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调好啦~

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RB 2025-03-15 00:33:49 +08:00
parent f53af0b510
commit 7b0a5cf63c
8 changed files with 70 additions and 70 deletions
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60
MDK-ARM/DevC.uvguix.lvzucheng
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MDK-ARM/DevC/DevC.axf
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2
MDK-ARM/DevC/DevC.build_log.htm
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@ -55,7 +55,7 @@ Package Vendor: Keil
C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
<h2>Collection of Component Files used:</h2>
Build Time Elapsed: 00:00:04
Build Time Elapsed: 00:00:01
</pre>
</body>
</html>

6
MDK-ARM/DevC/DevC.hex
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@ -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

2
MDK-ARM/DevC/DevC.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [DevC\DevC.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Fri Mar 14 22:27:57 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Sat Mar 15 00:25:56 2025
<BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>

62
MDK-ARM/DevC/DevC_Debug.dep
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@ -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)

BIN
MDK-ARM/DevC/ai.o
View File

Binary file not shown.

8
User/device/ai.c
View File

@ -51,8 +51,8 @@ int8_t AI_Init(AI_t *ai) {
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
Ai_IdleLineCallback);
ai->search_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);
}