucbuf[4]; 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[4] = nucbuf[9];
instance.data[5] = nucbuf[10]; instance.data[5] = nucbuf[10];
instance.data[6] = nucbuf[11]; instance.data[6] = nucbuf[11];
instance.data[7] = nucbuf[12]; 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 #endif
//接收正常时绿灯翻转 //接收正常时绿灯翻转

2
User/task/can_task.c
View File

@ -65,7 +65,7 @@ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
if (osMessageQueueGet(task_runtime.msgq.can.output.chassis5065, if (osMessageQueueGet(task_runtime.msgq.can.output.chassis5065,
&(can_out.chassis5065), 0, 0) == osOK) { &(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, if (osMessageQueueGet(task_runtime.msgq.can.output.chassis6020,