From 410d3a23760f541cabb397205fb478fa41a18891 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Mon, 29 Sep 2025 09:58:44 +0800
Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E4=BA=86shoot?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.../DebugConfig/DevC_STM32F407IGHx.dbgconf | 48 +
MDK-ARM/DevC.uvguix.lvzucheng | 1896 +++++++
MDK-ARM/DevC.uvoptx | 1431 +++++
MDK-ARM/DevC/DevC.axf | Bin 0 -> 865568 bytes
MDK-ARM/DevC/DevC.build_log.htm | 90 +
MDK-ARM/DevC/DevC.htm | 4786 +++++++++++++++++
MDK-ARM/DevC/ExtDll.iex | 2 +
MDK-ARM/DevC/adc.d | 43 +
MDK-ARM/DevC/ahrs.d | 8 +
MDK-ARM/DevC/atti_esti.d | 67 +
MDK-ARM/DevC/balance_chassis.d | 67 +
MDK-ARM/DevC/blink.d | 55 +
MDK-ARM/DevC/buzzer.d | 47 +
MDK-ARM/DevC/can.d | 43 +
MDK-ARM/DevC/can_1.d | 58 +
MDK-ARM/DevC/cmd.d | 8 +
MDK-ARM/DevC/cmsis_os2.d | 63 +
MDK-ARM/DevC/config.d | 66 +
MDK-ARM/DevC/crc.d | 43 +
MDK-ARM/DevC/croutine.d | 13 +
MDK-ARM/DevC/ctrl_chassis.d | 68 +
MDK-ARM/DevC/ctrl_gimbal.d | 65 +
MDK-ARM/DevC/dm_imu.d | 62 +
MDK-ARM/DevC/dma.d | 43 +
MDK-ARM/DevC/dr16.d | 51 +
MDK-ARM/DevC/dwt.d | 43 +
MDK-ARM/DevC/event_groups.d | 18 +
MDK-ARM/DevC/filter.d | 7 +
MDK-ARM/DevC/freertos.d | 56 +
MDK-ARM/DevC/gpio.d | 43 +
MDK-ARM/DevC/gpio_1.d | 46 +
MDK-ARM/DevC/heap_4.d | 14 +
MDK-ARM/DevC/i2c.d | 43 +
MDK-ARM/DevC/init.d | 67 +
MDK-ARM/DevC/kinematics.d | 8 +
MDK-ARM/DevC/limiter.d | 5 +
MDK-ARM/DevC/list.d | 12 +
MDK-ARM/DevC/lqr.d | 5 +
MDK-ARM/DevC/main.d | 63 +
MDK-ARM/DevC/mm.d | 10 +
MDK-ARM/DevC/motor.d | 5 +
MDK-ARM/DevC/motor_lk.d | 62 +
MDK-ARM/DevC/motor_lz.d | 62 +
MDK-ARM/DevC/pid.d | 7 +
MDK-ARM/DevC/port.d | 13 +
MDK-ARM/DevC/pwm.d | 44 +
MDK-ARM/DevC/queue.d | 16 +
MDK-ARM/DevC/rc.d | 67 +
MDK-ARM/DevC/rng.d | 43 +
MDK-ARM/DevC/spi.d | 43 +
MDK-ARM/DevC/spi_1.d | 45 +
MDK-ARM/DevC/stm32f4xx_hal.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_adc.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_adc_ex.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_can.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_cortex.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_crc.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_dma.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_dma_ex.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_exti.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_flash.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_flash_ex.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_flash_ramfunc.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_gpio.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_i2c.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_i2c_ex.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_msp.d | 43 +
MDK-ARM/DevC/stm32f4xx_hal_pcd.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_pcd_ex.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_pwr.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_pwr_ex.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_rcc.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_rcc_ex.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_rng.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_spi.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_tim.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_tim_ex.d | 44 +
MDK-ARM/DevC/stm32f4xx_hal_uart.d | 44 +
MDK-ARM/DevC/stm32f4xx_it.d | 55 +
MDK-ARM/DevC/stm32f4xx_ll_adc.d | 2 +
MDK-ARM/DevC/stm32f4xx_ll_usb.d | 44 +
MDK-ARM/DevC/stream_buffer.d | 15 +
MDK-ARM/DevC/system_stm32f4xx.d | 43 +
MDK-ARM/DevC/tasks.d | 18 +
MDK-ARM/DevC/tim.d | 43 +
MDK-ARM/DevC/time.d | 54 +
MDK-ARM/DevC/timers.d | 16 +
MDK-ARM/DevC/uart.d | 45 +
MDK-ARM/DevC/usart.d | 43 +
MDK-ARM/DevC/usb_device.d | 58 +
MDK-ARM/DevC/usbd_cdc.d | 55 +
MDK-ARM/DevC/usbd_cdc_if.d | 54 +
MDK-ARM/DevC/usbd_conf.d | 55 +
MDK-ARM/DevC/usbd_core.d | 53 +
MDK-ARM/DevC/usbd_ctlreq.d | 54 +
MDK-ARM/DevC/usbd_desc.d | 54 +
MDK-ARM/DevC/usbd_ioreq.d | 53 +
MDK-ARM/DevC/user_math.d | 8 +
MDK-ARM/DevC/user_task.d | 13 +
MDK-ARM/DevC/vmc.d | 6 +
MDK-ARM/RTE/_DevC/RTE_Components.h | 15 +
User/module/config.c | 44 +-
User/module/config.h | 2 +-
User/module/shoot.c | 338 +-
User/module/shoot.h | 292 +-
105 files changed, 12351 insertions(+), 338 deletions(-)
create mode 100644 MDK-ARM/DebugConfig/DevC_STM32F407IGHx.dbgconf
create mode 100644 MDK-ARM/DevC.uvguix.lvzucheng
create mode 100644 MDK-ARM/DevC.uvoptx
create mode 100644 MDK-ARM/DevC/DevC.axf
create mode 100644 MDK-ARM/DevC/DevC.build_log.htm
create mode 100644 MDK-ARM/DevC/DevC.htm
create mode 100644 MDK-ARM/DevC/ExtDll.iex
create mode 100644 MDK-ARM/DevC/adc.d
create mode 100644 MDK-ARM/DevC/ahrs.d
create mode 100644 MDK-ARM/DevC/atti_esti.d
create mode 100644 MDK-ARM/DevC/balance_chassis.d
create mode 100644 MDK-ARM/DevC/blink.d
create mode 100644 MDK-ARM/DevC/buzzer.d
create mode 100644 MDK-ARM/DevC/can.d
create mode 100644 MDK-ARM/DevC/can_1.d
create mode 100644 MDK-ARM/DevC/cmd.d
create mode 100644 MDK-ARM/DevC/cmsis_os2.d
create mode 100644 MDK-ARM/DevC/config.d
create mode 100644 MDK-ARM/DevC/crc.d
create mode 100644 MDK-ARM/DevC/croutine.d
create mode 100644 MDK-ARM/DevC/ctrl_chassis.d
create mode 100644 MDK-ARM/DevC/ctrl_gimbal.d
create mode 100644 MDK-ARM/DevC/dm_imu.d
create mode 100644 MDK-ARM/DevC/dma.d
create mode 100644 MDK-ARM/DevC/dr16.d
create mode 100644 MDK-ARM/DevC/dwt.d
create mode 100644 MDK-ARM/DevC/event_groups.d
create mode 100644 MDK-ARM/DevC/filter.d
create mode 100644 MDK-ARM/DevC/freertos.d
create mode 100644 MDK-ARM/DevC/gpio.d
create mode 100644 MDK-ARM/DevC/gpio_1.d
create mode 100644 MDK-ARM/DevC/heap_4.d
create mode 100644 MDK-ARM/DevC/i2c.d
create mode 100644 MDK-ARM/DevC/init.d
create mode 100644 MDK-ARM/DevC/kinematics.d
create mode 100644 MDK-ARM/DevC/limiter.d
create mode 100644 MDK-ARM/DevC/list.d
create mode 100644 MDK-ARM/DevC/lqr.d
create mode 100644 MDK-ARM/DevC/main.d
create mode 100644 MDK-ARM/DevC/mm.d
create mode 100644 MDK-ARM/DevC/motor.d
create mode 100644 MDK-ARM/DevC/motor_lk.d
create mode 100644 MDK-ARM/DevC/motor_lz.d
create mode 100644 MDK-ARM/DevC/pid.d
create mode 100644 MDK-ARM/DevC/port.d
create mode 100644 MDK-ARM/DevC/pwm.d
create mode 100644 MDK-ARM/DevC/queue.d
create mode 100644 MDK-ARM/DevC/rc.d
create mode 100644 MDK-ARM/DevC/rng.d
create mode 100644 MDK-ARM/DevC/spi.d
create mode 100644 MDK-ARM/DevC/spi_1.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_adc.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_adc_ex.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_can.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_cortex.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_crc.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_dma.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_dma_ex.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_exti.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_flash.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_flash_ex.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_flash_ramfunc.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_gpio.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_i2c.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_i2c_ex.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_msp.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_pcd.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_pcd_ex.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_pwr.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_pwr_ex.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_rcc.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_rcc_ex.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_rng.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_spi.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_tim.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_tim_ex.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_hal_uart.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_it.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_ll_adc.d
create mode 100644 MDK-ARM/DevC/stm32f4xx_ll_usb.d
create mode 100644 MDK-ARM/DevC/stream_buffer.d
create mode 100644 MDK-ARM/DevC/system_stm32f4xx.d
create mode 100644 MDK-ARM/DevC/tasks.d
create mode 100644 MDK-ARM/DevC/tim.d
create mode 100644 MDK-ARM/DevC/time.d
create mode 100644 MDK-ARM/DevC/timers.d
create mode 100644 MDK-ARM/DevC/uart.d
create mode 100644 MDK-ARM/DevC/usart.d
create mode 100644 MDK-ARM/DevC/usb_device.d
create mode 100644 MDK-ARM/DevC/usbd_cdc.d
create mode 100644 MDK-ARM/DevC/usbd_cdc_if.d
create mode 100644 MDK-ARM/DevC/usbd_conf.d
create mode 100644 MDK-ARM/DevC/usbd_core.d
create mode 100644 MDK-ARM/DevC/usbd_ctlreq.d
create mode 100644 MDK-ARM/DevC/usbd_desc.d
create mode 100644 MDK-ARM/DevC/usbd_ioreq.d
create mode 100644 MDK-ARM/DevC/user_math.d
create mode 100644 MDK-ARM/DevC/user_task.d
create mode 100644 MDK-ARM/DevC/vmc.d
create mode 100644 MDK-ARM/RTE/_DevC/RTE_Components.h
diff --git a/MDK-ARM/DebugConfig/DevC_STM32F407IGHx.dbgconf b/MDK-ARM/DebugConfig/DevC_STM32F407IGHx.dbgconf
new file mode 100644
index 0000000..1df0a1b
--- /dev/null
+++ b/MDK-ARM/DebugConfig/DevC_STM32F407IGHx.dbgconf
@@ -0,0 +1,48 @@
+// File: STM32F405_415_407_417_427_437_429_439.dbgconf
+// Version: 1.0.0
+// Note: refer to STM32F405/415 STM32F407/417 STM32F427/437 STM32F429/439 reference manual (RM0090)
+// refer to STM32F40x STM32F41x datasheets
+// refer to STM32F42x STM32F43x datasheets
+
+// <<< Use Configuration Wizard in Context Menu >>>
+
+// Debug MCU configuration register (DBGMCU_CR)
+// DBG_STANDBY Debug Standby Mode
+// DBG_STOP Debug Stop Mode
+// DBG_SLEEP Debug Sleep Mode
+//
+DbgMCU_CR = 0x00000007;
+
+// Debug MCU APB1 freeze register (DBGMCU_APB1_FZ)
+// Reserved bits must be kept at reset value
+// DBG_CAN2_STOP CAN2 stopped when core is halted
+// DBG_CAN1_STOP CAN2 stopped when core is halted
+// DBG_I2C3_SMBUS_TIMEOUT I2C3 SMBUS timeout mode stopped when core is halted
+// DBG_I2C2_SMBUS_TIMEOUT I2C2 SMBUS timeout mode stopped when core is halted
+// DBG_I2C1_SMBUS_TIMEOUT I2C1 SMBUS timeout mode stopped when core is halted
+// DBG_IWDG_STOP Independent watchdog stopped when core is halted
+// DBG_WWDG_STOP Window watchdog stopped when core is halted
+// DBG_RTC_STOP RTC stopped when core is halted
+// DBG_TIM14_STOP TIM14 counter stopped when core is halted
+// DBG_TIM13_STOP TIM13 counter stopped when core is halted
+// DBG_TIM12_STOP TIM12 counter stopped when core is halted
+// DBG_TIM7_STOP TIM7 counter stopped when core is halted
+// DBG_TIM6_STOP TIM6 counter stopped when core is halted
+// DBG_TIM5_STOP TIM5 counter stopped when core is halted
+// DBG_TIM4_STOP TIM4 counter stopped when core is halted
+// DBG_TIM3_STOP TIM3 counter stopped when core is halted
+// DBG_TIM2_STOP TIM2 counter stopped when core is halted
+//
+DbgMCU_APB1_Fz = 0x00000000;
+
+// Debug MCU APB2 freeze register (DBGMCU_APB2_FZ)
+// Reserved bits must be kept at reset value
+// DBG_TIM11_STOP TIM11 counter stopped when core is halted
+// DBG_TIM10_STOP TIM10 counter stopped when core is halted
+// DBG_TIM9_STOP TIM9 counter stopped when core is halted
+// DBG_TIM8_STOP TIM8 counter stopped when core is halted
+// DBG_TIM1_STOP TIM1 counter stopped when core is halted
+//
+DbgMCU_APB2_Fz = 0x00000000;
+
+// <<< end of configuration section >>>
\ No newline at end of file
diff --git a/MDK-ARM/DevC.uvguix.lvzucheng b/MDK-ARM/DevC.uvguix.lvzucheng
new file mode 100644
index 0000000..931ee57
--- /dev/null
+++ b/MDK-ARM/DevC.uvguix.lvzucheng
@@ -0,0 +1,1896 @@
+
+
+
+ -6.1
+
+ ### uVision Project, (C) Keil Software
+
+
+
+
+
+
+
+
+
+ 38003
+ Registers
+ 115 64
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+
+ 346
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+
+
+ 204
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+
+
+
+
+
+ 35141
+ Event Statistics
+
+ 250 50 619
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+
+ 1506
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+ 63 63 63
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+
+ 1936
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+
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+ 75 135 130 95 70 230 200 150
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diff --git a/MDK-ARM/DevC.uvoptx b/MDK-ARM/DevC.uvoptx
new file mode 100644
index 0000000..34531cb
--- /dev/null
+++ b/MDK-ARM/DevC.uvoptx
@@ -0,0 +1,1431 @@
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+
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+ ### uVision Project, (C) Keil Software
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