898
@@ -3603,12 +3603,12 @@
0
100
- 0
+ 13
../Core/Src/main.c
0
- 69
- 73
+ 99
+ 77
1
0
@@ -3703,6 +3703,33 @@
0
+
+ ..\User\task\ai.c
+ 0
+ 1
+ 1
+ 1
+
+ 0
+
+
+ ..\User\task\ctrl_gimbal.c
+ 13
+ 4
+ 22
+ 1
+
+ 0
+
+
+ ..\User\device\ai.c
+ 26
+ 94
+ 108
+ 1
+
+ 0
+
diff --git a/MDK-ARM/DevC.uvoptx b/MDK-ARM/DevC.uvoptx
index 909dbc4..368c1a8 100644
--- a/MDK-ARM/DevC.uvoptx
+++ b/MDK-ARM/DevC.uvoptx
@@ -417,7 +417,20 @@
1
host
+
+ 12
+ 1
+ gimbal_ai
+
+
+
+ 4
+ 0
+ for_chassis
+ 0
+
+
0
diff --git a/MDK-ARM/DevC/DevC.axf b/MDK-ARM/DevC/DevC.axf
index 8cdd405..7d6d59b 100644
Binary files a/MDK-ARM/DevC/DevC.axf and b/MDK-ARM/DevC/DevC.axf differ
diff --git a/MDK-ARM/DevC/DevC.build_log.htm b/MDK-ARM/DevC/DevC.build_log.htm
index 7d70940..c4bd034 100644
--- a/MDK-ARM/DevC/DevC.build_log.htm
+++ b/MDK-ARM/DevC/DevC.build_log.htm
@@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
Project:
C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
-Project File Date: 03/16/2025
+Project File Date: 03/17/2025
Output:
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -37,7 +37,7 @@ 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 config.c...
+compiling ai.c...
linking...
Program Size: Code=149584 RO-data=6928 RW-data=1104 ZI-data=43832
FromELF: creating hex file...
diff --git a/MDK-ARM/DevC/DevC.hex b/MDK-ARM/DevC/DevC.hex
index 6088fe8..39c1fcf 100644
--- a/MDK-ARM/DevC/DevC.hex
+++ b/MDK-ARM/DevC/DevC.hex
@@ -603,8 +603,8 @@
:10259000039910EE100AC1F81F00FFE7FFE7039848
:1025A000D0F81F00029908600398D0F82300029920
:1025B000486004B080BD00BF33333333333303404E
-:1025C0009A99999999990140666666666666F63F9A
-:1025D000333333333333FB3FCDCCCCCCCCCC164070
+:1025C0009A99999999990140000000000000F83FFC
+:1025D000CDCCCCCCCCCC00409A9999999999154006
:1025E000000000000000184080B582B0009002207A
:1025F00001F024F842F65851C2F200011B220FF0FC
:10260000CBFF20B9FFE700208DF8070003E0FF2093
diff --git a/MDK-ARM/DevC/DevC.htm b/MDK-ARM/DevC/DevC.htm
index 3b1d1e9..1860139 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: Sun Mar 16 23:22:39 2025
+
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Mon Mar 17 13:03:58 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 d392056..ef329af 100644
--- a/MDK-ARM/DevC/DevC_Debug.dep
+++ b/MDK-ARM/DevC/DevC_Debug.dep
@@ -176,17 +176,17 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (..\Core\Inc\tim.h)(0x67D3C840)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\User\module\config.h)(0x67D3C840)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
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)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
@@ -195,11 +195,11 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
F (../Core/Src/adc.c)(0x67D3C840)(-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 -w -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/adc.o -MD)
I (..\Core\Inc\adc.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
@@ -3420,7 +3420,7 @@ I (..\Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_core.h)(0x67D3C840)
I (..\Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ctlreq.h)(0x67D3C840)
F (..\User\component\ahrs.c)(0x67D3C840)(-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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -3471,7 +3471,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\component\ballistics.c)(0x67D3C840)(-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)(0x67D3C840)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -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)(0x67D3C840)(-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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -3567,12 +3567,12 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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)(0x67D6E6DF)(-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)(0x67D6E6DF)
+F (..\User\component\cmd.c)(0x67D7ABCA)(-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)(0x67D7ABCA)
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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -3626,7 +3626,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
F (..\User\component\crc16.c)(0x67D3C840)(-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)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -3681,7 +3681,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\mm.h)(0x67D3C840)
F (..\User\component\filter.c)(0x67D3C840)(-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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -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)(0x67D3C840)(-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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -3787,7 +3787,7 @@ F (..\User\component\pid.c)(0x67D3C840)(-xc -std=c11 --target=arm-arm-none-eabi
I (..\User\component\pid.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -3833,8 +3833,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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)(0x67D6E6FF)(-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)(0x67D6E30E)
+F (..\User\component\user_math.c)(0x67D7ABCA)(-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)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -3900,7 +3900,7 @@ F (..\User\component\ui.c)(0x67D3C840)(-xc -std=c11 --target=arm-arm-none-eabi -
I (..\User\component\ui.h)(0x67D3C840)
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)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -3952,7 +3952,7 @@ I (..\User\device\bmi088.h)(0x67D3C840)
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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4007,8 +4007,8 @@ I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\bsp\gpio.h)(0x67D3C840)
I (..\User\bsp\spi.h)(0x67D3C840)
I (..\Core\Inc\spi.h)(0x67D3C840)
-F (..\User\device\can.c)(0x67D6C67A)(-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/can_2.o -MD)
-I (..\User\device\can.h)(0x67D6E30E)
+F (..\User\device\can.c)(0x67D7AA48)(-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/can_2.o -MD)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -4059,24 +4059,24 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x67D3C840)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
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)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\mm.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\device\referee.h)(0x67D7AA48)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ui.h)(0x67D3C840)
F (..\User\device\dr16.c)(0x67D3C840)(-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)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4187,14 +4187,14 @@ I (..\User\bsp\gpio.h)(0x67D3C840)
I (..\User\bsp\i2c.h)(0x67D3C840)
I (..\Core\Inc\i2c.h)(0x67D3C840)
F (..\User\device\referee.c)(0x67D6D8E4)(-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/referee.o -MD)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4240,7 +4240,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
@@ -4251,14 +4251,14 @@ I (..\User\bsp\uart.h)(0x67D3C840)
I (..\Core\Inc\usart.h)(0x67D3C840)
I (..\User\component\crc16.h)(0x67D3C840)
I (..\User\component\crc8.h)(0x67D3C840)
-F (..\User\device\ai.c)(0x67D6E6DF)(-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)(0x67D6E6DF)
+F (..\User\device\ai.c)(0x67D7AD3B)(-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)(0x67D7ABCA)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4302,26 +4302,26 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x67D3C840)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
-I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67D6E30E)
+I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67D7AA48)
I (..\User\bsp\delay.h)(0x67D3C840)
I (..\User\bsp\uart.h)(0x67D3C840)
I (..\Core\Inc\usart.h)(0x67D3C840)
I (..\User\component\crc16.h)(0x67D3C840)
I (..\User\component\crc8.h)(0x67D3C840)
-F (..\User\module\cap.c)(0x67D6BDC9)(-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/cap.o -MD)
-I (..\User\module\cap.h)(0x67D6BDC9)
-I (..\User\device\can.h)(0x67D6E30E)
+F (..\User\module\cap.c)(0x67D79B7F)(-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/cap.o -MD)
+I (..\User\module\cap.h)(0x67D79B7F)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -4372,23 +4372,23 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x67D3C840)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
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)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\device\referee.h)(0x67D7AA48)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\component\capacity.h)(0x67D3C840)
I (..\User\component\limiter.h)(0x67D6249C)
F (..\User\module\chassis.c)(0x67D6C679)(-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)(0x67D3C840)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4436,27 +4436,27 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\User\bsp\mm.h)(0x67D3C840)
I (..\User\component\limiter.h)(0x67D6249C)
-I (..\User\module\cap.h)(0x67D6BDC9)
-F (..\User\module\config.c)(0x67D6ECBA)(-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\cap.h)(0x67D79B7F)
+F (..\User\module\config.c)(0x67D7ABCA)(-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)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4503,7 +4503,7 @@ 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)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
@@ -4514,16 +4514,16 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\User\bsp\flash.h)(0x67D3C840)
-F (..\User\module\gimbal.c)(0x67D6E6DF)(-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)(0x67D6E30E)
+F (..\User\module\gimbal.c)(0x67D7ABCA)(-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)(0x67D7AA48)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4570,30 +4570,30 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\mm.h)(0x67D3C840)
-F (..\User\module\shoot.c)(0x67D6E73C)(-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/shoot.o -MD)
-I (..\User\module\shoot.h)(0x67D6C67A)
+F (..\User\module\shoot.c)(0x67D7AA48)(-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/shoot.o -MD)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4639,25 +4639,25 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\pwm.h)(0x67D3C840)
I (..\User\component\limiter.h)(0x67D6249C)
-F (..\User\task\ai.c)(0x67D6E30E)(-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)(0x67D6E6DF)
+F (..\User\task\ai.c)(0x67D7AA48)(-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)(0x67D7ABCA)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4701,20 +4701,20 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x67D3C840)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
-I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67D6E30E)
+I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67D7AA48)
I (..\User\bsp\usb.h)(0x67D3C840)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -4728,8 +4728,8 @@ I (..\User\device\ist8310.h)(0x67D3C840)
I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
F (..\User\task\atti_esti.c)(0x67D3C840)(-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/atti_esti.o -MD)
@@ -4742,7 +4742,7 @@ I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\bsp\usb.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -4792,7 +4792,7 @@ I (..\User\component\filter.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
I (..\User\device\ist8310.h)(0x67D3C840)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -4801,21 +4801,21 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
-I (..\User\component\cmd.h)(0x67D6E6DF)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\component\cmd.h)(0x67D7ABCA)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
-F (..\User\task\can.c)(0x67D6BDC9)(-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/can_3.o -MD)
-I (..\User\device\can.h)(0x67D6E30E)
+F (..\User\task\can.c)(0x67D79B7F)(-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/can_3.o -MD)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -4866,15 +4866,15 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x67D3C840)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
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)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\device\referee.h)(0x67D7AA48)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -4889,13 +4889,13 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
-F (..\User\task\cap.c)(0x67D6BDC9)(-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/cap_1.o -MD)
-I (..\User\module\cap.h)(0x67D6BDC9)
-I (..\User\device\can.h)(0x67D6E30E)
+F (..\User\task\cap.c)(0x67D79B7F)(-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/cap_1.o -MD)
+I (..\User\module\cap.h)(0x67D79B7F)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -4946,15 +4946,15 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x67D3C840)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
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)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\device\referee.h)(0x67D7AA48)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -4969,11 +4969,11 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
-F (..\User\task\cli.c)(0x67D3C840)(-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/cli.o -MD)
+F (..\User\task\cli.c)(0x67D79E90)(-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/cli.o -MD)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6035A4A8)
@@ -5036,35 +5036,35 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C
I (..\User\component\FreeRTOS_CLI.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\User\module\config.h)(0x67D3C840)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
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)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\device\ist8310.h)(0x67D3C840)
I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
-F (..\User\task\command.c)(0x67D6E30E)(-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/command.o -MD)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
+F (..\User\task\command.c)(0x67D7AA48)(-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/command.o -MD)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\device\dr16.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -5109,7 +5109,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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)(0x67D3C840)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -5119,7 +5119,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
@@ -5129,10 +5129,10 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
F (..\User\task\ctrl_chassis.c)(0x67D3C840)(-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_chassis.o -MD)
@@ -5140,9 +5140,9 @@ I (..\User\component\limiter.h)(0x67D6249C)
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)(0x67D3C840)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -5190,22 +5190,22 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\module\config.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
I (..\User\device\ist8310.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -5215,10 +5215,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
-F (..\User\task\ctrl_gimbal.c)(0x67D6E30E)(-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)(0x67D6E30E)
+F (..\User\task\ctrl_gimbal.c)(0x67D7AA48)(-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)(0x67D7AA48)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -5265,21 +5265,21 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -5291,18 +5291,18 @@ I (..\User\module\config.h)(0x67D3C840)
I (..\User\device\ist8310.h)(0x67D3C840)
I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
F (..\User\task\ctrl_shoot.c)(0x67D3C840)(-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_shoot.o -MD)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -5348,16 +5348,16 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -5370,7 +5370,7 @@ I (..\User\device\bmi088.h)(0x67D3C840)
I (..\User\device\ist8310.h)(0x67D3C840)
I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
+I (..\User\module\gimbal.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
F (..\User\task\info.c)(0x67D3C840)(-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/info.o -MD)
@@ -5382,7 +5382,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C
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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -5427,7 +5427,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -5436,11 +5436,11 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
@@ -5449,13 +5449,13 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
-F (..\User\task\init.c)(0x67D6E30E)(-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/init.o -MD)
+F (..\User\task\init.c)(0x67D7AA48)(-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/init.o -MD)
I (..\User\bsp\flash.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x67D3C840)
@@ -5505,28 +5505,28 @@ I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\bsp\usb.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
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)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\User\device\ist8310.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
-I (..\User\module\cap.h)(0x67D6BDC9)
+I (..\User\module\cap.h)(0x67D79B7F)
I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -5548,7 +5548,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C
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)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -5593,7 +5593,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -5602,11 +5602,11 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ahrs.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
@@ -5615,10 +5615,10 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
F (..\User\task\rc.c)(0x67D3C840)(-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/rc.o -MD)
@@ -5627,10 +5627,10 @@ I (..\User\device\dr16.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -5675,7 +5675,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x67D3C840)
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)(0x67D3C840)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -5685,7 +5685,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
I (..\User\device\bmi088.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
@@ -5695,21 +5695,21 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
F (..\User\task\referee.c)(0x67D3C840)(-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/referee_1.o -MD)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
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)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -5755,14 +5755,14 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
I (..\User\bsp\bsp.h)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
I (..\User\bsp\usb.h)(0x67D3C840)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x67D3C840)
I (..\Core\Inc\FreeRTOSConfig.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x67D3C840)
@@ -5777,12 +5777,12 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
F (..\User\task\user_task.c)(0x67D3C840)(-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_task.o -MD)
-I (..\User\task\user_task.h)(0x67D6E30E)
+I (..\User\task\user_task.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -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)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840)
I (..\User\module\config.h)(0x67D3C840)
-I (..\User\component\cmd.h)(0x67D6E6DF)
+I (..\User\component\cmd.h)(0x67D7ABCA)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x67D3C840)
-I (..\User\component\user_math.h)(0x67D6E30E)
+I (..\User\component\user_math.h)(0x67D7AA48)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x67D3C840)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x67D3C840)
@@ -5843,7 +5843,7 @@ 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)(0x67D3C840)
I (..\User\device\device.h)(0x67D3C840)
-I (..\User\device\can.h)(0x67D6E30E)
+I (..\User\device\can.h)(0x67D7AA48)
I (..\User\bsp\can.h)(0x67D3C840)
I (..\Core\Inc\can.h)(0x67D3C840)
I (..\Core\Inc\main.h)(0x67D3C840)
@@ -5853,10 +5853,10 @@ I (..\User\module\chassis.h)(0x67D3C840)
I (..\User\component\filter.h)(0x67D3C840)
I (..\User\component\mixer.h)(0x67D3C840)
I (..\User\component\pid.h)(0x67D3C840)
-I (..\User\device\referee.h)(0x67D6D8E4)
+I (..\User\device\referee.h)(0x67D7AA48)
I (..\User\component\ui.h)(0x67D3C840)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x67D6E30E)
-I (..\User\module\shoot.h)(0x67D6C67A)
+I (..\User\module\gimbal.h)(0x67D7AA48)
+I (..\User\module\shoot.h)(0x67D7AA48)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x67D3C840)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x67D3C840)
diff --git a/MDK-ARM/DevC/ai.o b/MDK-ARM/DevC/ai.o
index 52152de..3463beb 100644
Binary files a/MDK-ARM/DevC/ai.o and b/MDK-ARM/DevC/ai.o differ
diff --git a/User/device/ai.c b/User/device/ai.c
index ab5881f..80c1058 100644
--- a/User/device/ai.c
+++ b/User/device/ai.c
@@ -105,9 +105,9 @@ void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
}
- if (gimbal_ai->yaw > 1.4 && gimbal_ai->yaw < 1.7) {
+ if (gimbal_ai->yaw > 1.5 && gimbal_ai->yaw < 2.1) {
ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw);
- } else if (gimbal_ai->yaw > 5.7 && gimbal_ai->yaw < 6.0) {
+ } else if (gimbal_ai->yaw > 5.4 && gimbal_ai->yaw < 6.0) {
ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);
}