修mr
This commit is contained in:
parent
62fdf6e4ea
commit
3f9f3ef734
File diff suppressed because one or more lines are too long
@ -72,7 +72,7 @@
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#define configTICK_RATE_HZ ((TickType_t)1000)
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#define configMAX_PRIORITIES ( 56 )
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#define configMINIMAL_STACK_SIZE ((uint16_t)128)
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#define configTOTAL_HEAP_SIZE ((size_t)0x20000)
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#define configTOTAL_HEAP_SIZE ((size_t)0x10000)
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#define configMAX_TASK_NAME_LEN ( 16 )
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#define configGENERATE_RUN_TIME_STATS 1
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#define configUSE_TRACE_FACILITY 1
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File diff suppressed because it is too large
Load Diff
@ -587,12 +587,12 @@ ProjectManager.ProjectName=CtrBoard-H7_ALL
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ProjectManager.ProjectStructure=
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ProjectManager.RegisterCallBack=
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ProjectManager.StackSize=0x2000
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ProjectManager.TargetToolchain=CMake
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ProjectManager.TargetToolchain=MDK-ARM V5.32
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ProjectManager.ToolChainLocation=
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ProjectManager.UAScriptAfterPath=
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ProjectManager.UAScriptBeforePath=
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ProjectManager.UnderRoot=false
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ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,5-MX_BDMA_Init-BDMA-false-HAL-true,6-MX_ADC1_Init-ADC1-false-HAL-true,7-MX_TIM12_Init-TIM12-false-HAL-true,8-MX_SPI1_Init-SPI1-false-HAL-true,9-MX_SPI2_Init-SPI2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_USART1_UART_Init-USART1-false-HAL-true,12-MX_USART2_UART_Init-USART2-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true,14-MX_UART7_Init-UART7-false-HAL-true,15-MX_USART10_UART_Init-USART10-false-HAL-true,16-MX_FDCAN1_Init-FDCAN1-false-HAL-true,17-MX_FDCAN2_Init-FDCAN2-false-HAL-true,18-MX_FDCAN3_Init-FDCAN3-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM2_Init-TIM2-false-HAL-true,21-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,23-MX_UART5_Init-UART5-false-HAL-true,24-MX_ADC3_Init-ADC3-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
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ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_BDMA_Init-BDMA-false-HAL-true,5-MX_ADC1_Init-ADC1-false-HAL-true,6-MX_TIM12_Init-TIM12-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_SPI2_Init-SPI2-false-HAL-true,9-MX_TIM3_Init-TIM3-false-HAL-true,10-MX_USART1_UART_Init-USART1-false-HAL-true,11-MX_USART2_UART_Init-USART2-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_UART7_Init-UART7-false-HAL-true,14-MX_USART10_UART_Init-USART10-false-HAL-true,15-MX_FDCAN1_Init-FDCAN1-false-HAL-true,16-MX_FDCAN2_Init-FDCAN2-false-HAL-true,17-MX_FDCAN3_Init-FDCAN3-false-HAL-true,18-MX_TIM1_Init-TIM1-false-HAL-true,19-MX_TIM2_Init-TIM2-false-HAL-true,20-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,21-MX_UART5_Init-UART5-false-HAL-true,22-MX_ADC3_Init-ADC3-false-HAL-true,23-MX_USB_OTG_HS_PCD_Init-USB_OTG_HS-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
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RCC.ADCFreq_Value=96000000
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RCC.AHB12Freq_Value=240000000
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RCC.AHB4Freq_Value=240000000
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@ -153,7 +153,40 @@
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<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(5BA02477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name>
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</SetRegEntry>
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</TargetDriverDllRegistry>
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<Breakpoint/>
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<Breakpoint>
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<Bp>
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<Number>0</Number>
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<Type>0</Type>
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<LineNumber>481</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>134292468</Address>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\User\device\mrobot.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\CtrBoard_H7_ALL\../User/device/mrobot.c\481</Expression>
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</Bp>
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<Bp>
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<Number>1</Number>
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<Type>0</Type>
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<LineNumber>484</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>134292488</Address>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\User\device\mrobot.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\CtrBoard_H7_ALL\../User/device/mrobot.c\484</Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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<Ww>
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<count>0</count>
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@ -185,21 +218,6 @@
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<WinNumber>1</WinNumber>
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<ItemText>RF</ItemText>
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</Ww>
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<Ww>
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<count>6</count>
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<WinNumber>1</WinNumber>
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<ItemText>ai</ItemText>
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</Ww>
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<Ww>
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<count>7</count>
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<WinNumber>1</WinNumber>
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<ItemText>cmd_ai</ItemText>
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</Ww>
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<Ww>
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<count>8</count>
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<WinNumber>1</WinNumber>
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<ItemText>gimbal</ItemText>
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</Ww>
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</WatchWindow1>
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<Tracepoint>
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<THDelay>0</THDelay>
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@ -334,6 +352,18 @@
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>../Core/Src/bdma.c</PathWithFileName>
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<FilenameWithoutPath>bdma.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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</File>
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<File>
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<GroupNumber>2</GroupNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>../Core/Src/dma.c</PathWithFileName>
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<FilenameWithoutPath>dma.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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@ -341,7 +371,7 @@
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</File>
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<File>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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@ -353,7 +383,7 @@
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -365,7 +395,7 @@
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</File>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -377,7 +407,7 @@
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</File>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -389,7 +419,7 @@
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</File>
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<File>
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<GroupNumber>2</GroupNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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@ -401,7 +431,7 @@
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</File>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -413,7 +443,7 @@
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -425,7 +455,7 @@
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -437,7 +467,7 @@
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -457,7 +487,7 @@
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<RteFlg>0</RteFlg>
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<File>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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@ -469,7 +499,7 @@
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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@ -481,7 +511,7 @@
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@ -493,7 +523,7 @@
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<File>
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<GroupNumber>3</GroupNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -505,7 +535,7 @@
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<File>
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<GroupNumber>3</GroupNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -517,7 +547,7 @@
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<File>
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<GroupNumber>3</GroupNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -529,7 +559,7 @@
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -541,7 +571,7 @@
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</File>
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<File>
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<GroupNumber>3</GroupNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -553,7 +583,7 @@
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</File>
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<File>
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<GroupNumber>3</GroupNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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@ -565,7 +595,7 @@
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@ -577,7 +607,7 @@
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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@ -589,7 +619,7 @@
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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@ -601,7 +631,7 @@
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@ -613,7 +643,7 @@
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@ -625,7 +655,7 @@
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@ -637,7 +667,7 @@
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@ -649,7 +679,7 @@
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@ -661,7 +691,7 @@
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@ -673,7 +703,7 @@
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@ -685,7 +715,7 @@
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@ -697,7 +727,7 @@
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@ -709,7 +739,7 @@
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@ -721,7 +751,7 @@
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@ -733,7 +763,7 @@
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|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>9</GroupNumber>
|
||||
<FileNumber>89</FileNumber>
|
||||
<FileNumber>91</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1401,7 +1443,7 @@
|
||||
<RteFlg>0</RteFlg>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>90</FileNumber>
|
||||
<FileNumber>92</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1413,7 +1455,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>91</FileNumber>
|
||||
<FileNumber>93</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1425,7 +1467,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>92</FileNumber>
|
||||
<FileNumber>94</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1437,7 +1479,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>93</FileNumber>
|
||||
<FileNumber>95</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1449,7 +1491,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>94</FileNumber>
|
||||
<FileNumber>96</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1461,7 +1503,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>95</FileNumber>
|
||||
<FileNumber>97</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1473,7 +1515,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>96</FileNumber>
|
||||
<FileNumber>98</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1485,7 +1527,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>97</FileNumber>
|
||||
<FileNumber>99</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1497,7 +1539,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>98</FileNumber>
|
||||
<FileNumber>100</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1509,7 +1551,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>99</FileNumber>
|
||||
<FileNumber>101</FileNumber>
|
||||
<FileType>5</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1521,7 +1563,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>100</FileNumber>
|
||||
<FileNumber>102</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1533,7 +1575,7 @@
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>101</FileNumber>
|
||||
<FileNumber>103</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
@ -1543,6 +1585,18 @@
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>10</GroupNumber>
|
||||
<FileNumber>104</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\User\task\cli.c</PathWithFileName>
|
||||
<FilenameWithoutPath>cli.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
</Group>
|
||||
|
||||
<Group>
|
||||
|
||||
@ -314,7 +314,7 @@
|
||||
</ArmAdsMisc>
|
||||
<Cads>
|
||||
<interw>1</interw>
|
||||
<Optim>1</Optim>
|
||||
<Optim>4</Optim>
|
||||
<oTime>0</oTime>
|
||||
<SplitLS>0</SplitLS>
|
||||
<OneElfS>1</OneElfS>
|
||||
@ -340,7 +340,7 @@
|
||||
<MiscControls></MiscControls>
|
||||
<Define>USE_PWR_LDO_SUPPLY,USE_HAL_DRIVER,STM32H723xx</Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../User</IncludePath>
|
||||
<IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../User;../Middlewares/Third_Party/ARM/DSP;../Drivers/CMSIS/DSP/Include;../Middlewares/ST/ARM/DSP/Inc</IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
<Aads>
|
||||
@ -358,7 +358,7 @@
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include</IncludePath>
|
||||
<IncludePath>../Core/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc;../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../Drivers/CMSIS/Device/ST/STM32H7xx/Include;../Drivers/CMSIS/Include;../Middlewares/ST/ARM/DSP/Inc</IncludePath>
|
||||
</VariousControls>
|
||||
</Aads>
|
||||
<LDads>
|
||||
@ -414,6 +414,62 @@
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/adc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>bdma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/bdma.c</FilePath>
|
||||
<FileOption>
|
||||
<CommonProperty>
|
||||
<UseCPPCompiler>2</UseCPPCompiler>
|
||||
<RVCTCodeConst>0</RVCTCodeConst>
|
||||
<RVCTZI>0</RVCTZI>
|
||||
<RVCTOtherData>0</RVCTOtherData>
|
||||
<ModuleSelection>0</ModuleSelection>
|
||||
<IncludeInBuild>1</IncludeInBuild>
|
||||
<AlwaysBuild>2</AlwaysBuild>
|
||||
<GenerateAssemblyFile>2</GenerateAssemblyFile>
|
||||
<AssembleAssemblyFile>2</AssembleAssemblyFile>
|
||||
<PublicsOnly>2</PublicsOnly>
|
||||
<StopOnExitCode>11</StopOnExitCode>
|
||||
<CustomArgument></CustomArgument>
|
||||
<IncludeLibraryModules></IncludeLibraryModules>
|
||||
<ComprImg>1</ComprImg>
|
||||
</CommonProperty>
|
||||
<FileArmAds>
|
||||
<Cads>
|
||||
<interw>2</interw>
|
||||
<Optim>0</Optim>
|
||||
<oTime>2</oTime>
|
||||
<SplitLS>2</SplitLS>
|
||||
<OneElfS>2</OneElfS>
|
||||
<Strict>2</Strict>
|
||||
<EnumInt>2</EnumInt>
|
||||
<PlainCh>2</PlainCh>
|
||||
<Ropi>2</Ropi>
|
||||
<Rwpi>2</Rwpi>
|
||||
<wLevel>0</wLevel>
|
||||
<uThumb>2</uThumb>
|
||||
<uSurpInc>2</uSurpInc>
|
||||
<uC99>2</uC99>
|
||||
<uGnu>2</uGnu>
|
||||
<useXO>2</useXO>
|
||||
<v6Lang>0</v6Lang>
|
||||
<v6LangP>0</v6LangP>
|
||||
<vShortEn>2</vShortEn>
|
||||
<vShortWch>2</vShortWch>
|
||||
<v6Lto>2</v6Lto>
|
||||
<v6WtE>2</v6WtE>
|
||||
<v6Rtti>2</v6Rtti>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
</FileArmAds>
|
||||
</FileOption>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
@ -844,6 +900,11 @@
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\device\vofa.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>mrobot.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\device\mrobot.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
@ -934,6 +995,11 @@
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\vofa.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>cli.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\cli.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
|
||||
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@ -1,6 +1,5 @@
|
||||
#pragma once
|
||||
|
||||
#include <sys/_intsup.h>
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
@ -169,7 +169,8 @@ static void uart_rx_callback(void) {
|
||||
}
|
||||
} else if (ch >= 32 && ch < 127 && ctx.cmd_index < sizeof(ctx.cmd_buffer) - 1) {
|
||||
ctx.cmd_buffer[ctx.cmd_index++] = ch;
|
||||
BSP_UART_Transmit(BSP_UART_VOFA, &ch, 1, false);
|
||||
/* 回显：使用静态变量地址，避免异步发送时局部变量已失效 */
|
||||
BSP_UART_Transmit(BSP_UART_VOFA, &ctx.uart_rx_char, 1, false);
|
||||
}
|
||||
|
||||
BSP_UART_Receive(BSP_UART_VOFA, &ctx.uart_rx_char, 1, false);
|
||||
|
||||
@ -13,7 +13,6 @@
|
||||
#include "component/QuaternionEKF.h"
|
||||
#include "component/pid.h"
|
||||
#include "device/bmi088.h"
|
||||
#include "device/mrobot.h"
|
||||
#include "device/device.h"
|
||||
#include "module/balance_chassis.h"
|
||||
#include "task/user_task.h"
|
||||
@ -72,8 +71,6 @@ void Task_atti_esit(void *argument) {
|
||||
1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
|
||||
BSP_PWM_Start(BSP_PWM_IMU_HEAT);
|
||||
|
||||
/* 注册 IMU 设备到 MRobot */
|
||||
MRobot_RegisterDevice("bmi088", &bmi088, print_imu_callback);
|
||||
/* USER CODE INIT END */
|
||||
|
||||
while (1) {
|
||||
|
||||
@ -40,7 +40,7 @@ void Task_Init(void *argument) {
|
||||
task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
|
||||
task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
|
||||
task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
|
||||
task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
|
||||
// task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
|
||||
task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli);
|
||||
|
||||
// 创建消息队列
|
||||
|
||||
Loading…
Reference in New Issue
Block a user