form->from
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4cc319e997
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@ -37,43 +37,8 @@ Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to
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Note: source file '..\User\task\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_3.o'.
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Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.
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Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
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compiling ballistics.c...
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compiling ahrs.c...
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compiling freertos.c...
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compiling capacity.c...
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compiling cmd.c...
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compiling crc16.c...
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compiling filter.c...
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compiling mixer.c...
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compiling pid.c...
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compiling user_math.c...
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compiling ui.c...
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compiling bmi088.c...
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compiling can.c...
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compiling dr16.c...
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compiling ist8310.c...
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compiling ai.c...
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compiling referee.c...
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compiling cap.c...
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compiling config.c...
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compiling gimbal.c...
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compiling chassis.c...
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compiling shoot.c...
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compiling ai.c...
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compiling atti_esti.c...
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compiling cap.c...
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compiling can.c...
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compiling cli.c...
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compiling command.c...
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compiling ctrl_chassis.c...
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compiling ctrl_gimbal.c...
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compiling ctrl_shoot.c...
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compiling info.c...
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compiling init.c...
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compiling monitor.c...
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compiling rc.c...
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compiling referee.c...
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compiling user_task.c...
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linking...
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Program Size: Code=148832 RO-data=6908 RW-data=760 ZI-data=43832
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FromELF: creating hex file...
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@ -91,7 +56,7 @@ Package Vendor: Keil
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C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
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<h2>Collection of Component Files used:</h2>
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Build Time Elapsed: 00:00:11
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Build Time Elapsed: 00:00:03
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</pre>
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</body>
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</html>
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@ -3,7 +3,7 @@
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<title>Static Call Graph - [DevC\DevC.axf]</title></head>
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<body><HR>
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<H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Tue Mar 11 09:18:01 2025
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<BR><P>#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Tue Mar 11 09:24:59 2025
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<BR><P>
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<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
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Call chain for Maximum Stack Depth:</H3>
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@ -4251,8 +4251,8 @@ I (..\User\bsp\uart.h)(0x6070F48E)
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I (..\Core\Inc\usart.h)(0x6070F48E)
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I (..\User\component\crc16.h)(0x6070F48E)
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I (..\User\component\crc8.h)(0x6070F48E)
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F (..\User\device\ai.c)(0x67CF8F2C)(-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)
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I (..\User\device\ai.h)(0x67CF8D37)
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F (..\User\device\ai.c)(0x67CF90A9)(-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)
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I (..\User\device\ai.h)(0x67CF90AE)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
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I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
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I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
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@ -4651,7 +4651,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
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I (..\User\bsp\pwm.h)(0x6070F48E)
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I (..\User\component\limiter.h)(0x6070F48E)
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F (..\User\task\ai.c)(0x67CF8D37)(-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)
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I (..\User\device\ai.h)(0x67CF8D37)
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I (..\User\device\ai.h)(0x67CF90AE)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
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I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
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I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
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@ -75,10 +75,10 @@ bool AI_WaitDmaCplt(void) {
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}
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int8_t AI_ParseHost(AI_t *ai) {
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if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host)))
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if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
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goto error;
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ai->ai_online = true;
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memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host));
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memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
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memset(rxbuf, 0, AI_LEN_RX_BUFF);
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return DEVICE_OK;
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@ -88,20 +88,20 @@ error:
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}
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void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
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cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
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cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
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cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
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cmd_host->rotor = (ai->form_host.data.notice & AI_NOTICE_ROTOR);
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cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
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cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
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cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
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cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw;
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cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit;
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cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE);
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cmd_host->rotor = (ai->from_host.data.notice & AI_NOTICE_ROTOR);
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cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx;
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cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy;
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cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz;
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}
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int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
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if (ai == NULL) return DEVICE_ERR_NULL;
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if (cmd_host == NULL) return DEVICE_ERR_NULL;
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ai->ai_online = false;
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memset(&(ai->form_host), 0, sizeof(ai->form_host));
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memset(&(ai->from_host), 0, sizeof(ai->from_host));
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memset(cmd_host, 0, sizeof(*cmd_host));
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return 0;
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}
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typedef struct __packed {
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osThreadId_t thread_alert;
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Protocol_DownPackage_t form_host;
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Protocol_DownPackage_t from_host;
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struct {
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AI_UpPackageReferee_t ref;
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