nuc的发送和接收应该没啥问题了

MDK-ARM/.vscode/c_cpp_properties.json

@@ -203,32 +203,32 @@
         {
             "name": "AUTO_CHASSIS",
             "includePath": [
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Core\\Inc",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Core\\Inc",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Drivers\\CMSIS\\Include",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Drivers\\CMSIS\\Include",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\User",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\User",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\User\\bsp",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\User\\bsp",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\User\\device",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\User\\device",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\User\\task",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\User\\task",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\User\\Algorithm",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\User\\Algorithm",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\User\\Module",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\User\\Module",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\MDK-ARM",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\MDK-ARM",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\USB_DEVICE\\App",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\USB_DEVICE\\App",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\USB_DEVICE\\Target",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\USB_DEVICE\\Target",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Inc",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Inc",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Inc",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Inc",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Drivers\\CMSIS\\Lib\\ARM",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Drivers\\CMSIS\\Lib\\ARM",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Core\\Src",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Core\\Src",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Drivers\\STM32F4xx_HAL_Driver\\Src",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Src",
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Src",
-                "d:\\R\\main\\steering wheel chassis\\chassis_12\\chassis\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Src"
+                "d:\\R\\main\\steering wheel chassis\\25_R1_chassis\\chassis\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Src"
             ],
             "defines": [
                 "USE_HAL_DRIVER",

MDK-ARM/.vscode/keil-assistant.log

@@ -469,3 +469,5 @@ Log at : 2025/5/6|19:39:40|GMT+0800
 
 Log at : 2025/5/7|14:48:02|GMT+0800
 
+Log at : 2025/6/7|15:36:31|GMT+0800
+

MDK-ARM/AUTO_CHASSIS.uvoptx

@@ -178,7 +178,7 @@
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nuc_raw,0x0A</ItemText>
+          <ItemText>cmd_nuc,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
@@ -188,12 +188,27 @@
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd_calc,0x0A</ItemText>
+          <ItemText>o,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>o,0x0A</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nucbuf,0x10</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>a,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>i,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm

@@ -29,9 +29,6 @@ Project File Date:  06/04/2025
 Build target 'AUTO_CHASSIS'
 Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
-compiling map.c...
-linking...
-Program Size: Code=86404 RO-data=1640 RW-data=1200 ZI-data=33688  
 "ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -56,7 +53,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:00
 </pre>
 </body>
 </html>

MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep

@@ -71,7 +71,7 @@ I (../User/bsp/bsp.h)(0x663B6621)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/device/device.h)(0x666C4CF9)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 F (../Core/Src/gpio.c)(0x666D939D)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\gpio.o --omf_browse ele_chassis\gpio.crf --depend ele_chassis\gpio.d)
 I (../Core/Inc/gpio.h)(0x664876DA)
 I (../Core/Inc/main.h)(0x666C4A91)
@@ -160,7 +160,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
-I (../User/task\user_task.h)(0x682341DF)
+I (../User/task\user_task.h)(0x68453CCA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
@@ -179,7 +179,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -1540,7 +1540,7 @@ 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/task.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
-F (..\User\Module\Chassis.c)(0x68429E6C)(--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)(0x6844F552)(--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)(0x68366454)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
@@ -1593,12 +1593,12 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (..\User\Module\define.h)(0x68429DD4)
+I (..\User\Module\define.h)(0x6842CF9C)
 F (..\User\Module\config.c)(0x68428E1A)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
 I (..\User\Module\config.h)(0x683FAE78)
 I (..\User\Module\Chassis.h)(0x68366454)
@@ -1653,7 +1653,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -1663,7 +1663,7 @@ I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/bsp/flash.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-F (..\User\Module\define.h)(0x68429DD4)()
+F (..\User\Module\define.h)(0x6842CF9C)()
 F (..\User\bsp\bsp_delay.c)(0x663B6621)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\bsp_delay.o --omf_browse ele_chassis\bsp_delay.crf --depend ele_chassis\bsp_delay.d)
 I (..\User\bsp\bsp_delay.h)(0x663B6621)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
@@ -2077,7 +2077,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../User/bsp/bsp.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-F (..\User\task\init.c)(0x6818B046)(--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\init.o --omf_browse ele_chassis\init.crf --depend ele_chassis\init.d)
+F (..\User\task\init.c)(0x6844280F)(--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\init.o --omf_browse ele_chassis\init.crf --depend ele_chassis\init.d)
 I (../User/Device\bmi088.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2122,7 +2122,7 @@ I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/task\user_task.h)(0x682341DF)
+I (../User/task\user_task.h)(0x68453CCA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
@@ -2144,7 +2144,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2153,7 +2153,7 @@ I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\user_task.c)(0x6818B046)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\user_task.o --omf_browse ele_chassis\user_task.crf --depend ele_chassis\user_task.d)
-I (../User/task\user_task.h)(0x682341DF)
+I (../User/task\user_task.h)(0x68453CCA)
 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)
@@ -2219,7 +2219,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2280,12 +2280,12 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
 I (../User/Algorithm/filter.h)(0x663B6620)
-I (..\User\task\user_task.h)(0x682341DF)
+I (..\User\task\user_task.h)(0x68453CCA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2305,7 +2305,7 @@ I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/device/vofa.h)(0x6661C23A)
 F (..\User\task\atti_esti.c)(0x66755794)(--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\atti_esti.o --omf_browse ele_chassis\atti_esti.crf --depend ele_chassis\atti_esti.d)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-I (../User/task\user_task.h)(0x682341DF)
+I (../User/task\user_task.h)(0x68453CCA)
 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)
@@ -2371,7 +2371,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2428,7 +2428,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (..\User\task\user_task.h)(0x682341DF)
+I (..\User\task\user_task.h)(0x68453CCA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2451,7 +2451,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (../User/device\device.h)(0x666C4CF9)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2459,8 +2459,8 @@ I (../User/Algorithm/filter.h)(0x663B6620)
 I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\task\cmd_task.c)(0x6819FA32)(--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_task.o --omf_browse ele_chassis\cmd_task.crf --depend ele_chassis\cmd_task.d)
+F (..\User\task\cmd_task.c)(0x6843EC4E)(--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_task.o --omf_browse ele_chassis\cmd_task.crf --depend ele_chassis\cmd_task.d)
-I (..\User\task\user_task.h)(0x682341DF)
+I (..\User\task\user_task.h)(0x68453CCA)
 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)
@@ -2526,7 +2526,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2534,8 +2534,8 @@ I (../User/Algorithm/filter.h)(0x663B6620)
 I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-F (..\User\task\nuc_task.c)(0x683FE8A3)(--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_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
+F (..\User\task\nuc_task.c)(0x6844ED43)(--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_task.o --omf_browse ele_chassis\nuc_task.crf --depend ele_chassis\nuc_task.d)
-I (..\User\task\user_task.h)(0x682341DF)
+I (..\User\task\user_task.h)(0x68453CCA)
 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)
@@ -2601,7 +2601,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2609,12 +2609,12 @@ I (../User/Algorithm/filter.h)(0x663B6620)
 I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
-I (../User/device/nuc.h)(0x68099E48)
+I (../User/device/nuc.h)(0x68440286)
 I (../User/bsp/protocol.h)(0x67FB97BC)
 F (..\User\task\error_detect_task.c)(0x67E914EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\error_detect_task.o --omf_browse ele_chassis\error_detect_task.crf --depend ele_chassis\error_detect_task.d)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (..\User\task\user_task.h)(0x682341DF)
+I (..\User\task\user_task.h)(0x68453CCA)
 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)
@@ -2679,7 +2679,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2688,7 +2688,7 @@ I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 I (../User/device/r12ds.h)(0x67CAE0AC)
-I (../User/device/nuc.h)(0x68099E48)
+I (../User/device/nuc.h)(0x68440286)
 I (../User/bsp/protocol.h)(0x67FB97BC)
 F (..\User\task\action_task.c)(0x681DFED8)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\action_task.o --omf_browse ele_chassis\action_task.crf --depend ele_chassis\action_task.d)
 I (../User/device/Action.h)(0x67CAEC48)
@@ -2734,9 +2734,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
-I (..\User\task\user_task.h)(0x682341DF)
+I (..\User\task\user_task.h)(0x68453CCA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -2766,7 +2766,7 @@ I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\Calc_task.c)(0x682338DB)(--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\calc_task.o --omf_browse ele_chassis\calc_task.crf --depend ele_chassis\calc_task.d)
-I (..\User\task\user_task.h)(0x682341DF)
+I (..\User\task\user_task.h)(0x68453CCA)
 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)
@@ -2832,7 +2832,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2841,7 +2841,7 @@ I (../User/device/navi.h)(0x683FFEC6)
 I (../User/device/map.h)(0x682338DB)
 I (../User/bsp/bsp_delay.h)(0x663B6621)
 F (..\User\task\navi_task.c)(0x683FFEC6)(--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_task.o --omf_browse ele_chassis\navi_task.crf --depend ele_chassis\navi_task.d)
-I (..\User\task\user_task.h)(0x682341DF)
+I (..\User\task\user_task.h)(0x68453CCA)
 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)
@@ -2907,7 +2907,7 @@ I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
 I (../Core/Inc/main.h)(0x666C4A91)
 I (../User/bsp/bsp.h)(0x663B6621)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -2921,7 +2921,7 @@ I (../User/device/remote_control.h)(0x6818B568)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/device/device.h)(0x666C4CF9)
 I (../User/device/Action.h)(0x67CAEC48)
@@ -2967,7 +2967,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
-I (..\User\task\user_task.h)(0x682341DF)
+I (..\User\task\user_task.h)(0x68453CCA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x64D895DA)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x64D895DA)
 I (../Core/Inc/FreeRTOSConfig.h)(0x664876DB)
@@ -3279,7 +3279,7 @@ I (../User/Module/Chassis.h)(0x68366454)
 I (../User/device/can_use.h)(0x6811C5CD)
 I (../User/bsp/bsp_can.h)(0x663B6621)
 I (../Core/Inc/can.h)(0x664876DC)
-I (../User/device/cmd.h)(0x683FDCE6)
+I (../User/device/cmd.h)(0x6844EE59)
 I (../User/device/Action.h)(0x67CAEC48)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../Core/Inc/usart.h)(0x664876DC)
@@ -3337,9 +3337,9 @@ I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (..\User\device\device.h)(0x666C4CF9)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
-I (../User/Module/define.h)(0x68429DD4)
+I (../User/Module/define.h)(0x6842CF9C)
-F (..\User\device\cmd.c)(0x68408DAA)(--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)(0x6844F552)(--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)(0x683FDCE6)
+I (..\User\device\cmd.h)(0x6844EE59)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3386,9 +3386,9 @@ 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)(0x68429DD4)
+I (../User/Module/define.h)(0x6842CF9C)
-F (..\User\device\nuc.c)(0x6842458E)(--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)(0x684507CB)(--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)(0x68099E48)
+I (..\User\device\nuc.h)(0x68440286)
 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)
@@ -3431,7 +3431,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
-I (..\User\device\cmd.h)(0x683FDCE6)
+I (..\User\device\cmd.h)(0x6844EE59)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\Action.h)(0x67CAEC48)
 I (../User/bsp/protocol.h)(0x67FB97BC)
@@ -3441,7 +3441,7 @@ I (../User/Algorithm/user_math.h)(0x68175EF0)
 I (D:\keil mdk\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-I (../User/Module/define.h)(0x68429DD4)
+I (../User/Module/define.h)(0x6842CF9C)
 I (../User/Algorithm/error_detect.h)(0x663B6620)
 F (..\User\device\vofa.c)(0x684006BC)(--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)(0x6661C23A)
@@ -3538,10 +3538,10 @@ I (..\User\device\device.h)(0x666C4CF9)
 I (../User/bsp/bsp_usart.h)(0x6817565B)
 I (../User/bsp/bsp.h)(0x663B6621)
 I (../Core/Inc/usart.h)(0x664876DC)
-I (..\User\device\cmd.h)(0x683FDCE6)
+I (..\User\device\cmd.h)(0x6844EE59)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-F (..\User\device\map.c)(0x6842A954)(--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)(0x6842CE5A)(--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)
@@ -3587,9 +3587,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
-I (..\User\device\cmd.h)(0x683FDCE6)
+I (..\User\device\cmd.h)(0x6844EE59)
-I (../User/Module/define.h)(0x68429DD4)
+I (../User/Module/define.h)(0x6842CF9C)
-F (..\User\device\navi.c)(0x6842921A)(--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)(0x6842CF9C)(--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)(0x683FFEC6)
 I (..\User\device\Action.h)(0x67CAEC48)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
@@ -3634,7 +3634,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
-I (..\User\device\cmd.h)(0x683FDCE6)
+I (..\User\device\cmd.h)(0x6844EE59)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (../User/Algorithm/pid.h)(0x6832B92D)
 I (../User/Algorithm/ahrs.h)(0x663B6620)
@@ -3648,13 +3648,13 @@ I (..\User\device\can_use.h)(0x6811C5CD)
 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)(0x68429DD4)
+I (../User/Module/define.h)(0x6842CF9C)
 F (..\User\device\remote_control.c)(0x68426FCC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc

-I.\RTE\_AUTO_CHASSIS

-I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include"

-I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include"

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o ele_chassis\remote_control.o --omf_browse ele_chassis\remote_control.crf --depend ele_chassis\remote_control.d)
 I (..\User\device\remote_control.h)(0x6818B568)
 I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
 I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\keil mdk\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
-I (..\User\device\cmd.h)(0x683FDCE6)
+I (..\User\device\cmd.h)(0x6844EE59)
 I (../User/Algorithm/struct_typedef.h)(0x663B6621)
 I (..\User\device\device.h)(0x666C4CF9)
 I (..\User\device\Action.h)(0x67CAEC48)
@@ -3702,7 +3702,7 @@ 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)(0x68429DD4)
+I (../User/Module/define.h)(0x6842CF9C)
 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)

MDK-ARM/ELE_CHASSIS/bsp_usart.__i

@@ -0,0 +1,6 @@
+--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_usart.o --omf_browse ele_chassis\bsp_usart.crf --depend ele_chassis\bsp_usart.d "..\User\bsp\bsp_usart.c"

User/Module/Chassis.c

@@ -266,9 +266,21 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
      }	
 		 
 #elif defined(radar)
-     c->move_vec.Vx =ctrl->nuc.vx ;
+		 if(ctrl->C_cmd.nuc_radar == RADAR_RESET || ctrl->C_cmd.radar_point == YES){
-     c->move_vec.Vy =ctrl->nuc.vy ;    
+       c->move_vec.Vx =ctrl->nuc.vx*2500;
-	   c->move_vec.Vw =ctrl->nuc.vw ;		 
+       c->move_vec.Vy =ctrl->nuc.vy*2500;    
+	     c->move_vec.Vw =ctrl->nuc.vw*2500;		 		 
+		 }
+		 else if(ctrl->C_cmd.nuc_radar == FORBIDDEN){
+	     c->move_vec.Vx = ctrl->Vx*95000;
+       c->move_vec.Vy = ctrl->Vy*95000;
+	     c->move_vec.Vw = ctrl->Vw*95000;
+		 }
+		 else if(ctrl->C_cmd.nuc_radar == ANGLE){
+	     c->move_vec.Vx = ctrl->Vx*95000;
+       c->move_vec.Vy = ctrl->Vy*95000;
+	     c->move_vec.Vw = ctrl->nuc.vw*10000;
+		 }
 		 
 #elif defined(action_sick)|| defined(camera_angle_static)
      c->move_vec.Vx =ctrl->C_navi.vx ;

User/Module/define.h

@@ -27,8 +27,8 @@
 
    //#define carmera_angle        //相机纠正动态角度
 	 //#define camera_angle_static  //相机纠正静态角度
-	 //#define radar                //雷达
+	 #define radar                //雷达
-	 #define action_sick          //码盘sick跑点
+	 //#define action_sick          //码盘sick跑点
 	 
 
 /*sick数据*/    

User/device/cmd.c

@@ -121,7 +121,18 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
 		 cmd->C_cmd.mode = STOP;
 	}
 	switch(rc->LD.key_G){
-		case CMD_SW_UP:
+#ifdef radar
+    case CMD_SW_UP:
+			cmd->C_cmd.nuc_radar = ANGLE; 
+			break;			
+		case CMD_SW_MID:
+		  cmd->C_cmd.nuc_radar = FORBIDDEN;
+			break;
+		case CMD_SW_DOWN:
+			cmd->C_cmd.nuc_radar = RADAR_RESET;     	
+		
+#elif defined(action_sick)
+    case CMD_SW_UP:
 			cmd->C_cmd.pos = POS_1; 
 			break;			
 		case CMD_SW_MID:
@@ -129,8 +140,17 @@ int8_t CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
 			break;
 		case CMD_SW_DOWN:
 			cmd->C_cmd.pos = POS_3;     
+#endif				
 		} 
+	switch(rc->LD.key_C){
+		case CMD_SW_UP:
+			cmd->C_cmd.radar_point = NO;
+		break;
+		case CMD_SW_DOWN:
+			cmd->C_cmd.radar_point = YES;
+		break;
 	}	
+}	
  
 //switch(cmd->cmd_status){
 	

User/device/cmd.h

@@ -94,16 +94,31 @@ typedef enum{
  }CMD_Chassis_navi_pos;
 
 typedef  enum{
-  RC,
-  NAVI,
   STOP,
+	RC,
+  NAVI,  
   }CMD_Chassis_mode;
 
+typedef  enum{	
+  FORBIDDEN,
+  ANGLE, 
+	RADAR_RESET,
+  }CMD_Chassis_radar;
+
+typedef  enum{
+  NO,
+  YES,	
+  }CMD_radar_point;
+
 typedef struct{
  CMD_Chassis_navi_pos pos;
 
  CMD_Chassis_mode mode;
 
+ CMD_Chassis_radar nuc_radar;
+ 
+ CMD_radar_point radar_point;
+
 }CMD_Chassis_Ctrl_t;
 
 typedef  struct {

User/device/map.c

@@ -31,9 +31,9 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
 	path_2.x = 2000;
 	path_2.y = -2000;	
 	path_2.angle=0;
-	sick_2.sick_qian = 0;
+	sick_2.sick_qian = 3997;
-	sick_2.sick_you = 0;
+	sick_2.sick_you = 2721;
-	sick_2.sick_hou = 0;
+	sick_2.sick_hou = 2709;
 	sick_2.sick_zuo = 0;
 	sick_2.sick_flag = 1;
 	//3

User/device/navi.c

@@ -207,13 +207,10 @@ void sick_calculate_d(ops_t *o,const CAN_t *can){
 	switch(o->sick_d.status[i]){
 		
 	/*目前这套switch能用，但是没有考虑到一种情况，即有车挡住了sick使标志位变成了block，
-	但它缓慢后退然后平移离开导致标志位不能变回normal，后期可以加一个如果底盘没有动微分值改变
+	但它缓慢后退或者我们前进然后平移离开导致标志位不能变回normal，*/
-  说明被阻挡*/
   	case normal:
       // 检查是否达到最大测量值   小量程sick测量最大值：3238，大量程sick测量最大值：6487
-      if(o->sick_d.sick_derivative[i] == 0 && 
+      if(o->sick_d.sick_derivative[i] == 0 && o->sick_d.sick_distance[i] > 6400 && o->sick_d.sick_distance[i] < 6500){
-      ((o->sick_d.sick_distance[i] > 3200 && o->sick_d.sick_distance[i] < 3300) || 
-      (o->sick_d.sick_distance[i] > 6400 && o->sick_d.sick_distance[i] < 6500))){
         
 				o->sick_d.status[i] = max_reached;
       }
@@ -301,12 +298,12 @@ void go_path(ops_t *o,CMD_ACTION_t *ops_out){
            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;						 
        }		 	
 	   }
   	 else if(o->chassis_map->points_flag == 1 &&o->chassis_map->sick->sick_flag == 1){
-		   if(o->sick_flag != 1){
+		   if(o->sick_flag  != 1){
 				
 			  o->navi_flag = 3;
 				 

User/device/nuc.c

@@ -8,7 +8,8 @@ static volatile uint32_t drop_message = 0;
 
 static osThreadId_t thread_alert;
 
-uint8_t nucbuf[31];
+uint8_t nucbuf[16];
+uint8_t SendBuffer[19];
 
 static void NUC_IdleCallback(void) {	
 	osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
@@ -38,30 +39,29 @@ bool_t NUC_WaitDmaCplt(void) {
   return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
           SIGNAL_NUC_RAW_REDY);
 }
-int8_t NUC_SendPacket(void *data, uint16_t length) {
+
-  if (data == NULL || length == 0) {
+int8_t NUC_Send(fp32 *data) {
-      return DEVICE_ERR_NULL; // 数据为空或长度为 0
+  union {
+		float x[4];
+		uint8_t  data[16];
+	}instance;
+  for (int i = 0; i < 4; i++) {
+    instance.x[i] = data[i];
   }
-
+  SendBuffer[0] = 0xFC; //发送ID
-  uint8_t packet[32]; // 假设最大数据包长度为 32 字节
+  SendBuffer[1] = 0x01; //控制帧
-
+  for(int i = 2; i < 18; i++){
-  // 构建数据包
+   SendBuffer[i] = instance.data[i-2];
-  packet[0] = HEAD;       // 帧头
-  packet[1] = SEND;       // 发送帧类型
-  memcpy(&packet[2], data, length); // 数据内容
-  uint16_t crc = do_crc_table(data, length); // 计算 CRC 校验
-  packet[length + 2] = (crc >> 8) & 0xFF; // CRC 高字节
-  packet[length + 3] = crc & 0xFF;        // CRC 低字节
-  packet[length + 4] = TAIL;              // 帧尾
-
-  // 发送数据包
-  if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC), packet, length + 5, HAL_MAX_DELAY) != HAL_OK) {
-      return DEVICE_ERR; // 发送失败
   }
+  SendBuffer[18] = 0xFD; //结束符
 
-  return DEVICE_OK; // 发送成功
+  if (HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_NUC),
+      (uint8_t *)SendBuffer,sizeof(SendBuffer),1000) == HAL_OK){
+		return DEVICE_OK;	
+	}   
+	return DEVICE_ERR;
 }
-
+int i= 0;
 int8_t NUC_RawParse(CMD_NUC_t *n) {
   if (n == NULL) return DEVICE_ERR_NULL;
   union {
@@ -70,9 +70,12 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
   } instance; // 方便在浮点数和字符数组之间进行数据转换
 
   // 校验数据包头
-//  if (nucbuf[0] != HEAD) {
+  if (nucbuf[0] != HEAD) {
-//      return DEVICE_ERR;
+      return DEVICE_ERR;
-//  }
+  }
+  if (nucbuf[15] != TAIL) {
+      return DEVICE_ERR;
+  }	
   // 提取数据包中的 CRC 值（假设 CRC 值在数据包的最后两个字节）
 //  uint16_t received_crc = (nucbuf[16] << 8) | nucbuf[17]; // 假设 CRC 在第 16 和 17 字节
 //  uint16_t calculated_crc = do_crc_table(nucbuf, 16);     // 计算前 16 字节的 CRC
@@ -94,6 +97,7 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
              0xFE  TAIL
           */
 #ifdef radar
+if(nucbuf[0] == HEAD&&nucbuf[15] == TAIL){
           instance.data[0] = nucbuf[3];
           instance.data[1] = nucbuf[4];
           instance.data[2] = nucbuf[5];
@@ -111,7 +115,10 @@ int8_t NUC_RawParse(CMD_NUC_t *n) {
           instance.data[10] = nucbuf[13];
           instance.data[11] = nucbuf[14];
           n->nuc.vw = instance.x[2];
-		 
+		 if(n->nuc.vw == 0){
+	   i++; 	 
+		 }
+	 }
 #elif defined(carmera_angle)|| defined(camera_angle_static)
           instance.data[3] = nucbuf[3];
           instance.data[2] = nucbuf[4];

User/device/nuc.h

@@ -27,7 +27,7 @@ typedef struct {
 int8_t NUC_Init(NUC_t *nuc);
 int8_t NUC_StartReceiving(void);
 bool_t NUC_WaitDmaCplt(void);
-int8_t NUC_SendPacket(void *data, uint16_t length);
+int8_t NUC_Send(fp32 *data);
 int8_t NUC_RawParse(CMD_NUC_t *n);
 int8_t NUC_HandleOffline(CMD_NUC_t *cmd);
 #endif

User/task/cmd_task.c

@@ -58,6 +58,9 @@ void Task_cmd(void *argument){
 		//发送给选点
 		osMessageQueueReset(task_runtime.msgq.cmd.calc);
      osMessageQueuePut(task_runtime.msgq.cmd.calc,&cmd,0,0);
+		//发送给nuc
+		osMessageQueueReset(task_runtime.msgq.cmd.nuc);
+     osMessageQueuePut(task_runtime.msgq.cmd.nuc,&cmd,0,0);
 		
     tick += delay_tick; /*计算下一个唤醒时刻*/
     osDelayUntil(tick); /*绝对延时 等待下一个唤醒时刻 */

User/task/init.c

@@ -93,6 +93,8 @@ void Task_Init(void *argument) {
 	    osMessageQueueNew(3u, sizeof(CMD_t), NULL);	
 	 task_runtime.msgq.cmd.calc =
 	    osMessageQueueNew(3u, sizeof(CMD_t), NULL);		
+	 task_runtime.msgq.cmd.nuc =
+	    osMessageQueueNew(3u, sizeof(CMD_t), NULL);					
 //	task_runtime.mutex.imu_eulr = 
 //			xSemaphoreCreateMutex();
    /*action */

User/task/nuc_task.c

@@ -2,15 +2,16 @@
 #include "nuc.h"
 
 #ifdef DEBUG
-
 NUC_t nuc_raw;
 CMD_NUC_t cmd_fromnuc;
+CMD_t cmd_nuc;
 #else 
-
+static NUC_t nuc_raw;
-
+static CMD_NUC_t cmd_fromnuc;
+static CMD_t cmd_nuc;
 #endif
-
+ int a = 0;
-float send_data[3]={1,2,3};
+fp32 send_data[4]={1,2,3,4};
 void Task_nuc(void *argument){
  (void)argument; /**/
 
@@ -27,13 +28,30 @@ void Task_nuc(void *argument){
 #ifdef DEBUG
     task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
 #endif
-      //发送数据给nuc
+		osMessageQueueGet(task_runtime.msgq.cmd.nuc,&cmd_nuc, NULL, 0); 
-//      NUC_SendPacket(send_data,sizeof(send_data));
+		
+    static bool has_sent = false;     
+	  if(cmd_nuc.C_cmd.nuc_radar == RADAR_RESET){
+       if (!has_sent){          //发送数据给nuc
+         if(NUC_Send(send_data) == DEVICE_OK){
+          has_sent = true;  	
+a++;					 
+				 }  
+       }			     
+		}	 
+    else{
+      has_sent = false;
+    }
 		
       //接收nuc数据
 			NUC_StartReceiving();
-			 NUC_RawParse(&cmd_fromnuc);
+			// NUC_RawParse(&cmd_fromnuc);
-
+			  if (NUC_WaitDmaCplt()){
+         NUC_RawParse(&cmd_fromnuc);
+      }
+      else{
+        NUC_HandleOffline(&cmd_fromnuc);
+      }
      osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc);
      osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0);
 			

User/task/user_task.h

@@ -16,7 +16,9 @@
 
 #define TASK_FREQ_CHASSIS (500u)
 #define TASK_FREQ_CTRL_CMD (500u)
-#define TASK_FREQ_NUC (500u)
+/*频率太快可能导致发送给nuc的数据不能被nuc接收而且
+接收频率不能快于nuc的发送频率，否则接收到的数据极容易出错*/
+#define TASK_FREQ_NUC (50u) 
 #define TASK_FREQ_CAN (1000u)
 #define TASK_FREQ_ACTION (500u)
 #define TASK_FREQ_NAVI (500u)
@@ -69,6 +71,7 @@ typedef struct {
       }raw;
       osMessageQueueId_t chassis;//cmd->chassis
       osMessageQueueId_t calc;//cmd->calc
+      osMessageQueueId_t nuc;//cmd->nuc
     } cmd;
         /* can任务放入、读取，电机或电容的输入输出 */
     struct {