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添加了扫描，略微调参数，（未清空host，原因不明）

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RB 2025-03-10 16:05:14 +08:00
parent 774fd7e3fe
commit 2f0f1beb1e
20 changed files with 16357 additions and 16214 deletions
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47
MDK-ARM/DevC.uvguix.lvzucheng
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MDK-ARM/DevC/DevC.axf
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MDK-ARM/DevC/DevC.build_log.htm
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@ -37,9 +37,9 @@ Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to
Note: source file '..\User\task\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_3.o'.
Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.
Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
compiling gimbal.c...
compiling ai.c...
linking...
Program Size: Code=148920 RO-data=7272 RW-data=760 ZI-data=43824
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).
@ -55,7 +55,7 @@ Package Vendor: Keil
C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
<h2>Collection of Component Files used:</h2>
Build Time Elapsed: 00:00:01
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

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MDK-ARM/DevC/DevC.hex
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MDK-ARM/DevC/DevC.htm
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MDK-ARM/DevC/DevC.map
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MDK-ARM/DevC/DevC_Debug.dep
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@ -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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)(-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)(0x67CD9C19)
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)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)(-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)(0x67CD9C19)
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)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD9C19)
I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CE50C8)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CE4E36)(-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)(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)
I (..\User\module\gimbal.h)(0x67CD67C5)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)(-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)(0x67CD9C19)
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)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD9C19)
I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CE50C8)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CE51AE)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CD9C19)
I (..\User\component\user_math.h)(0x67CE5343)
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)

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MDK-ARM/DevC/ai.o
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MDK-ARM/DevC/ai_1.o
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MDK-ARM/DevC/cmd.o
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MDK-ARM/DevC/command.o
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MDK-ARM/DevC/gimbal.o
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1
Middlewares/Third_Party/Protocol/protocol.h vendored
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@ -15,6 +15,7 @@ extern "C"
#define AI_NOTICE_HITBUFF (1 << 1)
#define AI_NOTICE_AUTOMATIC (1 << 2)
#define AI_NOTICE_FIRE (1 << 3)
#define AI_NOTICE_SEARCH_ARMOR (1 << 4)
#define AI_ID_MCU (0xC4)
#define AI_ID_REF (0xA8)

1
User/component/cmd.h
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@ -253,6 +253,7 @@ typedef struct {
} chassis_move_vec; /* 底盘移动向量 */
bool fire; /* 开火状态 */
bool search_armor; /* 寻找装甲板模式 */
} CMD_Host_t;
/**

4
User/component/user_math.c
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@ -27,6 +27,10 @@ inline float AbsClip(float in, float limit) {
return (in < -limit) ? -limit : ((in > limit) ? limit : in);
}
float fAbs(float in){
return (in > 0) ? in : -in;
}
inline void Clip(float *origin, float min, float max) {
if (*origin > max) *origin = max;
if (*origin < min) *origin = min;

2
User/component/user_math.h
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@ -51,6 +51,8 @@ float InvSqrt(float x);
float AbsClip(float in, float limit);
float fAbs(float in);
void Clip(float *origin, float min, float max);
float Sign(float in);

25
User/device/ai.c
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@ -50,7 +50,9 @@ int8_t AI_Init(AI_t *ai) {
Ai_RxCpltCallback);
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
Ai_IdleLineCallback);
ai->search_velocity.yaw = 0.0015f;
ai->search_velocity.pit = 0.003f;
inited = true;
return 0;
}
@ -91,12 +93,31 @@ 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->fire = true;
cmd_host->search_armor = (ai->form_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;
}
void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
if (gimbal_ai->pit > 2.75){
ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
} else if (gimbal_ai->pit < 2.35) {
ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
}
if (gimbal_ai->yaw > 1.4 && gimbal_ai->yaw < 1.7) {
ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw);
} else if (gimbal_ai->yaw > 5.7 && gimbal_ai->yaw < 6.0) {
ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);
}
cmd_host->gimbal_delta.yaw = ai->search_velocity.yaw;
cmd_host->gimbal_delta.pit = ai->search_velocity.pit;
}
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;

7
User/device/ai.h
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@ -35,11 +35,17 @@ typedef struct __packed {
Protocol_UpPackageMCU_t package;
} AI_UpPackageMCU_t;
typedef struct {
float yaw;
float pit;
} AI_SearchVelocity_t;
typedef struct __packed {
osThreadId_t thread_alert;
Protocol_DownPackage_t form_host;
AI_SearchVelocity_t search_velocity;
struct {
AI_UpPackageReferee_t ref;
AI_UpPackageMCU_t mcu;
@ -61,6 +67,7 @@ int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat, const AHRS_Eulr_t *gi
int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref);
int8_t AI_StartSend(AI_t *ai, bool option);
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host);
void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai);
#ifdef __cplusplus
}
#endif

3
User/task/ai.c
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@ -62,6 +62,9 @@ void Task_Ai(void *argument) {
if (ai.status != AI_STATUS_STOP && ai.ai_online){
AI_PackCmd(&ai, &cmd_host);
if (cmd_host.search_armor) {
AI_SearchArmor(&ai, &cmd_host, &gimbal_ai);
}
osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);
}