From 222c1a6ca20a9a8f785fe6928535a4f4c4bff70e Mon Sep 17 00:00:00 2001 From: RB Date: Mon, 10 Mar 2025 21:37:58 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9form->from?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/DevC.uvguix.lvzucheng | 21 +++-- MDK-ARM/DevC/DevC.axf | Bin 893728 -> 0 bytes MDK-ARM/DevC/DevC.build_log.htm | 92 ++++++++++++++++++++- MDK-ARM/DevC/DevC.htm | 2 +- MDK-ARM/DevC/DevC_Debug.dep | 142 ++++++++++++++++---------------- MDK-ARM/DevC/ai.o | Bin 15172 -> 0 bytes MDK-ARM/DevC/ai_1.o | Bin 7504 -> 7504 bytes User/device/ai.c | 22 ++--- User/device/ai.h | 2 +- User/task/ai.c | 2 +- 10 files changed, 188 insertions(+), 95 deletions(-) delete mode 100644 MDK-ARM/DevC/DevC.axf delete mode 100644 MDK-ARM/DevC/ai.o diff --git a/MDK-ARM/DevC.uvguix.lvzucheng b/MDK-ARM/DevC.uvguix.lvzucheng index 111fbb8..34aeb36 100644 --- a/MDK-ARM/DevC.uvguix.lvzucheng +++ b/MDK-ARM/DevC.uvguix.lvzucheng @@ -110,8 +110,8 @@ 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ze3ETNLm1VtpfgWI7DiZ~A3#>n>-d8a|K-s9)0_uj0P)zO40#X|FeT--yhJjaHvgwv zbDwWrb90z_lbx%pI+deCwjFWvTb!^xsIa+MmTXIk4-=SjjqmV07a=$aAtyeC#dlf5 zW?!%7Hog)GF7hoAuVi=PTRMqcW!mk8Z~0fvZN8c2ldaNfd3}tHZw`aBl{D0v3BHfN zZ@4e3(|o%LUvuuJ`|-AHmsl63sVB-?c)#c_mmvlh`7qh#%G~TRelEIi7${zV{)y_f z=TKYsIZA1;^LD@P_LVufSe}MI_quS`-_@P$%SEU1p8**-cUe7t>x5uGZW5 MPform_host))) + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(83): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host)); + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(83): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host)); + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(93): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw; + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(94): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit; + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(95): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE); + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(96): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + cmd_host->search_armor = (ai->form_host.data.notice & AI_NOTICE_SEARCH_ARMOR); + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(99): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx; + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(100): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy; + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(101): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz; + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(125): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + memset(&(ai->form_host), 0, sizeof(ai->form_host)); + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +../User/device/ai.c(125): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'? + memset(&(ai->form_host), 0, sizeof(ai->form_host)); + ^~~~~~~~~ + from_host +../User/device/ai.h(46): note: 'from_host' declared here + Protocol_DownPackage_t from_host; + ^ +12 errors generated. compiling ai.c... -linking... -Program Size: Code=149520 RO-data=7272 RW-data=760 ZI-data=43832 -FromELF: creating hex file... -"DevC\DevC.axf" - 0 Error(s), 0 Warning(s). +compiling ai.c... +"DevC\DevC.axf" - 12 Error(s), 0 Warning(s).

Software Packages used:

@@ -55,6 +138,7 @@ Package Vendor: Keil C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include

Collection of Component Files used:

+Target not created. Build Time Elapsed: 00:00:02 diff --git a/MDK-ARM/DevC/DevC.htm b/MDK-ARM/DevC/DevC.htm index 2fb4c34..afc831a 100644 --- a/MDK-ARM/DevC/DevC.htm +++ b/MDK-ARM/DevC/DevC.htm @@ -3,7 +3,7 @@ Static Call Graph - [DevC\DevC.axf]

Static Call Graph for image DevC\DevC.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Mon Mar 10 11:20:53 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Mon Mar 10 21:09:31 2025

Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

diff --git a/MDK-ARM/DevC/DevC_Debug.dep b/MDK-ARM/DevC/DevC_Debug.dep index 8b5ceed..a6ab5ca 100644 --- a/MDK-ARM/DevC/DevC_Debug.dep +++ b/MDK-ARM/DevC/DevC_Debug.dep @@ -178,10 +178,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F I (..\Core\Inc\tim.h)(0x6070F48E) I (..\User\task\user_task.h)(0x67CD67C5) I (..\User\module\config.h)(0x67C6C648) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\bmi088.h)(0x6070F48E) @@ -3420,7 +3420,7 @@ I (..\Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_core.h)(0x6070F48E) I (..\Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ctlreq.h)(0x6070F48E) F (..\User\component\ahrs.c)(0x67AB3A93)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ahrs.o -MD) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3471,7 +3471,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) F (..\User\component\ballistics.c)(0x67C6C648)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ballistics.o -MD) I (..\User\component\ballistics.h)(0x67C6C648) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3520,7 +3520,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) F (..\User\component\capacity.c)(0x6070F48E)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/capacity.o -MD) I (..\User\component\capacity.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3568,11 +3568,11 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) F (..\User\component\cmd.c)(0x67CD8A56)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/cmd.o -MD) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3626,7 +3626,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) F (..\User\component\crc16.c)(0x67A77C31)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/crc16.o -MD) I (..\User\component\crc16.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3681,7 +3681,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\bsp\mm.h)(0x67C6C648) F (..\User\component\filter.c)(0x6070F48E)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/filter.o -MD) I (..\User\component\filter.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3736,7 +3736,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) F (..\User\component\mixer.c)(0x67AB3850)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/mixer.o -MD) I (..\User\component\mixer.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3787,7 +3787,7 @@ F (..\User\component\pid.c)(0x6070F48E)(-xc -std=c11 --target=arm-arm-none-eabi I (..\User\component\pid.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (..\User\component\filter.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3833,8 +3833,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -F (..\User\component\user_math.c)(0x67CE5352)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/user_math.o -MD) -I (..\User\component\user_math.h)(0x67CE5343) +F (..\User\component\user_math.c)(0x67CEE3A8)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/user_math.o -MD) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3900,7 +3900,7 @@ F (..\User\component\ui.c)(0x6070F48E)(-xc -std=c11 --target=arm-arm-none-eabi - I (..\User\component\ui.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -3952,7 +3952,7 @@ I (..\User\device\bmi088.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4059,24 +4059,24 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E) I (..\User\bsp\bsp.h)(0x6070F48E) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\device.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\bsp\mm.h)(0x67C6C648) I (..\User\device\referee.h)(0x67CD8A56) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ui.h)(0x6070F48E) F (..\User\device\dr16.c)(0x67C26F8E)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/dr16.o -MD) I (..\User\device\dr16.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4133,7 +4133,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4192,9 +4192,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4251,14 +4251,14 @@ I (..\User\bsp\uart.h)(0x6070F48E) I (..\Core\Inc\usart.h)(0x6070F48E) I (..\User\component\crc16.h)(0x6070F48E) I (..\User\component\crc8.h)(0x6070F48E) -F (..\User\device\ai.c)(0x67CE5A8F)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai.o -MD) -I (..\User\device\ai.h)(0x67CE528C) +F (..\User\device\ai.c)(0x67CEEA9A)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai.o -MD) +I (..\User\device\ai.h)(0x67CEEAB9) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4302,7 +4302,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\filter.h)(0x6070F48E) I (..\User\device\device.h)(0x6070F48E) I (..\User\device\referee.h)(0x67CD8A56) @@ -4313,7 +4313,7 @@ I (..\User\bsp\can.h)(0x6070F48E) I (..\Core\Inc\can.h)(0x6070F48E) I (..\Core\Inc\main.h)(0x6070F48E) I (..\User\bsp\bsp.h)(0x6070F48E) -I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CE50C8) +I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CEE3A8) I (..\User\bsp\delay.h)(0x6070F48E) I (..\User\bsp\uart.h)(0x6070F48E) I (..\Core\Inc\usart.h)(0x6070F48E) @@ -4372,23 +4372,23 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E) I (..\User\bsp\bsp.h)(0x6070F48E) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\device.h)(0x6070F48E) I (..\User\device\referee.h)(0x67CD8A56) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ui.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\capacity.h)(0x6070F48E) I (..\User\component\limiter.h)(0x6070F48E) F (..\User\module\chassis.c)(0x679F304B)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/chassis.o -MD) I (..\User\module\chassis.h)(0x6070F48E) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4453,10 +4453,10 @@ I (..\User\module\cap.h)(0x6070F48E) F (..\User\module\config.c)(0x67CD8A56)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/config.o -MD) I (..\User\module\config.h)(0x67C6C648) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4520,10 +4520,10 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\module\gimbal.h)(0x67CD67C5) I (..\User\module\shoot.h)(0x67CD67C5) I (..\User\bsp\flash.h)(0x6070F48E) -F (..\User\module\gimbal.c)(0x67CE4EB6)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/gimbal.o -MD) +F (..\User\module\gimbal.c)(0x67CEE3A8)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/gimbal.o -MD) I (..\User\module\gimbal.h)(0x67CD67C5) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4570,7 +4570,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\filter.h)(0x6070F48E) I (..\User\component\pid.h)(0x6070F48E) I (..\User\device\bmi088.h)(0x6070F48E) @@ -4590,10 +4590,10 @@ I (..\User\module\shoot.h)(0x67CD67C5) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4650,14 +4650,14 @@ I (..\User\component\ui.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\bsp\pwm.h)(0x6070F48E) I (..\User\component\limiter.h)(0x6070F48E) -F (..\User\task\ai.c)(0x67CE529C)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai_1.o -MD) -I (..\User\device\ai.h)(0x67CE528C) +F (..\User\task\ai.c)(0x67CEEA91)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ai_1.o -MD) +I (..\User\device\ai.h)(0x67CEEAB9) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4701,7 +4701,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\filter.h)(0x6070F48E) I (..\User\device\device.h)(0x6070F48E) I (..\User\device\referee.h)(0x67CD8A56) @@ -4712,7 +4712,7 @@ I (..\User\bsp\can.h)(0x6070F48E) I (..\Core\Inc\can.h)(0x6070F48E) I (..\Core\Inc\main.h)(0x6070F48E) I (..\User\bsp\bsp.h)(0x6070F48E) -I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CE50C8) +I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CEE3A8) I (..\User\bsp\usb.h)(0x6070F48E) I (..\User\task\user_task.h)(0x67CD67C5) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x6070F48E) @@ -4742,7 +4742,7 @@ I (..\User\bsp\bsp.h)(0x6070F48E) I (..\User\bsp\usb.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -4801,7 +4801,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)( I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x6070F48E) I (..\User\module\config.h)(0x67C6C648) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\device\can.h)(0x67CD67C5) I (..\User\bsp\can.h)(0x6070F48E) I (..\Core\Inc\can.h)(0x6070F48E) @@ -4866,12 +4866,12 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E) I (..\User\bsp\bsp.h)(0x6070F48E) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\device.h)(0x6070F48E) I (..\User\device\referee.h)(0x67CD8A56) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ui.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\task\user_task.h)(0x67CD67C5) @@ -4946,12 +4946,12 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E) I (..\User\bsp\bsp.h)(0x6070F48E) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\device.h)(0x6070F48E) I (..\User\device\referee.h)(0x67CD8A56) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ui.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\task\user_task.h)(0x67CD67C5) @@ -5038,9 +5038,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x6070F48E) I (..\User\task\user_task.h)(0x67CD67C5) I (..\User\module\config.h)(0x67C6C648) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\bmi088.h)(0x6070F48E) @@ -5061,10 +5061,10 @@ I (..\User\device\dr16.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -5140,9 +5140,9 @@ I (..\User\component\limiter.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (..\User\module\chassis.h)(0x6070F48E) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -5218,7 +5218,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x6070F48E) F (..\User\task\ctrl_gimbal.c)(0x67CD67C5)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -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/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ctrl_gimbal.o -MD) I (..\User\module\gimbal.h)(0x67CD67C5) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -5265,7 +5265,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\filter.h)(0x6070F48E) I (..\User\component\pid.h)(0x6070F48E) I (..\User\device\bmi088.h)(0x6070F48E) @@ -5299,10 +5299,10 @@ I (..\User\module\shoot.h)(0x67CD67C5) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -5382,7 +5382,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\capacity.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -5436,7 +5436,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)( I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x6070F48E) I (..\User\module\config.h)(0x67C6C648) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ahrs.h)(0x6070F48E) I (..\User\device\bmi088.h)(0x6070F48E) I (..\User\device\device.h)(0x6070F48E) @@ -5505,10 +5505,10 @@ I (..\User\bsp\bsp.h)(0x6070F48E) I (..\User\bsp\usb.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\bmi088.h)(0x6070F48E) @@ -5548,7 +5548,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\capacity.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -5602,7 +5602,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)( I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x6070F48E) I (..\User\module\config.h)(0x67C6C648) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ahrs.h)(0x6070F48E) I (..\User\device\bmi088.h)(0x6070F48E) I (..\User\device\device.h)(0x6070F48E) @@ -5627,10 +5627,10 @@ I (..\User\device\dr16.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -5707,9 +5707,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) @@ -5794,10 +5794,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)( I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x6070F48E) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x6070F48E) I (..\User\module\config.h)(0x67C6C648) -I (..\User\component\cmd.h)(0x67CE51AE) +I (..\User\component\cmd.h)(0x67CEE3A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x6070F48E) -I (..\User\component\user_math.h)(0x67CE5343) +I (..\User\component\user_math.h)(0x67CEE3A8) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E) I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E) diff 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ztSl@hh0-j9LMf7kkHUD~X%-gu`JMOooO?RAd)9r{ok(}yxS7Y^Hz3I;@fk(3VB?=L z66_Q^mHGJ17#oNu4K({NwXMFrEsua(4fjF2hPvVd#x zLEuh2`5-g^NZqZfF<$dYR+#73xRFvgFV2mY~X?W zBDnEDX7Z4`%p$De(c|!krH88T<=Xp+ObUlcA`p&_|&r=5028VOh6lb0nL~ l%pbiIj;bmB#r1-&bDGqi?$72N)6|3`8$tKyP+ts9pY@$tRp%;l!6r_bV|8cwJ z_1dLVz~@*0>%x!LFBnb~C(3x!`_t_i8>MAGTHVsN`X9R9_UzE0QY|lk>04N}^jY+Q z`mU#AerSHtQ}NO8<(2}fo!lYKB(N`@^M-ixvv?c$>dmD-8T=1dorfx^UplTz z>s@D@`7_9PR@OIzd=lgev!ge&u6m(6T));MxpDPD-w$$u8P;!eZlpK>Wb|?F**P5{ Ba;^XX diff --git a/User/device/ai.c b/User/device/ai.c index c63c5a0..87f066f 100644 --- a/User/device/ai.c +++ b/User/device/ai.c @@ -77,10 +77,10 @@ bool AI_WaitDmaCplt(void) { } int8_t AI_ParseHost(AI_t *ai) { - if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host))) + if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host))) goto error; ai->ai_online = true; - memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host)); + memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host)); memset(rxbuf, 0, AI_LEN_RX_BUFF); return DEVICE_OK; @@ -90,15 +90,15 @@ error: } void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) { - cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw; - cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit; - cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE); - cmd_host->search_armor = (ai->form_host.data.notice & AI_NOTICE_SEARCH_ARMOR); + cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw; + cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit; + cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE); + cmd_host->search_armor = (ai->from_host.data.notice & AI_NOTICE_SEARCH_ARMOR); cmd_host->fire = false; - cmd_host->search_armor = true; - cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx; - cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy; - cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz; + // cmd_host->search_armor = true; + cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx; + cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy; + cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz; } void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){ @@ -122,7 +122,7 @@ int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) { if (ai == NULL) return DEVICE_ERR_NULL; if (cmd_host == NULL) return DEVICE_ERR_NULL; ai->ai_online = false; - memset(&(ai->form_host), 0, sizeof(ai->form_host)); + memset(&(ai->from_host), 0, sizeof(ai->from_host)); memset(cmd_host, 0, sizeof(*cmd_host)); return 0; } diff --git a/User/device/ai.h b/User/device/ai.h index 2556804..201db82 100644 --- a/User/device/ai.h +++ b/User/device/ai.h @@ -43,7 +43,7 @@ typedef struct { typedef struct __packed { osThreadId_t thread_alert; - Protocol_DownPackage_t form_host; + Protocol_DownPackage_t from_host; AI_SearchVelocity_t search_velocity; struct { diff --git a/User/task/ai.c b/User/task/ai.c index 1afaf5f..6b84d57 100644 --- a/User/task/ai.c +++ b/User/task/ai.c @@ -62,7 +62,7 @@ void Task_Ai(void *argument) { if (ai.status != AI_STATUS_STOP && ai.ai_online){ AI_PackCmd(&ai, &cmd_host); - if (cmd_host.search_armor) { + if (ai.from_host.data.notice & AI_NOTICE_SEARCH_ARMOR) { AI_SearchArmor(&ai, &cmd_host, &gimbal_ai); } osMessageQueueReset(task_runtime.msgq.cmd.raw.host);