From 7b0a5cf63cf4287c7c6149c8c1a508c1933a27a8 Mon Sep 17 00:00:00 2001 From: RB Date: Sat, 15 Mar 2025 00:33:49 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E5=A5=BD=E5=95=A6~?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/DevC.uvguix.lvzucheng | 60 +++++++++++++++---------------- MDK-ARM/DevC/DevC.axf | Bin 893548 -> 893548 bytes MDK-ARM/DevC/DevC.build_log.htm | 2 +- MDK-ARM/DevC/DevC.hex | 6 ++-- MDK-ARM/DevC/DevC.htm | 2 +- MDK-ARM/DevC/DevC_Debug.dep | 62 ++++++++++++++++---------------- MDK-ARM/DevC/ai.o | Bin 15080 -> 15080 bytes User/device/ai.c | 8 ++--- 8 files changed, 70 insertions(+), 70 deletions(-) diff --git a/MDK-ARM/DevC.uvguix.lvzucheng b/MDK-ARM/DevC.uvguix.lvzucheng index 0bc4aec..1658672 100644 --- a/MDK-ARM/DevC.uvguix.lvzucheng +++ b/MDK-ARM/DevC.uvguix.lvzucheng @@ -15,17 +15,17 @@ 38003 Registers - 153 153 + 153 100 346 Code Coverage - 755 160 + 755 100 204 Performance Analyzer - 915 + 915 137 137 100 @@ 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898 @@ -3602,13 +3602,13 @@ 1 0 - -2147483648 + 100 0 ../Core/Src/main.c 0 69 - 77 + 73 1 0 diff --git a/MDK-ARM/DevC/DevC.axf b/MDK-ARM/DevC/DevC.axf index f93fa105148679fc2d0f6453fcc0a09ba772b763..96c954c369beb6a9de2a18a910183cf01ddbd148 100644 GIT binary patch delta 110 zcmaEJ#O%!xvkixo#C$(-6&(JiY;f?0JOk5A&u_~N4u3nMu=$3P1T()e82q10AF4%ZU6uP delta 110 zcmaEJ#O%!xvkixo#2i26D;)mTY;f?0JOk5A&u_~N4u5ko*nC4tf|;KI0vwFN;CJ(X r)%O3Yj6lo;#LPg<0>rF9%m&2lK+FNeoIuP4#N0s4v;Ds+Z*C0$7x67< diff --git a/MDK-ARM/DevC/DevC.build_log.htm b/MDK-ARM/DevC/DevC.build_log.htm index 025ddea..06a6067 100644 --- a/MDK-ARM/DevC/DevC.build_log.htm +++ b/MDK-ARM/DevC/DevC.build_log.htm @@ -55,7 +55,7 @@ Package Vendor: Keil C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include

Collection of Component Files used:

-Build Time Elapsed: 00:00:04 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/DevC/DevC.hex b/MDK-ARM/DevC/DevC.hex index 8cf9113..d38dcab 100644 --- a/MDK-ARM/DevC/DevC.hex +++ b/MDK-ARM/DevC/DevC.hex @@ -551,8 +551,8 @@ :10225000C0F602002F211BF02FFBFFE7FFE742F241 :102260001D72C0F6000202200190032101F042FA23 :10227000019842F20572C0F60002082101F03AFA14 -:10228000029941F26F20C3F68330C1F81F00029912 -:1022900049F6A630C3F64430C1F8230042F2B83103 +:1022800002994DF20A70C3F62330C1F81F0002997B +:1022900049F6A630C3F6C420C1F8230042F2B83193 :1022A000C2F200010120087000208DF80F00FFE746 :1022B0009DF90F0004B080BD82B00190009101989B :1022C000406800990860019880680099486001980A @@ -602,7 +602,7 @@ :1025800000EE100A1BF03CFB039910EE100AC1F894 :102590001F00FFE7FFE70398D0F81F0002990860CB :1025A0000398D0F823000299486004B080BD00BFB2 -:1025B0000000000000000040333333333333FB3F6F +:1025B000333333333333FF3F000000000000FC3F70 :1025C00066666666666612409A999999999913406B :1025D00033333333333303409A99999999990540AA :1025E00080B582B00090022001F024F842F600414C diff --git a/MDK-ARM/DevC/DevC.htm b/MDK-ARM/DevC/DevC.htm index da77761..705725f 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: Fri Mar 14 22:27:57 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Mar 15 00:25:56 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 a7500a6..e01ed9f 100644 --- a/MDK-ARM/DevC/DevC_Debug.dep +++ b/MDK-ARM/DevC/DevC_Debug.dep @@ -178,7 +178,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C I (..\Core\Inc\tim.h)(0x67D3C840) I (..\User\task\user_task.h)(0x67D43839) I (..\User\module\config.h)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) @@ -3567,8 +3567,8 @@ 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\cmd.c)(0x67D438C7)(-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)(0x67D438C7) +F (..\User\component\cmd.c)(0x67D441AF)(-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)(0x67D441AF) 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) @@ -4066,14 +4066,14 @@ 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)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) @@ -4192,7 +4192,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840) @@ -4251,8 +4251,8 @@ 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)(0x67D43CE5)(-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)(0x67D438C7) +F (..\User\device\ai.c)(0x67D45890)(-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)(0x67D441AF) 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) @@ -4302,7 +4302,7 @@ 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\filter.h)(0x67D3C840) I (..\User\device\device.h)(0x67D3C840) I (..\User\device\referee.h)(0x67D3C840) @@ -4377,14 +4377,14 @@ 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)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) 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)(0x67D3C840) F (..\User\module\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/chassis.o -MD) I (..\User\module\chassis.h)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) 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) @@ -4453,7 +4453,7 @@ I (..\User\module\cap.h)(0x67D43839) F (..\User\module\config.c)(0x67D438CB)(-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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) @@ -4520,7 +4520,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\module\gimbal.h)(0x67D43839) I (..\User\module\shoot.h)(0x67D43839) I (..\User\bsp\flash.h)(0x67D3C840) -F (..\User\module\gimbal.c)(0x67D438C7)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/gimbal.o -MD) +F (..\User\module\gimbal.c)(0x67D441AF)(-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)(0x67D43839) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) @@ -4570,7 +4570,7 @@ 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\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\filter.h)(0x67D3C840) I (..\User\component\pid.h)(0x67D3C840) I (..\User\device\bmi088.h)(0x67D3C840) @@ -4590,7 +4590,7 @@ I (..\User\module\shoot.h)(0x67D43839) 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) @@ -4651,7 +4651,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\bsp\pwm.h)(0x67D3C840) I (..\User\component\limiter.h)(0x67D3C840) F (..\User\task\ai.c)(0x67D43839)(-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)(0x67D438C7) +I (..\User\device\ai.h)(0x67D441AF) 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) @@ -4701,7 +4701,7 @@ 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\filter.h)(0x67D3C840) I (..\User\device\device.h)(0x67D3C840) I (..\User\device\referee.h)(0x67D3C840) @@ -4801,7 +4801,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)( I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840) I (..\User\module\config.h)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\device\can.h)(0x67D43839) I (..\User\bsp\can.h)(0x67D3C840) I (..\Core\Inc\can.h)(0x67D3C840) @@ -4871,7 +4871,7 @@ 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)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\ui.h)(0x67D3C840) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\task\user_task.h)(0x67D43839) @@ -4951,7 +4951,7 @@ 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)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\ui.h)(0x67D3C840) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\task\user_task.h)(0x67D43839) @@ -5038,7 +5038,7 @@ 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)(0x67D43839) I (..\User\module\config.h)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) @@ -5061,7 +5061,7 @@ 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) @@ -5140,7 +5140,7 @@ I (..\User\component\limiter.h)(0x67D3C840) 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840) @@ -5265,7 +5265,7 @@ 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\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\filter.h)(0x67D3C840) I (..\User\component\pid.h)(0x67D3C840) I (..\User\device\bmi088.h)(0x67D3C840) @@ -5299,7 +5299,7 @@ I (..\User\module\shoot.h)(0x67D43839) 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) @@ -5436,7 +5436,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)( I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840) I (..\User\module\config.h)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\device\bmi088.h)(0x67D3C840) I (..\User\device\device.h)(0x67D3C840) @@ -5505,7 +5505,7 @@ 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 (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) @@ -5602,7 +5602,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)( I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x67D3C840) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x67D3C840) I (..\User\module\config.h)(0x67D3C840) -I (..\User\component\cmd.h)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\device\bmi088.h)(0x67D3C840) I (..\User\device\device.h)(0x67D3C840) @@ -5627,7 +5627,7 @@ 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) @@ -5707,7 +5707,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x67D3C 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x67D3C840) @@ -5794,7 +5794,7 @@ 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)(0x67D438C7) +I (..\User\component\cmd.h)(0x67D441AF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x67D3C840) I (..\User\component\user_math.h)(0x67D43839) diff --git a/MDK-ARM/DevC/ai.o b/MDK-ARM/DevC/ai.o index 19fb0b2b062242eb7c6274fa8edd8ab025878db9..c47334836ab34f1594d9d2982d03683db64da467 100644 GIT binary patch delta 54 zcmaD+`l58gHZk8%Tm^@}DH|O8A~ E0K3r^>;M1& delta 54 zcmaD+`l58gHZjLf`3i@>H5(lKAsearch_velocity.yaw = 0.004f; - ai->search_velocity.pit = 0.003f; + ai->search_velocity.yaw = 0.0025f; + ai->search_velocity.pit = 0.0015f; inited = true; return 0; } @@ -99,9 +99,9 @@ void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) { } void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){ - if (gimbal_ai->pit > 2.0){ + if (gimbal_ai->pit > 1.95){ ai->search_velocity.pit = fAbs(ai->search_velocity.pit); - } else if (gimbal_ai->pit < 1.7) { + } else if (gimbal_ai->pit < 1.75) { ai->search_velocity.pit = -fAbs(ai->search_velocity.pit); }