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修复拨弹电机控制冲突的问题

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This commit is contained in:
RB 2025-03-10 22:04:45 +08:00
parent 222c1a6ca2
commit d744da4cde
16 changed files with 12264 additions and 12342 deletions
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24
MDK-ARM/DevC.uvguix.lvzucheng
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BIN
MDK-ARM/DevC/DevC.axf Normal file
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94
MDK-ARM/DevC/DevC.build_log.htm
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@ -37,94 +37,11 @@ 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'.
../User/device/ai.c(80): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->form_host)))
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(83): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host));
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(83): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
memcpy(&(ai->form_host), rxbuf, sizeof(ai->form_host));
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(93): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(94): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(95): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(96): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
cmd_host->search_armor = (ai->form_host.data.notice & AI_NOTICE_SEARCH_ARMOR);
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(99): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(100): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(101): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(125): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
memset(&(ai->form_host), 0, sizeof(ai->form_host));
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
../User/device/ai.c(125): error: no member named 'form_host' in 'AI_t'; did you mean 'from_host'?
memset(&(ai->form_host), 0, sizeof(ai->form_host));
^~~~~~~~~
from_host
../User/device/ai.h(46): note: 'from_host' declared here
Protocol_DownPackage_t from_host;
^
12 errors generated.
compiling ai.c...
compiling ai.c...
"DevC\DevC.axf" - 12 Error(s), 0 Warning(s).
compiling cmd.c...
linking...
Program Size: Code=149536 RO-data=7272 RW-data=760 ZI-data=43832
FromELF: creating hex file...
"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -138,7 +55,6 @@ 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>
Target not created.
Build Time Elapsed: 00:00:02
</pre>
</body>

18592
MDK-ARM/DevC/DevC.hex
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12
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: Mon Mar 10 21:09:31 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Mon Mar 10 22:02:56 2025
<BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -780,7 +780,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Ai
</UL>
<P><STRONG><a name="[28c]"></a>AI_PackCmd</STRONG> (Thumb, 86 bytes, Stack size 8 bytes, ai.o(.text.AI_PackCmd))
<P><STRONG><a name="[28c]"></a>AI_PackCmd</STRONG> (Thumb, 62 bytes, Stack size 8 bytes, ai.o(.text.AI_PackCmd))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = AI_PackCmd
</UL>
<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Ai
@ -1295,7 +1295,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Command
</UL>
<P><STRONG><a name="[29a]"></a>CMD_ParseHost</STRONG> (Thumb, 108 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
<P><STRONG><a name="[29a]"></a>CMD_ParseHost</STRONG> (Thumb, 120 bytes, Stack size 16 bytes, cmd.o(.text.CMD_ParseHost))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CMD_ParseHost
</UL>
<BR>[Called By]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Command
@ -3809,7 +3809,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[21f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
</UL>
<P><STRONG><a name="[97]"></a>Task_Ai</STRONG> (Thumb, 472 bytes, Stack size 56 bytes, ai_1.o(.text.Task_Ai))
<P><STRONG><a name="[97]"></a>Task_Ai</STRONG> (Thumb, 474 bytes, Stack size 56 bytes, ai_1.o(.text.Task_Ai))
<BR><BR>[Stack]<UL><LI>Max Depth = 252<LI>Call Chain = Task_Ai &rArr; osMessageQueuePut &rArr; xQueueGenericSendFromISR &rArr; prvCopyDataToQueue &rArr; xTaskPriorityDisinherit &rArr; vListInsertEnd
</UL>
<BR>[Calls]<UL><LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadGetId
@ -7335,7 +7335,7 @@ Local Symbols
<BR>[Called By]<UL><LI><a href="#[137]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CMD_ParseRc
</UL>
<P><STRONG><a name="[13a]"></a>CMD_PcLogic</STRONG> (Thumb, 770 bytes, Stack size 24 bytes, cmd.o(.text.CMD_PcLogic))
<P><STRONG><a name="[13a]"></a>CMD_PcLogic</STRONG> (Thumb, 774 bytes, Stack size 24 bytes, cmd.o(.text.CMD_PcLogic))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = CMD_PcLogic &rArr; CMD_BehaviorOccurredRc &rArr; CMD_BehaviorToKey
</UL>
<BR>[Calls]<UL><LI><a href="#[13c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CMD_RefereeAdd
@ -7344,7 +7344,7 @@ Local Symbols
<BR>[Called By]<UL><LI><a href="#[137]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CMD_ParseRc
</UL>
<P><STRONG><a name="[13b]"></a>CMD_RcLogic</STRONG> (Thumb, 320 bytes, Stack size 20 bytes, cmd.o(.text.CMD_RcLogic))
<P><STRONG><a name="[13b]"></a>CMD_RcLogic</STRONG> (Thumb, 338 bytes, Stack size 20 bytes, cmd.o(.text.CMD_RcLogic))
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CMD_RcLogic
</UL>
<BR>[Called By]<UL><LI><a href="#[137]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CMD_ParseRc

5712
MDK-ARM/DevC/DevC.map
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144
MDK-ARM/DevC/DevC_Debug.dep
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@ -178,10 +178,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F
I (..\Core\Inc\tim.h)(0x6070F48E)
I (..\User\task\user_task.h)(0x67CD67C5)
I (..\User\module\config.h)(0x67C6C648)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\bmi088.h)(0x6070F48E)
@ -3420,7 +3420,7 @@ I (..\Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_core.h)(0x6070F48E)
I (..\Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ctlreq.h)(0x6070F48E)
F (..\User\component\ahrs.c)(0x67AB3A93)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ahrs.o -MD)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3471,7 +3471,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\component\ballistics.c)(0x67C6C648)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ballistics.o -MD)
I (..\User\component\ballistics.h)(0x67C6C648)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3520,7 +3520,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
F (..\User\component\capacity.c)(0x6070F48E)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/capacity.o -MD)
I (..\User\component\capacity.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3567,12 +3567,12 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
F (..\User\component\cmd.c)(0x67CD8A56)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/cmd.o -MD)
I (..\User\component\cmd.h)(0x67CEE3A8)
F (..\User\component\cmd.c)(0x67CEF10C)(-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)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3626,7 +3626,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
F (..\User\component\crc16.c)(0x67A77C31)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/crc16.o -MD)
I (..\User\component\crc16.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3681,7 +3681,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\mm.h)(0x67C6C648)
F (..\User\component\filter.c)(0x6070F48E)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/filter.o -MD)
I (..\User\component\filter.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3736,7 +3736,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\mixer.c)(0x67AB3850)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/mixer.o -MD)
I (..\User\component\mixer.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3787,7 +3787,7 @@ F (..\User\component\pid.c)(0x6070F48E)(-xc -std=c11 --target=arm-arm-none-eabi
I (..\User\component\pid.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3833,8 +3833,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
F (..\User\component\user_math.c)(0x67CEE3A8)(-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)(0x67CEE3A8)
F (..\User\component\user_math.c)(0x67CEEB8E)(-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)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3900,7 +3900,7 @@ F (..\User\component\ui.c)(0x6070F48E)(-xc -std=c11 --target=arm-arm-none-eabi -
I (..\User\component\ui.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -3952,7 +3952,7 @@ I (..\User\device\bmi088.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4059,24 +4059,24 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (..\User\bsp\bsp.h)(0x6070F48E)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\mm.h)(0x67C6C648)
I (..\User\device\referee.h)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ui.h)(0x6070F48E)
F (..\User\device\dr16.c)(0x67C26F8E)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/dr16.o -MD)
I (..\User\device\dr16.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4133,7 +4133,7 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4192,9 +4192,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4251,14 +4251,14 @@ I (..\User\bsp\uart.h)(0x6070F48E)
I (..\Core\Inc\usart.h)(0x6070F48E)
I (..\User\component\crc16.h)(0x6070F48E)
I (..\User\component\crc8.h)(0x6070F48E)
F (..\User\device\ai.c)(0x67CEEA9A)(-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)(0x67CEEAB9)
F (..\User\device\ai.c)(0x67CEEF6E)(-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)(0x67CEEB8E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4302,7 +4302,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\filter.h)(0x6070F48E)
I (..\User\device\device.h)(0x6070F48E)
I (..\User\device\referee.h)(0x67CD8A56)
@ -4313,7 +4313,7 @@ I (..\User\bsp\can.h)(0x6070F48E)
I (..\Core\Inc\can.h)(0x6070F48E)
I (..\Core\Inc\main.h)(0x6070F48E)
I (..\User\bsp\bsp.h)(0x6070F48E)
I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CEE3A8)
I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CEEB8E)
I (..\User\bsp\delay.h)(0x6070F48E)
I (..\User\bsp\uart.h)(0x6070F48E)
I (..\Core\Inc\usart.h)(0x6070F48E)
@ -4372,23 +4372,23 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (..\User\bsp\bsp.h)(0x6070F48E)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x6070F48E)
I (..\User\device\referee.h)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ui.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\component\capacity.h)(0x6070F48E)
I (..\User\component\limiter.h)(0x6070F48E)
F (..\User\module\chassis.c)(0x679F304B)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/chassis.o -MD)
I (..\User\module\chassis.h)(0x6070F48E)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4453,10 +4453,10 @@ I (..\User\module\cap.h)(0x6070F48E)
F (..\User\module\config.c)(0x67CD8A56)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/config.o -MD)
I (..\User\module\config.h)(0x67C6C648)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4520,10 +4520,10 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x67CD67C5)
I (..\User\module\shoot.h)(0x67CD67C5)
I (..\User\bsp\flash.h)(0x6070F48E)
F (..\User\module\gimbal.c)(0x67CEE3A8)(-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)(0x67CEEB8E)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/gimbal.o -MD)
I (..\User\module\gimbal.h)(0x67CD67C5)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4570,7 +4570,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\filter.h)(0x6070F48E)
I (..\User\component\pid.h)(0x6070F48E)
I (..\User\device\bmi088.h)(0x6070F48E)
@ -4590,10 +4590,10 @@ I (..\User\module\shoot.h)(0x67CD67C5)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4650,14 +4650,14 @@ I (..\User\component\ui.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\pwm.h)(0x6070F48E)
I (..\User\component\limiter.h)(0x6070F48E)
F (..\User\task\ai.c)(0x67CEEA91)(-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)(0x67CEEAB9)
F (..\User\task\ai.c)(0x67CEEB8E)(-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)(0x67CEEB8E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4701,7 +4701,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\filter.h)(0x6070F48E)
I (..\User\device\device.h)(0x6070F48E)
I (..\User\device\referee.h)(0x67CD8A56)
@ -4712,7 +4712,7 @@ I (..\User\bsp\can.h)(0x6070F48E)
I (..\Core\Inc\can.h)(0x6070F48E)
I (..\Core\Inc\main.h)(0x6070F48E)
I (..\User\bsp\bsp.h)(0x6070F48E)
I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CEE3A8)
I (..\Middlewares\Third_Party\Protocol\protocol.h)(0x67CEEB8E)
I (..\User\bsp\usb.h)(0x6070F48E)
I (..\User\task\user_task.h)(0x67CD67C5)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x6070F48E)
@ -4742,7 +4742,7 @@ I (..\User\bsp\bsp.h)(0x6070F48E)
I (..\User\bsp\usb.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -4801,7 +4801,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x6070F48E)
I (..\User\module\config.h)(0x67C6C648)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\device\can.h)(0x67CD67C5)
I (..\User\bsp\can.h)(0x6070F48E)
I (..\Core\Inc\can.h)(0x6070F48E)
@ -4866,12 +4866,12 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (..\User\bsp\bsp.h)(0x6070F48E)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x6070F48E)
I (..\User\device\referee.h)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ui.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\task\user_task.h)(0x67CD67C5)
@ -4946,12 +4946,12 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h)(0x6070F48E)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (..\User\bsp\bsp.h)(0x6070F48E)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x6070F48E)
I (..\User\device\referee.h)(0x67CD8A56)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ui.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\task\user_task.h)(0x67CD67C5)
@ -5038,9 +5038,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x6070F48E)
I (..\User\task\user_task.h)(0x67CD67C5)
I (..\User\module\config.h)(0x67C6C648)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\bmi088.h)(0x6070F48E)
@ -5061,10 +5061,10 @@ I (..\User\device\dr16.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -5140,9 +5140,9 @@ I (..\User\component\limiter.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\module\chassis.h)(0x6070F48E)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -5218,7 +5218,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x6070F48E)
F (..\User\task\ctrl_gimbal.c)(0x67CD67C5)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O0 -ffunction-sections -I ../Core/Inc -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Drivers/CMSIS/DSP/Include -I ../User -I ../Middlewares/Third_Party/Protocol -Wall -Wextra -I./RTE/_Debug -IC:/Users/lvzucheng/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DDEV_BOARD_C -DSTM32F407xx -DDEBUG -o devc/ctrl_gimbal.o -MD)
I (..\User\module\gimbal.h)(0x67CD67C5)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -5265,7 +5265,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\filter.h)(0x6070F48E)
I (..\User\component\pid.h)(0x6070F48E)
I (..\User\device\bmi088.h)(0x6070F48E)
@ -5299,10 +5299,10 @@ I (..\User\module\shoot.h)(0x67CD67C5)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -5382,7 +5382,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\component\capacity.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -5436,7 +5436,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x6070F48E)
I (..\User\module\config.h)(0x67C6C648)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\device\bmi088.h)(0x6070F48E)
I (..\User\device\device.h)(0x6070F48E)
@ -5505,10 +5505,10 @@ I (..\User\bsp\bsp.h)(0x6070F48E)
I (..\User\bsp\usb.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\bmi088.h)(0x6070F48E)
@ -5548,7 +5548,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\component\capacity.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -5602,7 +5602,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x6070F48E)
I (..\User\module\config.h)(0x67C6C648)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\device\bmi088.h)(0x6070F48E)
I (..\User\device\device.h)(0x6070F48E)
@ -5627,10 +5627,10 @@ I (..\User\device\dr16.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F48E)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -5707,9 +5707,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x6070F
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)
@ -5794,10 +5794,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x6070F48E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x6070F48E)
I (..\User\module\config.h)(0x67C6C648)
I (..\User\component\cmd.h)(0x67CEE3A8)
I (..\User\component\cmd.h)(0x67CEF03C)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x6070F48E)
I (..\User\component\user_math.h)(0x67CEE3A8)
I (..\User\component\user_math.h)(0x67CEEB8E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x6070F48E)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x6070F48E)

BIN
MDK-ARM/DevC/ai.o Normal file
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BIN
MDK-ARM/DevC/ai_1.o
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BIN
MDK-ARM/DevC/cmd.o
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BIN
MDK-ARM/DevC/command.o
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BIN
MDK-ARM/DevC/dr16.o
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BIN
MDK-ARM/DevC/rc.o
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22
User/component/cmd.c
View File

@ -259,12 +259,14 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
case CMD_SW_UP:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.mode = SHOOT_MODE_SAFE;
cmd->fire = false;
break;
case CMD_SW_MID:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.fire = false;
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->fire = true;
break;
case CMD_SW_DOWN:
@ -272,11 +274,13 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
cmd->shoot.fire = true;
cmd->fire = true;
break;
case CMD_SW_ERR:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_RELAX;
cmd->fire = false;
}
/* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
if (cmd->ai_status == AI_STATUS_STOP || cmd->host_overwrite == false)
@ -397,14 +401,16 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec)
cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
/* host射击命令，设置不同的射击频率和弹丸初速度 */
if (host->fire)
{
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = true;
}
else
{
cmd->shoot.mode = SHOOT_MODE_SAFE;
if(cmd->fire){
if (host->fire)
{
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = true;
}
else
{
cmd->shoot.mode = SHOOT_MODE_SAFE;
}
}
return 0;
}

3
User/component/cmd.h
View File

@ -199,6 +199,7 @@ typedef struct {
typedef struct {
bool pc_ctrl; /* 是否使用键鼠控制 */
bool host_overwrite; /* 是否Host控制 */
bool fire; /* 是否允许发弹 */
uint16_t key_last; /* 上次按键键值 */
struct {
@ -253,7 +254,7 @@ typedef struct {
} chassis_move_vec; /* 底盘移动向量 */
bool fire; /* 开火状态 */
bool search_armor; /* 寻找装甲板模式 */
// bool search_armor; /* 寻找装甲板模式 */
} CMD_Host_t;
/**

3
User/device/ai.c
View File

@ -93,9 +93,6 @@ void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw;
cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit;
cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE);
cmd_host->search_armor = (ai->from_host.data.notice & AI_NOTICE_SEARCH_ARMOR);
cmd_host->fire = false;
// cmd_host->search_armor = true;
cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx;
cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy;
cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz;