Yodel/25_R1_chassis
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sick校准雷达pid已调好

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Yodel 2025-06-20 18:41:58 +08:00
parent 7dbfdb243d
commit fa57cf4044
52 changed files with 2382 additions and 2466 deletions
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106
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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2
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -906,7 +906,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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26
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -29,29 +29,7 @@ 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 atti_esti.c...
compiling action_task.c...
compiling freertos.c...
compiling Chassis.c...
compiling Calc_task.c...
compiling cmd_task.c...
compiling init.c...
compiling user_task.c...
compiling config.c...
compiling nuc_task.c...
compiling error_detect_task.c...
compiling remote_control_task.c...
compiling chassis_task.c...
compiling navi_task.c...
..\User\task\navi_task.c(62): warning: #1-D: last line of file ends without a newline
..\User\task\navi_task.c: 1 warning, 0 errors
compiling can_task.c...
compiling bmi088.c...
compiling nuc.c...
linking...
Program Size: Code=87412 RO-data=1640 RW-data=1112 ZI-data=35296
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 1 Warning(s).
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -75,7 +53,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:09
Build Time Elapsed: 00:00:00
</pre>
</body>
</html>

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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [ELE_CHASSIS\AUTO_CHASSIS.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image ELE_CHASSIS\AUTO_CHASSIS.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Thu Jun 19 00:48:21 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Fri Jun 20 18:40:58 2025
<BR><P>
<H3>Maximum Stack Usage = 376 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -545,8 +545,8 @@ Global Symbols
<P><STRONG><a name="[1a6]"></a>__aeabi_uldivmod</STRONG> (Thumb, 0 bytes, Stack size 48 bytes, lludivv7m.o(.text))
<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = __aeabi_uldivmod
</UL>
<BR>[Called By]<UL><LI><a href="#[1d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
<LI><a href="#[1a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetSysClockFreq
<BR>[Called By]<UL><LI><a href="#[1a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetSysClockFreq
<LI><a href="#[1d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
</UL>
<P><STRONG><a name="[2ff]"></a>_ll_udiv</STRONG> (Thumb, 238 bytes, Stack size 48 bytes, lludivv7m.o(.text), UNUSED)
@ -730,8 +730,8 @@ Global Symbols
<P><STRONG><a name="[c0]"></a>ACTION_StartReceiving</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, action.o(i.ACTION_StartReceiving))
<BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = ACTION_StartReceiving &rArr; HAL_UARTEx_ReceiveToIdle_DMA &rArr; UART_Start_Receive_DMA &rArr; HAL_DMA_Start_IT &rArr; DMA_SetConfig
</UL>
<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
<BR>[Calls]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
</UL>
<BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_action
</UL>
@ -1113,7 +1113,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_cmd
</UL>
<P><STRONG><a name="[113]"></a>Chassis_Control</STRONG> (Thumb, 656 bytes, Stack size 40 bytes, chassis.o(i.Chassis_Control))
<P><STRONG><a name="[113]"></a>Chassis_Control</STRONG> (Thumb, 686 bytes, Stack size 40 bytes, chassis.o(i.Chassis_Control))
<BR><BR>[Stack]<UL><LI>Max Depth = 352<LI>Call Chain = Chassis_Control &rArr; Chassis_speed_calculate &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dmul
</UL>
<BR>[Calls]<UL><LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_calc
@ -1126,7 +1126,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Chassis
</UL>
<P><STRONG><a name="[11a]"></a>Chassis_UpdateFeedback</STRONG> (Thumb, 372 bytes, Stack size 32 bytes, chassis.o(i.Chassis_UpdateFeedback))
<P><STRONG><a name="[11a]"></a>Chassis_UpdateFeedback</STRONG> (Thumb, 388 bytes, Stack size 32 bytes, chassis.o(i.Chassis_UpdateFeedback))
<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = Chassis_UpdateFeedback &rArr; __hardfp_fmod &rArr; __mathlib_dbl_invalid &rArr; __aeabi_ddiv
</UL>
<BR>[Calls]<UL><LI><a href="#[11c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
@ -1136,7 +1136,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Chassis
</UL>
<P><STRONG><a name="[11e]"></a>Chassis_init</STRONG> (Thumb, 282 bytes, Stack size 40 bytes, chassis.o(i.Chassis_init))
<P><STRONG><a name="[11e]"></a>Chassis_init</STRONG> (Thumb, 306 bytes, Stack size 40 bytes, chassis.o(i.Chassis_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = Chassis_init &rArr; LowPassFilter2p_Init &rArr; __hardfp_tanf &rArr; __mathlib_rredf2
</UL>
<BR>[Calls]<UL><LI><a href="#[11f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_init
@ -1145,7 +1145,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Chassis
</UL>
<P><STRONG><a name="[118]"></a>Chassis_speed_calculate</STRONG> (Thumb, 7284 bytes, Stack size 128 bytes, chassis.o(i.Chassis_speed_calculate))
<P><STRONG><a name="[118]"></a>Chassis_speed_calculate</STRONG> (Thumb, 7252 bytes, Stack size 128 bytes, chassis.o(i.Chassis_speed_calculate))
<BR><BR>[Stack]<UL><LI>Max Depth = 312<LI>Call Chain = Chassis_speed_calculate &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dmul
</UL>
<BR>[Calls]<UL><LI><a href="#[128]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sqrt
@ -1485,9 +1485,9 @@ Global Symbols
</UL>
<BR>[Calls]<UL><LI><a href="#[14e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DMA_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[1cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Start_Receive_DMA
<LI><a href="#[1ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive_DMA
<BR>[Called By]<UL><LI><a href="#[1ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive_DMA
<LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive_DMA
<LI><a href="#[1cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Start_Receive_DMA
</UL>
<P><STRONG><a name="[ea]"></a>HAL_Delay</STRONG> (Thumb, 36 bytes, Stack size 16 bytes, stm32f4xx_hal.o(i.HAL_Delay))
@ -1584,17 +1584,17 @@ Global Symbols
<LI><a href="#[1a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
<LI><a href="#[1a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
<LI><a href="#[1dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Transmit
<LI><a href="#[1dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
<LI><a href="#[1ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Transmit
<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive
<LI><a href="#[149]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort
<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FLASH_WaitForLastOperation
<LI><a href="#[206]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_WaitFlagStateUntilTimeout
<LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_DMATransmitReceiveCplt
<LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_DMAReceiveCplt
<LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_Start
<LI><a href="#[1ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Transmit
<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive
<LI><a href="#[1dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Transmit
<LI><a href="#[1dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
<LI><a href="#[222]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;sick_calculate_d
</UL>
@ -1989,9 +1989,9 @@ Global Symbols
<P><STRONG><a name="[e6]"></a>HAL_SPI_Receive</STRONG> (Thumb, 368 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(i.HAL_SPI_Receive))
<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = HAL_SPI_Receive &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[131]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
<BR>[Calls]<UL><LI><a href="#[1ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
<LI><a href="#[131]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
<LI><a href="#[1ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_EndRxTransaction
<LI><a href="#[1ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
</UL>
<BR>[Called By]<UL><LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI_ReadSingle
</UL>
@ -1999,8 +1999,8 @@ Global Symbols
<P><STRONG><a name="[e5]"></a>HAL_SPI_Receive_DMA</STRONG> (Thumb, 270 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(i.HAL_SPI_Receive_DMA))
<BR><BR>[Stack]<UL><LI>Max Depth = 100<LI>Call Chain = HAL_SPI_Receive_DMA &rArr; HAL_SPI_TransmitReceive_DMA &rArr; HAL_DMA_Start_IT &rArr; DMA_SetConfig
</UL>
<BR>[Calls]<UL><LI><a href="#[14d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Start_IT
<LI><a href="#[1ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive_DMA
<BR>[Calls]<UL><LI><a href="#[1ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive_DMA
<LI><a href="#[14d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Start_IT
</UL>
<BR>[Called By]<UL><LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI_Read
</UL>
@ -2126,13 +2126,13 @@ Global Symbols
<P><STRONG><a name="[1bc]"></a>HAL_TIM_IRQHandler</STRONG> (Thumb, 406 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = HAL_TIM_IRQHandler
</UL>
<BR>[Calls]<UL><LI><a href="#[1c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_TriggerCallback
<LI><a href="#[1c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PeriodElapsedCallback
<LI><a href="#[1bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_PulseFinishedCallback
<LI><a href="#[1be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_OC_DelayElapsedCallback
<BR>[Calls]<UL><LI><a href="#[1be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_OC_DelayElapsedCallback
<LI><a href="#[1bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IC_CaptureCallback
<LI><a href="#[1c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_CommutCallback
<LI><a href="#[1c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_BreakCallback
<LI><a href="#[1c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_TriggerCallback
<LI><a href="#[1c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PeriodElapsedCallback
<LI><a href="#[1bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_PulseFinishedCallback
</UL>
<BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM7_IRQHandler
<LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM1_UP_TIM10_IRQHandler
@ -2167,8 +2167,8 @@ Global Symbols
<P><STRONG><a name="[1ca]"></a>HAL_TIM_PWM_Init</STRONG> (Thumb, 102 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIM_PWM_Init &rArr; TIM_Base_SetConfig
</UL>
<BR>[Calls]<UL><LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_MspInit
<LI><a href="#[1b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
<BR>[Calls]<UL><LI><a href="#[1b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
<LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_MspInit
</UL>
<BR>[Called By]<UL><LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM4_Init
<LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM10_Init
@ -2232,14 +2232,14 @@ Global Symbols
<P><STRONG><a name="[1d1]"></a>HAL_UART_IRQHandler</STRONG> (Thumb, 732 bytes, Stack size 40 bytes, stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = HAL_UART_IRQHandler &rArr; UART_Receive_IT &rArr; HAL_UART_RxCpltCallback
</UL>
<BR>[Calls]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Transmit_IT
<LI><a href="#[1d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Receive_IT
<LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndTransmit_IT
<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndRxTransfer
<LI><a href="#[1d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort_IT
<BR>[Calls]<UL><LI><a href="#[1d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort_IT
<LI><a href="#[149]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort
<LI><a href="#[1d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_ErrorCallback
<LI><a href="#[1ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_RxEventCallback
<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Transmit_IT
<LI><a href="#[1d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Receive_IT
<LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndTransmit_IT
<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndRxTransfer
</UL>
<BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART6_IRQHandler
<LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_IRQHandler
@ -2289,8 +2289,8 @@ Global Symbols
<P><STRONG><a name="[1dc]"></a>HAL_UART_Transmit</STRONG> (Thumb, 210 bytes, Stack size 40 bytes, stm32f4xx_hal_uart.o(i.HAL_UART_Transmit))
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = HAL_UART_Transmit &rArr; UART_WaitOnFlagUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[1dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
<LI><a href="#[131]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
<BR>[Calls]<UL><LI><a href="#[131]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
<LI><a href="#[1dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
</UL>
<BR>[Called By]<UL><LI><a href="#[1f7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NUC_Send
</UL>
@ -2516,8 +2516,8 @@ Global Symbols
<P><STRONG><a name="[1f7]"></a>NUC_Send</STRONG> (Thumb, 102 bytes, Stack size 32 bytes, nuc.o(i.NUC_Send))
<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = NUC_Send &rArr; HAL_UART_Transmit &rArr; UART_WaitOnFlagUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[1dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Transmit
<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
<BR>[Calls]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
<LI><a href="#[1dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Transmit
</UL>
<BR>[Called By]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_nuc
</UL>
@ -2525,8 +2525,8 @@ Global Symbols
<P><STRONG><a name="[1f8]"></a>NUC_StartReceiving</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, nuc.o(i.NUC_StartReceiving))
<BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = NUC_StartReceiving &rArr; HAL_UARTEx_ReceiveToIdle_DMA &rArr; UART_Start_Receive_DMA &rArr; HAL_DMA_Start_IT &rArr; DMA_SetConfig
</UL>
<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
<BR>[Calls]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
</UL>
<BR>[Called By]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_nuc
</UL>
@ -2539,7 +2539,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_nuc
</UL>
<P><STRONG><a name="[1fa]"></a>Navi_init</STRONG> (Thumb, 350 bytes, Stack size 16 bytes, navi.o(i.Navi_init))
<P><STRONG><a name="[1fa]"></a>Navi_init</STRONG> (Thumb, 372 bytes, Stack size 16 bytes, navi.o(i.Navi_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = Navi_init &rArr; PID_init
</UL>
<BR>[Calls]<UL><LI><a href="#[11f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_init
@ -2609,8 +2609,8 @@ Global Symbols
<P><STRONG><a name="[204]"></a>REMOTE_StartDmaRecv</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, remote_control.o(i.REMOTE_StartDmaRecv))
<BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = REMOTE_StartDmaRecv &rArr; HAL_UARTEx_ReceiveToIdle_DMA &rArr; UART_Start_Receive_DMA &rArr; HAL_DMA_Start_IT &rArr; DMA_SetConfig
</UL>
<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
<BR>[Calls]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_UART_GetHandle
<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_ReceiveToIdle_DMA
</UL>
<BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_remote
</UL>
@ -2693,7 +2693,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[1c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
</UL>
<P><STRONG><a name="[88]"></a>Task_AttiEsti</STRONG> (Thumb, 248 bytes, Stack size 8 bytes, atti_esti.o(i.Task_AttiEsti))
<P><STRONG><a name="[88]"></a>Task_AttiEsti</STRONG> (Thumb, 222 bytes, Stack size 8 bytes, atti_esti.o(i.Task_AttiEsti))
<BR><BR>[Stack]<UL><LI>Max Depth = 376<LI>Call Chain = Task_AttiEsti &rArr; AHRS_Update &rArr; AHRS_UpdateIMU &rArr; InvSqrt &rArr; __hardfp_sqrtf &rArr; __set_errno
</UL>
<BR>[Calls]<UL><LI><a href="#[20d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadGetStackSpace
@ -2744,7 +2744,7 @@ Global Symbols
</UL>
<BR>[Address Reference Count : 1]<UL><LI> init.o(i.Task_Init)
</UL>
<P><STRONG><a name="[84]"></a>Task_Init</STRONG> (Thumb, 496 bytes, Stack size 16 bytes, init.o(i.Task_Init))
<P><STRONG><a name="[84]"></a>Task_Init</STRONG> (Thumb, 480 bytes, Stack size 16 bytes, init.o(i.Task_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 200 + Unknown Stack Size
<LI>Call Chain = Task_Init &rArr; osThreadNew &rArr; xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
@ -2833,9 +2833,9 @@ Global Symbols
<P><STRONG><a name="[91]"></a>Task_error_detect</STRONG> (Thumb, 706 bytes, Stack size 0 bytes, error_detect_task.o(i.Task_error_detect))
<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = Task_error_detect &rArr; osDelayUntil &rArr; vTaskDelayUntil &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[221]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_TogglePin
<LI><a href="#[21e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
<BR>[Calls]<UL><LI><a href="#[21e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
<LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
<LI><a href="#[221]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_TogglePin
<LI><a href="#[20d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadGetStackSpace
<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadGetId
<LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetTickFreq
@ -2845,7 +2845,7 @@ Global Symbols
</UL>
<BR>[Address Reference Count : 1]<UL><LI> init.o(i.Task_Init)
</UL>
<P><STRONG><a name="[90]"></a>Task_navi</STRONG> (Thumb, 162 bytes, Stack size 0 bytes, navi_task.o(i.Task_navi))
<P><STRONG><a name="[90]"></a>Task_navi</STRONG> (Thumb, 146 bytes, Stack size 0 bytes, navi_task.o(i.Task_navi))
<BR><BR>[Stack]<UL><LI>Max Depth = 360<LI>Call Chain = Task_navi &rArr; go_path &rArr; hold_point &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dmul
</UL>
<BR>[Calls]<UL><LI><a href="#[20d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadGetStackSpace
@ -3932,7 +3932,7 @@ Global Symbols
<BR><BR>[Called By]<UL><LI><a href="#[1fa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Navi_init
</UL>
<P><STRONG><a name="[223]"></a>go_path</STRONG> (Thumb, 868 bytes, Stack size 56 bytes, navi.o(i.go_path))
<P><STRONG><a name="[223]"></a>go_path</STRONG> (Thumb, 890 bytes, Stack size 56 bytes, navi.o(i.go_path))
<BR><BR>[Stack]<UL><LI>Max Depth = 360<LI>Call Chain = go_path &rArr; hold_point &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dmul
</UL>
<BR>[Calls]<UL><LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_calc
@ -3962,7 +3962,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[223]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;go_path
</UL>
<P><STRONG><a name="[275]"></a>isArrive_path</STRONG> (Thumb, 118 bytes, Stack size 40 bytes, navi.o(i.isArrive_path))
<P><STRONG><a name="[275]"></a>isArrive_path</STRONG> (Thumb, 122 bytes, Stack size 40 bytes, navi.o(i.isArrive_path))
<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = isArrive_path
</UL>
<BR>[Calls]<UL><LI><a href="#[277]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;abs_float_double
@ -4094,8 +4094,8 @@ Global Symbols
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = osKernelLock
</UL>
<BR>[Calls]<UL><LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
</UL>
<BR>[Called By]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Init
<LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Config_Set
@ -4119,8 +4119,8 @@ Global Symbols
<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = osKernelUnlock &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
</UL>
<BR>[Called By]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Init
<LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Config_Set
@ -4311,11 +4311,11 @@ Global Symbols
<P><STRONG><a name="[b9]"></a>osTimerNew</STRONG> (Thumb, 182 bytes, Stack size 48 bytes, cmsis_os2.o(i.osTimerNew))
<BR><BR>[Stack]<UL><LI>Max Depth = 216<LI>Call Chain = osTimerNew &rArr; xTimerCreateStatic &rArr; prvInitialiseNewTimer &rArr; prvCheckForValidListAndQueue &rArr; xQueueGenericCreateStatic &rArr; prvInitialiseNewQueue &rArr; xQueueGenericReset &rArr; xTaskRemoveFromEventList
</UL>
<BR>[Calls]<UL><LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
<BR>[Calls]<UL><LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
<LI><a href="#[293]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerCreateStatic
<LI><a href="#[294]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerCreate
<LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
</UL>
<BR>[Called By]<UL><LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ACTIONRECV_Init
</UL>
@ -4336,10 +4336,10 @@ Global Symbols
<P><STRONG><a name="[292]"></a>pvPortMalloc</STRONG> (Thumb, 306 bytes, Stack size 24 bytes, heap_4.o(i.pvPortMalloc))
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[2b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
<BR>[Calls]<UL><LI><a href="#[2b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
<LI><a href="#[2b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvHeapInit
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
</UL>
<BR>[Called By]<UL><LI><a href="#[290]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
<LI><a href="#[285]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreate
@ -4360,7 +4360,7 @@ Global Symbols
<BR><BR>[Called By]<UL><LI><a href="#[2a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
</UL>
<P><STRONG><a name="[117]"></a>radar_sick_correct</STRONG> (Thumb, 298 bytes, Stack size 24 bytes, chassis.o(i.radar_sick_correct))
<P><STRONG><a name="[117]"></a>radar_sick_correct</STRONG> (Thumb, 274 bytes, Stack size 24 bytes, chassis.o(i.radar_sick_correct))
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = radar_sick_correct
</UL>
<BR>[Calls]<UL><LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_calc
@ -4376,7 +4376,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_navi
</UL>
<P><STRONG><a name="[278]"></a>sick_point</STRONG> (Thumb, 358 bytes, Stack size 24 bytes, navi.o(i.sick_point))
<P><STRONG><a name="[278]"></a>sick_point</STRONG> (Thumb, 366 bytes, Stack size 24 bytes, navi.o(i.sick_point))
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = sick_point
</UL>
<BR>[Calls]<UL><LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_calc
@ -4393,8 +4393,7 @@ Global Symbols
</UL>
<P><STRONG><a name="[298]"></a>uxListRemove</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, list.o(i.uxListRemove))
<BR><BR>[Called By]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[2c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<BR><BR>[Called By]<UL><LI><a href="#[2c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<LI><a href="#[291]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
<LI><a href="#[29f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
<LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
@ -4405,6 +4404,7 @@ Global Symbols
<LI><a href="#[2b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSwitchTimerLists
<LI><a href="#[2ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessReceivedCommands
<LI><a href="#[2ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessExpiredTimer
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
</UL>
<P><STRONG><a name="[28e]"></a>uxTaskGetStackHighWaterMark</STRONG> (Thumb, 34 bytes, Stack size 24 bytes, tasks.o(i.uxTaskGetStackHighWaterMark))
@ -4448,8 +4448,7 @@ Global Symbols
</UL>
<P><STRONG><a name="[299]"></a>vListInsertEnd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, list.o(i.vListInsertEnd))
<BR><BR>[Called By]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[2c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<BR><BR>[Called By]<UL><LI><a href="#[2c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<LI><a href="#[291]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
<LI><a href="#[29b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
<LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
@ -4458,11 +4457,11 @@ Global Symbols
<LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
<LI><a href="#[2a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskPriorityDisinherit
<LI><a href="#[2bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventListRestricted
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
</UL>
<P><STRONG><a name="[273]"></a>vPortEnterCritical</STRONG> (Thumb, 76 bytes, Stack size 0 bytes, port.o(i.vPortEnterCritical))
<BR><BR>[Called By]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[291]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
<BR><BR>[Called By]<UL><LI><a href="#[291]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
<LI><a href="#[272]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;eTaskGetState
<LI><a href="#[29f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
<LI><a href="#[29b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
@ -4478,11 +4477,11 @@ Global Symbols
<LI><a href="#[2aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
<LI><a href="#[226]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvTimerGetTimerID
<LI><a href="#[29d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
</UL>
<P><STRONG><a name="[274]"></a>vPortExitCritical</STRONG> (Thumb, 56 bytes, Stack size 0 bytes, port.o(i.vPortExitCritical))
<BR><BR>[Called By]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[291]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
<BR><BR>[Called By]<UL><LI><a href="#[291]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
<LI><a href="#[272]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;eTaskGetState
<LI><a href="#[29f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
<LI><a href="#[29b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
@ -4498,14 +4497,15 @@ Global Symbols
<LI><a href="#[2aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
<LI><a href="#[226]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvTimerGetTimerID
<LI><a href="#[29d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
</UL>
<P><STRONG><a name="[295]"></a>vPortFree</STRONG> (Thumb, 150 bytes, Stack size 16 bytes, heap_4.o(i.vPortFree))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<BR>[Calls]<UL><LI><a href="#[2b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[2b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
</UL>
<BR>[Called By]<UL><LI><a href="#[290]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
<LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
@ -4536,10 +4536,10 @@ Global Symbols
<P><STRONG><a name="[2b0]"></a>vQueueWaitForMessageRestricted</STRONG> (Thumb, 74 bytes, Stack size 24 bytes, queue.o(i.vQueueWaitForMessageRestricted))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = vQueueWaitForMessageRestricted &rArr; vTaskPlaceOnEventListRestricted &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[2bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventListRestricted
<BR>[Calls]<UL><LI><a href="#[2bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventListRestricted
<LI><a href="#[2b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
</UL>
<BR>[Called By]<UL><LI><a href="#[2af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
</UL>
@ -4547,9 +4547,9 @@ Global Symbols
<P><STRONG><a name="[220]"></a>vTaskDelay</STRONG> (Thumb, 82 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelay))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<BR>[Calls]<UL><LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
</UL>
<BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelay
<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_error_detect
@ -4558,9 +4558,9 @@ Global Symbols
<P><STRONG><a name="[27d]"></a>vTaskDelayUntil</STRONG> (Thumb, 200 bytes, Stack size 32 bytes, tasks.o(i.vTaskDelayUntil))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = vTaskDelayUntil &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<BR>[Calls]<UL><LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
</UL>
<BR>[Called By]<UL><LI><a href="#[214]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelayUntil
</UL>
@ -4568,12 +4568,12 @@ Global Symbols
<P><STRONG><a name="[291]"></a>vTaskDelete</STRONG> (Thumb, 168 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelete))
<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = vTaskDelete &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[2bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
<BR>[Calls]<UL><LI><a href="#[2bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
<LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
<LI><a href="#[299]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
<LI><a href="#[298]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
</UL>
<BR>[Called By]<UL><LI><a href="#[215]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadTerminate
</UL>
@ -4620,14 +4620,14 @@ Global Symbols
</UL>
<P><STRONG><a name="[27f]"></a>vTaskSuspendAll</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, tasks.o(i.vTaskSuspendAll))
<BR><BR>[Called By]<UL><LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[27d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
<BR><BR>[Called By]<UL><LI><a href="#[27d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
<LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
<LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
<LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelLock
<LI><a href="#[2af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
<LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
</UL>
<P><STRONG><a name="[aa]"></a>vTaskSwitchContext</STRONG> (Thumb, 152 bytes, Stack size 8 bytes, tasks.o(i.vTaskSwitchContext))
@ -4670,8 +4670,8 @@ Global Symbols
<P><STRONG><a name="[285]"></a>xQueueGenericCreate</STRONG> (Thumb, 90 bytes, Stack size 32 bytes, queue.o(i.xQueueGenericCreate))
<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = xQueueGenericCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[2a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
<BR>[Calls]<UL><LI><a href="#[2a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
</UL>
<BR>[Called By]<UL><LI><a href="#[ff]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueNew
</UL>
@ -4688,10 +4688,10 @@ Global Symbols
<P><STRONG><a name="[289]"></a>xQueueGenericReset</STRONG> (Thumb, 146 bytes, Stack size 16 bytes, queue.o(i.xQueueGenericReset))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = xQueueGenericReset &rArr; xTaskRemoveFromEventList
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<BR>[Calls]<UL><LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
<LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
</UL>
<BR>[Called By]<UL><LI><a href="#[2a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
<LI><a href="#[20f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueReset
@ -4701,10 +4701,6 @@ Global Symbols
<BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
</UL>
<BR>[Calls]<UL><LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
<LI><a href="#[2c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
<LI><a href="#[2bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
@ -4712,6 +4708,10 @@ Global Symbols
<LI><a href="#[2b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
<LI><a href="#[2ab]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueFull
<LI><a href="#[2a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
</UL>
<BR>[Called By]<UL><LI><a href="#[fb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueuePut
<LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
@ -4732,10 +4732,6 @@ Global Symbols
<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = xQueueReceive &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
</UL>
<BR>[Calls]<UL><LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
<LI><a href="#[2c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
<LI><a href="#[2bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
@ -4743,6 +4739,10 @@ Global Symbols
<LI><a href="#[2b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
<LI><a href="#[2aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
<LI><a href="#[2a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
</UL>
<BR>[Called By]<UL><LI><a href="#[212]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueGet
<LI><a href="#[2ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessReceivedCommands
@ -4761,9 +4761,9 @@ Global Symbols
<P><STRONG><a name="[2c7]"></a>xTaskCheckForTimeOut</STRONG> (Thumb, 156 bytes, Stack size 16 bytes, tasks.o(i.xTaskCheckForTimeOut))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = xTaskCheckForTimeOut
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<BR>[Calls]<UL><LI><a href="#[2c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskInternalSetTimeOutState
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[2c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskInternalSetTimeOutState
</UL>
<BR>[Called By]<UL><LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
<LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
@ -4773,10 +4773,10 @@ Global Symbols
<BR><BR>[Stack]<UL><LI>Max Depth = 136 + Unknown Stack Size
<LI>Call Chain = xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[2a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
<BR>[Calls]<UL><LI><a href="#[2a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
<LI><a href="#[29b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
<LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
</UL>
<BR>[Called By]<UL><LI><a href="#[1e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadNew
</UL>
@ -4796,10 +4796,10 @@ Global Symbols
<P><STRONG><a name="[28b]"></a>xTaskGenericNotify</STRONG> (Thumb, 278 bytes, Stack size 32 bytes, tasks.o(i.xTaskGenericNotify))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = xTaskGenericNotify
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[299]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
<BR>[Calls]<UL><LI><a href="#[299]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
<LI><a href="#[298]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
</UL>
<BR>[Called By]<UL><LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadFlagsSet
<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadFlagsGet
@ -4863,9 +4863,9 @@ Global Symbols
<P><STRONG><a name="[28d]"></a>xTaskNotifyWait</STRONG> (Thumb, 150 bytes, Stack size 24 bytes, tasks.o(i.xTaskNotifyWait))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = xTaskNotifyWait &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<BR>[Calls]<UL><LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[297]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
</UL>
<BR>[Called By]<UL><LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadFlagsWait
</UL>
@ -4896,28 +4896,28 @@ Global Symbols
<P><STRONG><a name="[281]"></a>xTaskResumeAll</STRONG> (Thumb, 222 bytes, Stack size 16 bytes, tasks.o(i.xTaskResumeAll))
<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[2c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<BR>[Calls]<UL><LI><a href="#[2c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<LI><a href="#[2bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
<LI><a href="#[299]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
<LI><a href="#[298]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
</UL>
<BR>[Called By]<UL><LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[27d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
<BR>[Called By]<UL><LI><a href="#[27d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
<LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
<LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
<LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
<LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelUnlock
<LI><a href="#[2af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
<LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
</UL>
<P><STRONG><a name="[294]"></a>xTimerCreate</STRONG> (Thumb, 54 bytes, Stack size 40 bytes, timers.o(i.xTimerCreate))
<BR><BR>[Stack]<UL><LI>Max Depth = 168<LI>Call Chain = xTimerCreate &rArr; prvInitialiseNewTimer &rArr; prvCheckForValidListAndQueue &rArr; xQueueGenericCreateStatic &rArr; prvInitialiseNewQueue &rArr; xQueueGenericReset &rArr; xTaskRemoveFromEventList
</UL>
<BR>[Calls]<UL><LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[2a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTimer
<BR>[Calls]<UL><LI><a href="#[2a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTimer
<LI><a href="#[292]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
</UL>
<BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osTimerNew
</UL>
@ -5323,8 +5323,8 @@ Local Symbols
</UL>
<BR>[Calls]<UL><LI><a href="#[206]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Called By]<UL><LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_DMAReceiveCplt
<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive
<BR>[Called By]<UL><LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive
<LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_DMAReceiveCplt
</UL>
<P><STRONG><a name="[1b1]"></a>SPI_EndRxTxTransaction</STRONG> (Thumb, 100 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(i.SPI_EndRxTxTransaction))
@ -5332,9 +5332,9 @@ Local Symbols
</UL>
<BR>[Calls]<UL><LI><a href="#[206]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Called By]<UL><LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_DMATransmitReceiveCplt
<LI><a href="#[1ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
<BR>[Called By]<UL><LI><a href="#[1ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Transmit
<LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_DMATransmitReceiveCplt
</UL>
<P><STRONG><a name="[206]"></a>SPI_WaitFlagStateUntilTimeout</STRONG> (Thumb, 210 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout))
@ -5390,9 +5390,9 @@ Local Symbols
<P><STRONG><a name="[94]"></a>UART_DMAError</STRONG> (Thumb, 80 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(i.UART_DMAError))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = UART_DMAError &rArr; HAL_UART_ErrorCallback
</UL>
<BR>[Calls]<UL><LI><a href="#[227]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndTxTransfer
<BR>[Calls]<UL><LI><a href="#[1d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_ErrorCallback
<LI><a href="#[227]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndTxTransfer
<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndRxTransfer
<LI><a href="#[1d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_ErrorCallback
</UL>
<BR>[Address Reference Count : 1]<UL><LI> stm32f4xx_hal_uart.o(i.UART_Start_Receive_DMA)
</UL>
@ -5509,10 +5509,10 @@ Local Symbols
<P><STRONG><a name="[2b3]"></a>prvUnlockQueue</STRONG> (Thumb, 126 bytes, Stack size 16 bytes, queue.o(i.prvUnlockQueue))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = prvUnlockQueue &rArr; xTaskRemoveFromEventList
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
<BR>[Calls]<UL><LI><a href="#[2b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
<LI><a href="#[2b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskMissedYield
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
</UL>
<BR>[Called By]<UL><LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
<LI><a href="#[288]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
@ -5536,10 +5536,10 @@ Local Symbols
<P><STRONG><a name="[29b]"></a>prvAddNewTaskToReadyList</STRONG> (Thumb, 154 bytes, Stack size 8 bytes, tasks.o(i.prvAddNewTaskToReadyList))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = prvAddNewTaskToReadyList &rArr; prvInitialiseTaskLists
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
<BR>[Calls]<UL><LI><a href="#[29c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
<LI><a href="#[299]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
</UL>
<BR>[Called By]<UL><LI><a href="#[28f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
<LI><a href="#[290]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
@ -5548,10 +5548,10 @@ Local Symbols
<P><STRONG><a name="[29f]"></a>prvCheckTasksWaitingTermination</STRONG> (Thumb, 60 bytes, Stack size 8 bytes, tasks.o(i.prvCheckTasksWaitingTermination))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = prvCheckTasksWaitingTermination &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
<BR>[Calls]<UL><LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
<LI><a href="#[298]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
</UL>
<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIdleTask
</UL>
@ -5593,9 +5593,9 @@ Local Symbols
</UL>
<P><STRONG><a name="[2bc]"></a>prvResetNextTaskUnblockTime</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, tasks.o(i.prvResetNextTaskUnblockTime))
<BR><BR>[Called By]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[2c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<BR><BR>[Called By]<UL><LI><a href="#[2c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<LI><a href="#[291]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
</UL>
<P><STRONG><a name="[2b8]"></a>prvTaskCheckFreeStackSpace</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, tasks.o(i.prvTaskCheckFreeStackSpace))
@ -5605,11 +5605,11 @@ Local Symbols
<P><STRONG><a name="[29d]"></a>prvCheckForValidListAndQueue</STRONG> (Thumb, 78 bytes, Stack size 8 bytes, timers.o(i.prvCheckForValidListAndQueue))
<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = prvCheckForValidListAndQueue &rArr; xQueueGenericCreateStatic &rArr; prvInitialiseNewQueue &rArr; xQueueGenericReset &rArr; xTaskRemoveFromEventList
</UL>
<BR>[Calls]<UL><LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<BR>[Calls]<UL><LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreateStatic
<LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueAddToRegistry
<LI><a href="#[274]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[273]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
<LI><a href="#[284]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreateStatic
<LI><a href="#[286]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueAddToRegistry
</UL>
<BR>[Called By]<UL><LI><a href="#[2a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTimer
<LI><a href="#[2bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerCreateTimerTask
@ -5651,12 +5651,12 @@ Local Symbols
<P><STRONG><a name="[2ad]"></a>prvProcessReceivedCommands</STRONG> (Thumb, 350 bytes, Stack size 48 bytes, timers.o(i.prvProcessReceivedCommands))
<BR><BR>[Stack]<UL><LI>Max Depth = 248<LI>Call Chain = prvProcessReceivedCommands &rArr; prvSampleTimeNow &rArr; prvSwitchTimerLists &rArr; xTimerGenericCommand &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
</UL>
<BR>[Calls]<UL><LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
<BR>[Calls]<UL><LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
<LI><a href="#[298]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
<LI><a href="#[296]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
<LI><a href="#[2ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
<LI><a href="#[2a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertTimerInActiveList
<LI><a href="#[295]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
</UL>
<BR>[Called By]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvTimerTask
</UL>
@ -5664,11 +5664,11 @@ Local Symbols
<P><STRONG><a name="[2af]"></a>prvProcessTimerOrBlockTask</STRONG> (Thumb, 102 bytes, Stack size 24 bytes, timers.o(i.prvProcessTimerOrBlockTask))
<BR><BR>[Stack]<UL><LI>Max Depth = 224<LI>Call Chain = prvProcessTimerOrBlockTask &rArr; prvSampleTimeNow &rArr; prvSwitchTimerLists &rArr; xTimerGenericCommand &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
</UL>
<BR>[Calls]<UL><LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[2b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueWaitForMessageRestricted
<BR>[Calls]<UL><LI><a href="#[2b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueWaitForMessageRestricted
<LI><a href="#[2ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
<LI><a href="#[2ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessExpiredTimer
<LI><a href="#[281]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[27f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
</UL>
<BR>[Called By]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvTimerTask
</UL>
@ -5748,7 +5748,7 @@ Local Symbols
<P><STRONG><a name="[96]"></a>prvTaskExitError</STRONG> (Thumb, 60 bytes, Stack size 0 bytes, port.o(i.prvTaskExitError))
<BR>[Address Reference Count : 1]<UL><LI> port.o(i.pxPortInitialiseStack)
</UL>
<P><STRONG><a name="[114]"></a>Chassis_SetCtrl</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, chassis.o(i.Chassis_SetCtrl))
<P><STRONG><a name="[114]"></a>Chassis_SetCtrl</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, chassis.o(i.Chassis_SetCtrl))
<BR><BR>[Called By]<UL><LI><a href="#[113]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Chassis_Control
</UL>

4016
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
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File diff suppressed because it is too large Load Diff

104
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
View File

@ -160,12 +160,12 @@ 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)(0x6852D265)
I (../User/task\user_task.h)(0x6853E669)
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)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -184,7 +184,7 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (../Core/Src/can.c)(0x664896B1)(--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.o --omf_browse ele_chassis\can.crf --depend ele_chassis\can.d)
@ -1540,8 +1540,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
F (..\User\Module\Chassis.c)(0x6852EDCC)(--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)(0x6852EDCC)
F (..\User\Module\Chassis.c)(0x68553548)(--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)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -1599,9 +1599,9 @@ I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (..\User\Module\define.h)(0x6852D30E)
F (..\User\Module\config.c)(0x6852EDCC)(--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)(0x68553271)(--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)(0x6852EDCC)
I (..\User\Module\Chassis.h)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -1658,7 +1658,7 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/bsp/flash.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)(0x684FD506)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\init.o --omf_browse ele_chassis\init.crf --depend ele_chassis\init.d)
F (..\User\task\init.c)(0x68553984)(--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)(0x6852D265)
I (../User/task\user_task.h)(0x6853E669)
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)
@ -2137,7 +2137,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
@ -2149,11 +2149,11 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
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)(0x6852D265)
I (../User/task\user_task.h)(0x6853E669)
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)
@ -2170,7 +2170,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2224,11 +2224,11 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\chassis_task.c)(0x6851A2A3)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2285,7 +2285,7 @@ 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)(0x6852D265)
I (..\User\task\user_task.h)(0x6853E669)
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)
@ -2299,13 +2299,13 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
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)
F (..\User\task\atti_esti.c)(0x68553927)(--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)(0x6852D265)
I (../User/task\user_task.h)(0x6853E669)
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)
@ -2322,7 +2322,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2376,7 +2376,7 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/bsp\pwm.h)(0x663B6621)
@ -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)(0x6852D265)
I (..\User\task\user_task.h)(0x6853E669)
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)
@ -2442,7 +2442,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2456,11 +2456,11 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
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)(0x6852D265)
I (..\User\task\user_task.h)(0x6853E669)
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)
@ -2477,7 +2477,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2531,11 +2531,11 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\nuc_task.c)(0x6852BCCA)(--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)(0x6852D265)
I (..\User\task\user_task.h)(0x6853E669)
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)
@ -2552,7 +2552,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2606,7 +2606,7 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/device/nuc.h)(0x6852BA01)
@ -2614,7 +2614,7 @@ I (../User/bsp/protocol.h)(0x6851732E)
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)(0x6852D265)
I (..\User\task\user_task.h)(0x6853E669)
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)
@ -2631,7 +2631,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2684,7 +2684,7 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
I (../User/device/r12ds.h)(0x67CAE0AC)
@ -2736,7 +2736,7 @@ 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/device/cmd.h)(0x68517218)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\task\user_task.h)(0x6852D265)
I (..\User\task\user_task.h)(0x6853E669)
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)
@ -2750,7 +2750,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2762,11 +2762,11 @@ I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
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)(0x6852D265)
I (..\User\task\user_task.h)(0x6853E669)
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)
@ -2783,7 +2783,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2837,11 +2837,11 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\navi_task.c)(0x684DA1A9)(--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)(0x6852D265)
F (..\User\task\navi_task.c)(0x68553927)(--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)(0x6853E669)
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)
@ -2858,7 +2858,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2912,7 +2912,7 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\remote_control_task.c)(0x681DFED8)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\remote_control_task.o --omf_browse ele_chassis\remote_control_task.crf --depend ele_chassis\remote_control_task.d)
@ -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)(0x6852D265)
I (..\User\task\user_task.h)(0x6853E669)
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)
@ -2981,7 +2981,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -2989,7 +2989,7 @@ I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
I (../User/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\Algorithm\ahrs.c)(0x663B6620)(--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\ahrs.o --omf_browse ele_chassis\ahrs.crf --depend ele_chassis\ahrs.d)
@ -3275,7 +3275,7 @@ I (../Core/Inc/spi.h)(0x664876DC)
I (../User/bsp\pwm.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/Module/config.h)(0x683FAE78)
I (../User/Module/Chassis.h)(0x6852EDCC)
I (../User/Module/Chassis.h)(0x685536AB)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
@ -3284,7 +3284,7 @@ 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/device/navi.h)(0x683FFEC6)
I (../User/device/navi.h)(0x68553A70)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\device\can_use.c)(0x684FFED9)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\can_use.o --omf_browse ele_chassis\can_use.crf --depend ele_chassis\can_use.d)
@ -3434,7 +3434,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (..\User\device\cmd.h)(0x68517218)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
I (../User/Module/chassis.h)(0x6852EDCC)
I (../User/Module/chassis.h)(0x685536AB)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -3597,8 +3597,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (..\User\device\cmd.h)(0x68517218)
I (../User/Module/define.h)(0x6852D30E)
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)
F (..\User\device\navi.c)(0x68553AB8)(--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)(0x68553A70)
I (..\User\device\Action.h)(0x67CAEC48)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)
I (D:\keil mdk\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)

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User/Module/Chassis.c
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@ -207,6 +207,7 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
for (uint8_t i = 0; i < 3; i++) {
c->sick[i] = can->sickfed.as_array[i].sick_distance/10;
}
c->sick[0] += 10;
return CHASSIS_OK;
}
@ -219,16 +220,17 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
c->motoroffset = motor_offset; // 将 motor_offset 的值赋给 c->motoroffset
//在这里修改雷达校准时sick的值 (标号为逆时针)
c->sick_set[0] = 5408;
c->sick_set[1] = 5421;
c->sick_set[2] = 1224;
c->sick_set[0] = 5505;
c->sick_set[1] = 5505;
c->sick_set[2] = 1821;
PID_init(&(c->pid.chassis_6020OmegaPid), PID_POSITION,&(c->param->C6020Omega_param));
PID_init(&(c->pid.chassis_6020anglePid), PID_POSITION,&(c->param->C6020Angle_param));
PID_init(&(c->pid.chassis_RadaranglePID),PID_POSITION,&(c->param->RadarAngle_param));
PID_init(&(c->pid.chassis_RadarspeedPID),PID_POSITION,&(c->param->RadarSpeed_param));
PID_init(&(c->pid.chassis_SickVxy), PID_POSITION,&(c->param->SickVxy_param));
PID_init(&(c->pid.chassis_SickVx), PID_POSITION,&(c->param->SickVx_param));
PID_init(&(c->pid.chassis_SickVy), PID_POSITION,&(c->param->SickVy_param));
PID_init(&(c->pid.chassis_SickVw), PID_POSITION,&(c->param->SickVw_param));
LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f); //给x 做滤波
@ -245,7 +247,7 @@ void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){
fp32 nuc_detangle;
// ctrl->nuc.vw = LowPassFilter2p_Apply(&(c->filled[3]),ctrl->nuc.vw);
nuc_detangle = - PID_calc(&(c->pid.chassis_RadaranglePID),ctrl->nuc.vw,0);
c->chassis_yaw_pid = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,nuc_detangle);
c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID),c->pos088.bmi088.gyro.z,nuc_detangle);
}
//雷达运用sick来校准
@ -254,15 +256,15 @@ void radar_sick_correct(Chassis_t *c){
fp32 diff_y = c->sick[0] - c->sick_set[0];
fp32 diff_w = c->sick[0] - c->sick[1];
c->move_vec.Vx = (fabsf(diff_x)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVxy),diff_x,0): 0;
c->move_vec.Vy = (fabsf(diff_y)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVxy),diff_y,0): 0;
c->move_vec.Vw = (fabsf(diff_w)>SICKW_ERROR) ? PID_calc(&(c->pid.chassis_SickVw),diff_w,0): 0;
c->move_sick.Vx = (fabsf(diff_x)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVx),diff_x,0): 0;
c->move_sick.Vy = (fabsf(diff_y)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVy),diff_y,0): 0;
c->move_sick.Vw = (fabsf(diff_w)>SICKW_ERROR) ? -PID_calc(&(c->pid.chassis_SickVw),diff_w,0): 0;
static uint8_t reach_cnt = 0;
if (fabsf(diff_x) <= SICKXY_ERROR && fabsf(diff_y) <= SICKXY_ERROR &&fabsf(diff_w)<= SICKW_ERROR) {
reach_cnt++;
if (reach_cnt >= 50) {
c->SICK_FALG = 1;
// c->SICK_FALG = 1;
}
}
else {
@ -283,7 +285,9 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
ctrl->nuc.vy = LowPassFilter2p_Apply(&(c->filled[4]),ctrl->nuc.vy);
ctrl->nuc.vw = LowPassFilter2p_Apply(&(c->filled[5]),ctrl->nuc.vw);
#if defined(carmera_angle)|| defined(radar)
nuc_angle_correct(c,ctrl);
//关于nuc纠正的函数都要一直运行
nuc_angle_correct(c,ctrl);
radar_sick_correct(c);
#endif
switch (c->mode){
case RC:
@ -300,7 +304,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
#ifdef carmera_angle
//如果相机开始工作
if(ctrl->nuc.vw != 0){
c->move_vec.Vw = c->chassis_yaw_pid;
c->move_vec.Vw = c->radar_yaw;
}
#elif defined(radar)
@ -312,9 +316,13 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
只是为了方便拟合，而且跑点要准的话要加pid，
目前xy的参数还可以
*/
c->move_vec.Vx = ctrl->nuc.vx*2500;
c->move_vec.Vy = ctrl->nuc.vy*2500;
// c->move_vec.Vw = c->chassis_yaw_pid;
//跑点
// c->move_vec.Vx = ctrl->nuc.vx*2500;
// c->move_vec.Vy = ctrl->nuc.vy*2500;
//纠正角度
c->move_vec.Vx = ctrl->Vx*95000;
c->move_vec.Vy = ctrl->Vy*95000;
c->move_vec.Vw = c->radar_yaw;
}
else if(ctrl->C_cmd.nuc_radar == FORBIDDEN){
c->move_vec.Vx = ctrl->Vx*95000;
@ -322,10 +330,9 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
c->move_vec.Vw = ctrl->Vw*30000;
}
else if(ctrl->C_cmd.nuc_radar == RADAR_RESET){
radar_sick_correct(c);
// c->move_vec.Vx = c->move_sick.Vx;
// c->move_vec.Vy = c->move_sick.Vy;
// c->move_vec.Vw = c->move_sick.Vw;
c->move_vec.Vx = c->move_sick.Vx;
c->move_vec.Vy = c->move_sick.Vy;
c->move_vec.Vw = c->move_sick.Vw;
}
#elif defined(action_sick)|| defined(camera_angle_static)
c->move_vec.Vx =ctrl->C_navi.vx ;
@ -359,7 +366,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
#endif
//vofa发送
c->vofa_send[0] =ctrl->nuc.vw;
c->vofa_send[1] =c->chassis_yaw_pid;
c->vofa_send[1] =c->radar_yaw;
c->vofa_send[2] =out->chassis5065.erpm[0];
c->vofa_send[3] =c->motorfeedback.rotor_rpm5065[0];
c->vofa_send[4] =ctrl->nuc.vx;

108
User/Module/Chassis.h
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@ -24,10 +24,10 @@
#define PI 3.1415926535f
//小量程sick1分米大概变30，大量程sick1分米大概变60
#define SICKXY_ERROR 15
#define SICKXY_ERROR 10
#define SICKW_ERROR 10
//纵向/横向
// 纵向/横向
#define radians atan(1.0*422/440)//角度制
//四个舵轮的安装误差
typedef struct {
@ -69,7 +69,7 @@ typedef struct
Chassis_Motortype_e motor_type; /**/
/*该部分决定PID的参数整定在config中修改*/
pid_param_t M3508_param;
pid_param_t M3508_param;
pid_param_t C6020Omega_param;
pid_param_t C6020Angle_param;
pid_param_t RadarAngle_param;
@ -77,7 +77,8 @@ typedef struct
pid_param_t C6020pitAngle_param;
pid_param_t C6020pitOmega_param;
pid_param_t SickVxy_param;
pid_param_t SickVx_param;
pid_param_t SickVy_param;
pid_param_t SickVw_param;
}Chassis_Param_t;
/*该结构体用于底盘的期望运动向量*/
@ -95,35 +96,20 @@ typedef struct
*
*/
typedef struct{
uint8_t chassis_task_run; //线程的运行
const Chassis_Param_t *param; //一些固定的参数
ChassisImu_t pos088; //088的实时姿态
CMD_Chassis_mode mode;
CMD_Chassis_navi_pos pos;
CMD_Chassis_navi_pos pos;
ChassisMove_Vec move_vec; //由控制任务决定
ChassisMove_Vec move_vec; //最终输入速度
struct{
fp32 rotor_rpm3508[4];
fp32 rotor_current3508[4];
fp32 rotor_rpm6020[4];
fp32 rotor_angle6020[4];
fp32 rotor_current6020[4];
fp32 rotor_rpm5065[4];
fp32 torque_current5065[4];
fp32 rotor_5065pos[4];
fp32 radar_yaw; //雷达纠正角度输出值
/*sick跑点数据*/
fp32 sick[3];
fp32 sick_set[3];
uint8_t SICK_FALG;
ChassisMove_Vec move_sick; //sick跑点速度
}motorfeedback;
MotorOffset_t motoroffset;
/*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
struct{
fp32 rotor5065_jiesuan_1[4];
@ -136,45 +122,55 @@ typedef struct{
fp32 motor5065_target[4];
}hopemotorout;
fp32 pit6020_set;
/*经PID计算后的实际发送给电机的实时输出值*/
struct
struct
{
fp32 final_6020out[4]; //最终经由PID计算出的发送给电机的实际输出值
fp32 final_5065out[4]; //
fp32 final_6020out[4];
fp32 final_5065out[4];
fp32 final_3508out[4];
fp32 final_pitchout;
}final_out;
/*电机反馈数据*/
struct{
fp32 rotor_rpm3508[4];
fp32 rotor_current3508[4];
fp32 rotor_rpm6020[4];
fp32 rotor_angle6020[4];
fp32 rotor_current6020[4];
fp32 rotor_rpm5065[4];
fp32 torque_current5065[4];
fp32 rotor_5065pos[4];
}motorfeedback;
/*pid*/
struct{
pid_type_def chassis_6020anglePid;
pid_type_def chassis_6020OmegaPid;
pid_type_def chassis_RadaranglePID;
pid_type_def chassis_RadarspeedPID;
pid_type_def chassis_3508VecPID[4];
pid_type_def chassis_pitAngle6020;
pid_type_def chassis_pitOmega6020;
pid_type_def chassis_6020anglePid;
pid_type_def chassis_6020OmegaPid;
pid_type_def chassis_RadaranglePID;
pid_type_def chassis_RadarspeedPID;
pid_type_def chassis_3508VecPID[4];
pid_type_def chassis_pitAngle6020;
pid_type_def chassis_pitOmega6020;
pid_type_def chassis_SickVxy;
pid_type_def chassis_SickVw;
}pid;
fp32 vofa_send[8];
LowPassFilter2p_t filled[6];
uint8_t pick_ready; //该状态位用来检测与上层C板的通信状态
pid_type_def chassis_SickVx;
pid_type_def chassis_SickVy;
pid_type_def chassis_SickVw;
}pid;
uint8_t keeping_angle_flag; // 是否处于保持角度模式
float keep_angle[4]; // 保持的 6020 角度
fp32 chassis_yaw; //码盘世界坐标系下底盘角度
uint8_t keeping_angle_flag; // 是否处于保持角度模式
fp32 chassis_yaw;
fp32 chassis_yaw_pid;
ChassisImu_t pos088; //088的实时姿态
MotorOffset_t motoroffset; //5065校准数据
const Chassis_Param_t *param; //一些固定的参数
fp32 vofa_send[8]; //vofa输出数据
LowPassFilter2p_t filled[6]; //滤波器
float keep_angle[4]; // 保持的 6020 角度
fp32 sick[3];
fp32 sick_set[3];
uint8_t SICK_FALG;
}Chassis_t;
/**

34
User/Module/config.c
View File

@ -25,9 +25,8 @@ static const ConfigParam_t param_chassis ={
.out_limit = 5000.0f,
},
.C6020Omega_param = {
.p = 50.0f,
.i =
0.8f,
.p = 45.0f,
.i = 0.8f,
.d = 2.0f,
.f = 0.1f,
.i_limit = 2500.0f,
@ -41,7 +40,7 @@ static const ConfigParam_t param_chassis ={
.out_limit =800.0f,
},
.RadarSpeed_param = {
.p = 6.0f,
.p = 8.0f,
.i = 0.04f,
.d = 3.0f,
.i_limit = 1500.0f,
@ -50,7 +49,7 @@ static const ConfigParam_t param_chassis ={
.M3508_param = {
.p = 15.0f,
.i = 0.0f,
.d = 0.8f,
.d = 1.5f,
.i_limit = 0.0f,
.out_limit = 5000.0f,
},
@ -68,19 +67,26 @@ static const ConfigParam_t param_chassis ={
.i_limit = 2000.0f,
.out_limit = 3000.0f,
},
.SickVxy_param = {
.p =15.0f,
.i =0.05f,
.d =0.8f,
.i_limit =2000.0f,
.SickVx_param = {
.p =12.0f,
.i =0.03f,
.d =8.0f,
.i_limit =2500.0f,
.out_limit =10000.0f,
},
.SickVy_param = {
.p =18.0f,
.i =0.1f,
.d =6.0f,
.i_limit =1800.0f,
.out_limit =10000.0f,
},
.SickVw_param = {
.p =5.0f,
.i =0.1f,
.p =15.0f,
.i =0.12f,
.d =0.5f,
.i_limit = 5.0f,
.out_limit = 4000.0f
.i_limit = 800.0f,
.out_limit = 6000.0f
},
},

56
User/device/navi.c
View File

@ -15,22 +15,24 @@ int8_t Navi_init(ops_t *o,const ops_param_t *param,Action_POS_t *pos){
o->param = param;
//底盘路径速度pid初始化
PID_init(&o->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*/
//全场定位跑路径的xy方向速度环pid
PID_init(&o->pid_PosSpeed_xy, PID_POSITION,(&o->param->ops_pid.pid_PosSpeed_xy_param));
PID_init(&o->pid.pid_PosSpeed_xy, PID_POSITION,(&o->param->ops_pid.pid_PosSpeed_xy_param));
/* 初始化角度纠正PID */
PID_init(&o->pid_OutAngle,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_param));//外环
PID_init(&o->pid_InnerAngle,PID_POSITION,(&o->param->ops_pid.pid_InnerAngle_param));//内环
PID_init(&o->pid.pid_OutAngle,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_param));//外环
PID_init(&o->pid.pid_InnerAngle,PID_POSITION,(&o->param->ops_pid.pid_InnerAngle_param));//内环
PID_init(&o->pid_OutAngle_hold,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_hold_param));//外环
PID_init(&o->pid_InnerAngle_hold,PID_POSITION,(&o->param->ops_pid.pid_InnerAngle_hold_param));//内环
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
//底盘xy方向位置环pid初始化
PID_init(&o->pid_pos_xy_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_xy_inner_param));
PID_init(&o->pid_pos_xy_outer,PID_POSITION,(&o->param->ops_pid.pid_pos_xy_outer_param));
PID_init(&o->pid.pid_pos_xy_outer,PID_POSITION,(&o->param->ops_pid.pid_pos_xy_outer_param));
PID_init(&o->pid.pid_pos_xy_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_xy_inner_param));
//sick
PID_init(&o->pid_sick_inner,PID_POSITION,(&o->param->ops_pid.pid_sick_inner_param));
PID_init(&o->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));
//全场定位底盘坐标初始化
o->chassis_pos->pos_x=0;
@ -99,9 +101,9 @@ fp32 ops9_AngleCorr(ops_t *o,fp32 hope_angle,pid_type_def *outer_yaw_pid_set,pid
//底盘xy速度计算(全场定位)
void POS_chassis_set(ops_t *o,fp32 vx_set, fp32 vy_set, fp32 yaw_angle_set){
o->final_out.action.vx = PID_calc(&o->pid_PosSpeed_xy, o->chassis_pos->pos_Vx,vx_set);
o->final_out.action.vy = PID_calc(&o->pid_PosSpeed_xy, o->chassis_pos->pos_Vy,vy_set);
o->final_out.action.vz = ops9_AngleCorr(o,yaw_angle_set,&o->pid_OutAngle,&o->pid_InnerAngle);
o->final_out.action.vx = PID_calc(&o->pid.pid_PosSpeed_xy, o->chassis_pos->pos_Vx,vx_set);
o->final_out.action.vy = PID_calc(&o->pid.pid_PosSpeed_xy, o->chassis_pos->pos_Vy,vy_set);
o->final_out.action.vz = ops9_AngleCorr(o,yaw_angle_set,&o->pid.pid_OutAngle,&o->pid.pid_InnerAngle);
}
//定点控制
@ -112,12 +114,12 @@ void hold_point(ops_t *o,point_t p,fp32 yaw_angle_set){
fp32 hold_vx,hold_vy;
//x
delta_x = PID_calc(&o->pid_pos_xy_outer,o->chassis_pos->pos_x,p.x);
delta_vx = PID_calc(&o->pid_pos_xy_inner,o->chassis_pos->pos_Vx,delta_x);
delta_x = PID_calc(&o->pid.pid_pos_xy_outer,o->chassis_pos->pos_x,p.x);
delta_vx = PID_calc(&o->pid.pid_pos_xy_inner,o->chassis_pos->pos_Vx,delta_x);
//y
delta_y = PID_calc(&o->pid_pos_xy_outer,o->chassis_pos->pos_y,p.y);
delta_vy = PID_calc(&o->pid_pos_xy_inner,o->chassis_pos->pos_Vy,delta_y);
delta_y = PID_calc(&o->pid.pid_pos_xy_outer,o->chassis_pos->pos_y,p.y);
delta_vy = PID_calc(&o->pid.pid_pos_xy_inner,o->chassis_pos->pos_Vy,delta_y);
//目标速度
hold_vx = delta_vy*cos((o->chassis_pos->pos_yaw)*PI/180.0f) - delta_vx*sin((o->chassis_pos->pos_yaw)*PI/180.0f);
@ -126,7 +128,7 @@ void hold_point(ops_t *o,point_t p,fp32 yaw_angle_set){
//底盘速度
o->final_out.action.vx = hold_vx;
o->final_out.action.vy = hold_vy;
o->final_out.action.vz = ops9_AngleCorr(o,yaw_angle_set,&o->pid_OutAngle_hold,&o->pid_InnerAngle_hold);
o->final_out.action.vz = ops9_AngleCorr(o,yaw_angle_set,&o->pid.pid_OutAngle_hold,&o->pid.pid_InnerAngle_hold);
}
@ -138,24 +140,24 @@ void sick_point(ops_t *o){
fp32 delta_vx,delta_vy;
//x轴
if(o->sick_d.status[0] == normal) {
delta_x = -PID_calc(&o->pid_sick_outer,o->sick_distance[0],o->chassis_map->sick->sick_qian);
delta_vx = PID_calc(&o->pid_sick_inner,o->chassis_pos->pos_Vx,delta_x);
delta_x = -PID_calc(&o->pid.pid_sick_outer,o->sick_distance[0],o->chassis_map->sick->sick_qian);
delta_vx = PID_calc(&o->pid.pid_sick_inner,o->chassis_pos->pos_Vx,delta_x);
}
else if(o->sick_d.status[2] == normal){
delta_x = -PID_calc(&o->pid_sick_outer,o->sick_distance[2],o->chassis_map->sick->sick_hou);
delta_vx = PID_calc(&o->pid_sick_inner,o->chassis_pos->pos_Vx,delta_x);
delta_x = -PID_calc(&o->pid.pid_sick_outer,o->sick_distance[2],o->chassis_map->sick->sick_hou);
delta_vx = PID_calc(&o->pid.pid_sick_inner,o->chassis_pos->pos_Vx,delta_x);
}
else{
delta_vx = 0;
}
//y轴
if(o->sick_d.status[1] == normal){
delta_y = -PID_calc(&o->pid_sick_outer,o->sick_distance[1],o->chassis_map->sick->sick_you);
delta_vy = PID_calc(&o->pid_sick_inner,o->chassis_pos->pos_Vy,delta_y);
delta_y = -PID_calc(&o->pid.pid_sick_outer,o->sick_distance[1],o->chassis_map->sick->sick_you);
delta_vy = PID_calc(&o->pid.pid_sick_inner,o->chassis_pos->pos_Vy,delta_y);
}
else if(o->sick_d.status[3] == normal){
delta_y = -PID_calc(&o->pid_sick_outer,o->sick_distance[3],o->chassis_map->sick->sick_zuo);
delta_vy = PID_calc(&o->pid_sick_inner,o->chassis_pos->pos_Vy,delta_y);
delta_y = -PID_calc(&o->pid.pid_sick_outer,o->sick_distance[3],o->chassis_map->sick->sick_zuo);
delta_vy = PID_calc(&o->pid.pid_sick_inner,o->chassis_pos->pos_Vy,delta_y);
}
else{
delta_vy = 0;
@ -262,7 +264,7 @@ void go_path(ops_t *o,CMD_ACTION_t *ops_out){
//计算速度
//o->chassis_speed_set = o->chassis_map->target->v;//此处设定为固定的期望速度
o->chassis_speed_set = PID_calc(&o->path_speed_pid,-distance,0);
o->chassis_speed_set = PID_calc(&o->pid.path_speed_pid,-distance,0);
//速度分解
float chassis_vx,chassis_vy;//底盘xy分速度

61
User/device/navi.h
View File

@ -72,9 +72,24 @@ typedef struct {
*/
typedef struct {
float chassis_speed_set;
Action_POS_t *chassis_pos;
float chassis_speed_set; //解算出来的底盘速度
struct
{
action_out_t action;
sick_out_t sick;
}final_out;
int16_t sick_distance[4];
sick_d_t sick_d;
int navi_flag;
int sick_flag;
Action_POS_t *chassis_pos; //码盘数据
/*sick纠正后码盘的数据*/
struct
{
fp32 x;
@ -83,38 +98,24 @@ typedef struct {
Action_POS_t *chassis_pos_offest;
Path_t *chassis_map;
point_t transformed_target;
Path_t *chassis_map; //点位数据
const ops_param_t *param;
AHRS_Eulr_t ops_imu_pos;
AHRS_Gyro_t ops_gyro;
AHRS_Gyro_t ops_gyro;
struct
{
action_out_t action;
sick_out_t sick;
}final_out;
int16_t sick_distance[4];
sick_d_t sick_d;
int navi_flag;
int sick_flag;
pid_type_def path_speed_pid;
pid_type_def pid_PosSpeed_xy;
pid_type_def pid_OutAngle;
pid_type_def pid_InnerAngle;
pid_type_def pid_OutAngle_hold;
pid_type_def pid_InnerAngle_hold;
pid_type_def pid_pos_xy_inner;
pid_type_def pid_pos_xy_outer;
pid_type_def pid_sick_outer;
pid_type_def pid_sick_inner;
struct{
pid_type_def path_speed_pid;
pid_type_def pid_PosSpeed_xy;
pid_type_def pid_OutAngle;
pid_type_def pid_InnerAngle;
pid_type_def pid_OutAngle_hold;
pid_type_def pid_InnerAngle_hold;
pid_type_def pid_pos_xy_outer;
pid_type_def pid_pos_xy_inner;
pid_type_def pid_sick_outer;
pid_type_def pid_sick_inner;
}pid;
}ops_t;

4
User/task/atti_esti.c
View File

@ -129,8 +129,8 @@ void Task_AttiEsti(void *argument) {
osMessageQueueReset(task_runtime.msgq.imu.gyro);
osMessageQueuePut(task_runtime.msgq.imu.gyro, &bmi088.gyro, 0, 0);
osMessageQueueReset(task_runtime.msgq.imu.eulr);
osMessageQueuePut(task_runtime.msgq.imu.eulr, &imu_eulr, 0, 0);
// osMessageQueueReset(task_runtime.msgq.imu.eulr);
// osMessageQueuePut(task_runtime.msgq.imu.eulr, &imu_eulr, 0, 0);
osKernelUnlock();
// vofa_send[0] =bmi088.temp;

4
User/task/init.c
View File

@ -79,8 +79,8 @@ void Task_Init(void *argument) {
/* imu */
// task_runtime.msgq.imu.accl =
// osMessageQueueNew(2u, sizeof(AHRS_Accl_t), NULL);
task_runtime.msgq.imu.eulr =
osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
// task_runtime.msgq.imu.eulr =
// osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
task_runtime.msgq.imu.gyro =
osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL);

3
User/task/navi_task.c
View File

@ -39,8 +39,6 @@ void Task_navi(void *argument){
osThreadGetStackSpace(osThreadGetId());
#endif
osMessageQueueGet(task_runtime.msgq.imu.gyro,&o.ops_gyro,NULL,0);
osMessageQueueGet(task_runtime.msgq.imu.eulr,&o.ops_imu_pos,NULL,0);
osMessageQueueGet(task_runtime.msgq.action.Navi ,&pos_get,NULL,0);
@ -59,4 +57,3 @@ void Task_navi(void *argument){
osDelayUntil(tick);
}
}

7
User/task/user_task.h
View File

@ -11,10 +11,11 @@
#include "config.h"
/* Exported constants ------------------------------------------------------- */
/* 扢<>有任务都要define丢<65>个<EFBFBD><E4B8AA>任务运行频率<E9A291><E78E87>和“初始化延时 1<E28084>7 */
//分配的频率该如何给定＄1<EFBC84>7
/* 所有任务都要define任务运行频率和初始化延时 */
#define TASK_FREQ_CHASSIS (1000u)
/*chassis任务频率不能快于can，要不然会导致5065can总线数据有问题，
主要表现为某个5065在没有发数时还在转动，并且没有阻尼感 */
#define TASK_FREQ_CHASSIS (500u)
#define TASK_FREQ_CTRL_CMD (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*/