射了
This commit is contained in:
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410d3a2376
commit
7905d42542
File diff suppressed because one or more lines are too long
@ -187,7 +187,7 @@ standard names. */
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/* USER CODE BEGIN Defines */
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/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
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#define configAPPLICATION_ALLOCATED_HEAP 1
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// #define configAPPLICATION_ALLOCATED_HEAP 1
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/* USER CODE END Defines */
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#endif /* FREERTOS_CONFIG_H */
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File diff suppressed because it is too large
Load Diff
2
DevC.ioc
2
DevC.ioc
@ -552,7 +552,7 @@ ProjectManager.ProjectName=DevC
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ProjectManager.ProjectStructure=
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ProjectManager.RegisterCallBack=
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ProjectManager.StackSize=0x1000
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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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@ -1245,8 +1245,8 @@ typedef struct
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*/
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/* Initialization and de-initialization functions ******************************/
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HAL_StatusTypeDef HAL_RCC_DeInit(void);
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HAL_StatusTypeDef HAL_RCC_OscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct);
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HAL_StatusTypeDef HAL_RCC_ClockConfig(RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency);
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HAL_StatusTypeDef HAL_RCC_OscConfig(const RCC_OscInitTypeDef *RCC_OscInitStruct);
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HAL_StatusTypeDef HAL_RCC_ClockConfig(const RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency);
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/**
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* @}
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*/
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@ -218,7 +218,7 @@ __weak HAL_StatusTypeDef HAL_RCC_DeInit(void)
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* first and then HSE On or HSE Bypass.
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* @retval HAL status
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*/
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__weak HAL_StatusTypeDef HAL_RCC_OscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct)
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__weak HAL_StatusTypeDef HAL_RCC_OscConfig(const RCC_OscInitTypeDef *RCC_OscInitStruct)
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{
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uint32_t tickstart, pll_config;
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@ -590,7 +590,7 @@ __weak HAL_StatusTypeDef HAL_RCC_OscConfig(RCC_OscInitTypeDef *RCC_OscInitStruc
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* (for more details refer to section above "Initialization/de-initialization functions")
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* @retval None
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*/
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HAL_StatusTypeDef HAL_RCC_ClockConfig(RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency)
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HAL_StatusTypeDef HAL_RCC_ClockConfig(const RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency)
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{
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uint32_t tickstart;
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File diff suppressed because one or more lines are too long
@ -26,7 +26,7 @@
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<ToolsetNumber>0x4</ToolsetNumber>
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<ToolsetName>ARM-ADS</ToolsetName>
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<TargetOption>
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<OPTTT>
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@ -1212,7 +1176,19 @@
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@ -1224,19 +1200,7 @@
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@ -1248,7 +1212,7 @@
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|
||||
<GroupNumber>13</GroupNumber>
|
||||
<FileNumber>89</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\User\task\ctrl_shoot.c</PathWithFileName>
|
||||
<FilenameWithoutPath>ctrl_shoot.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>13</GroupNumber>
|
||||
<FileNumber>90</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\User\task\init.c</PathWithFileName>
|
||||
<FilenameWithoutPath>init.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>13</GroupNumber>
|
||||
<FileNumber>91</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\User\task\monitor.c</PathWithFileName>
|
||||
<FilenameWithoutPath>monitor.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>13</GroupNumber>
|
||||
<FileNumber>92</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\User\task\rc.c</PathWithFileName>
|
||||
<FilenameWithoutPath>rc.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>13</GroupNumber>
|
||||
<FileNumber>93</FileNumber>
|
||||
<FileType>1</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\User\task\user_task.c</PathWithFileName>
|
||||
<FilenameWithoutPath>user_task.c</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
<File>
|
||||
<GroupNumber>13</GroupNumber>
|
||||
<FileNumber>94</FileNumber>
|
||||
<FileType>5</FileType>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<bDave2>0</bDave2>
|
||||
<PathWithFileName>..\User\task\user_task.h</PathWithFileName>
|
||||
<FilenameWithoutPath>user_task.h</FilenameWithoutPath>
|
||||
<RteFlg>0</RteFlg>
|
||||
<bShared>0</bShared>
|
||||
</File>
|
||||
</Group>
|
||||
|
||||
<Group>
|
||||
|
||||
948
MDK-ARM/DevC.uvprojx
Normal file
948
MDK-ARM/DevC.uvprojx
Normal file
@ -0,0 +1,948 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
|
||||
|
||||
<SchemaVersion>2.1</SchemaVersion>
|
||||
|
||||
<Header>### uVision Project, (C) Keil Software</Header>
|
||||
|
||||
<Targets>
|
||||
<Target>
|
||||
<TargetName>DevC</TargetName>
|
||||
<ToolsetNumber>0x4</ToolsetNumber>
|
||||
<ToolsetName>ARM-ADS</ToolsetName>
|
||||
<pArmCC>6160000::V6.16::ARMCLANG</pArmCC>
|
||||
<pCCUsed>6160000::V6.16::ARMCLANG</pCCUsed>
|
||||
<uAC6>1</uAC6>
|
||||
<TargetOption>
|
||||
<TargetCommonOption>
|
||||
<Device>STM32F407IGHx</Device>
|
||||
<Vendor>STMicroelectronics</Vendor>
|
||||
<PackID>Keil.STM32F4xx_DFP.3.0.0</PackID>
|
||||
<PackURL>https://www.keil.com/pack/</PackURL>
|
||||
<Cpu>IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
|
||||
<FlashUtilSpec></FlashUtilSpec>
|
||||
<StartupFile></StartupFile>
|
||||
<FlashDriverDll></FlashDriverDll>
|
||||
<DeviceId>0</DeviceId>
|
||||
<RegisterFile></RegisterFile>
|
||||
<MemoryEnv></MemoryEnv>
|
||||
<Cmp></Cmp>
|
||||
<Asm></Asm>
|
||||
<Linker></Linker>
|
||||
<OHString></OHString>
|
||||
<InfinionOptionDll></InfinionOptionDll>
|
||||
<SLE66CMisc></SLE66CMisc>
|
||||
<SLE66AMisc></SLE66AMisc>
|
||||
<SLE66LinkerMisc></SLE66LinkerMisc>
|
||||
<SFDFile>$$Device:STM32F407IGHx$CMSIS\SVD\STM32F407.svd</SFDFile>
|
||||
<bCustSvd>0</bCustSvd>
|
||||
<UseEnv>0</UseEnv>
|
||||
<BinPath></BinPath>
|
||||
<IncludePath></IncludePath>
|
||||
<LibPath></LibPath>
|
||||
<RegisterFilePath></RegisterFilePath>
|
||||
<DBRegisterFilePath></DBRegisterFilePath>
|
||||
<TargetStatus>
|
||||
<Error>0</Error>
|
||||
<ExitCodeStop>0</ExitCodeStop>
|
||||
<ButtonStop>0</ButtonStop>
|
||||
<NotGenerated>0</NotGenerated>
|
||||
<InvalidFlash>1</InvalidFlash>
|
||||
</TargetStatus>
|
||||
<OutputDirectory>.\DevC\</OutputDirectory>
|
||||
<OutputName>DevC</OutputName>
|
||||
<CreateExecutable>1</CreateExecutable>
|
||||
<CreateLib>0</CreateLib>
|
||||
<CreateHexFile>1</CreateHexFile>
|
||||
<DebugInformation>1</DebugInformation>
|
||||
<BrowseInformation>1</BrowseInformation>
|
||||
<ListingPath></ListingPath>
|
||||
<HexFormatSelection>1</HexFormatSelection>
|
||||
<Merge32K>0</Merge32K>
|
||||
<CreateBatchFile>0</CreateBatchFile>
|
||||
<BeforeCompile>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopU1X>0</nStopU1X>
|
||||
<nStopU2X>0</nStopU2X>
|
||||
</BeforeCompile>
|
||||
<BeforeMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopB1X>0</nStopB1X>
|
||||
<nStopB2X>0</nStopB2X>
|
||||
</BeforeMake>
|
||||
<AfterMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>1</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopA1X>0</nStopA1X>
|
||||
<nStopA2X>0</nStopA2X>
|
||||
</AfterMake>
|
||||
<SelectedForBatchBuild>1</SelectedForBatchBuild>
|
||||
<SVCSIdString></SVCSIdString>
|
||||
</TargetCommonOption>
|
||||
<CommonProperty>
|
||||
<UseCPPCompiler>0</UseCPPCompiler>
|
||||
<RVCTCodeConst>0</RVCTCodeConst>
|
||||
<RVCTZI>0</RVCTZI>
|
||||
<RVCTOtherData>0</RVCTOtherData>
|
||||
<ModuleSelection>0</ModuleSelection>
|
||||
<IncludeInBuild>1</IncludeInBuild>
|
||||
<AlwaysBuild>0</AlwaysBuild>
|
||||
<GenerateAssemblyFile>0</GenerateAssemblyFile>
|
||||
<AssembleAssemblyFile>0</AssembleAssemblyFile>
|
||||
<PublicsOnly>0</PublicsOnly>
|
||||
<StopOnExitCode>3</StopOnExitCode>
|
||||
<CustomArgument></CustomArgument>
|
||||
<IncludeLibraryModules></IncludeLibraryModules>
|
||||
<ComprImg>0</ComprImg>
|
||||
</CommonProperty>
|
||||
<DllOption>
|
||||
<SimDllName>SARMCM3.DLL</SimDllName>
|
||||
<SimDllArguments>-REMAP -MPU</SimDllArguments>
|
||||
<SimDlgDll>DCM.DLL</SimDlgDll>
|
||||
<SimDlgDllArguments>-pCM4</SimDlgDllArguments>
|
||||
<TargetDllName>SARMCM3.DLL</TargetDllName>
|
||||
<TargetDllArguments>-MPU</TargetDllArguments>
|
||||
<TargetDlgDll>TCM.DLL</TargetDlgDll>
|
||||
<TargetDlgDllArguments>-pCM4</TargetDlgDllArguments>
|
||||
</DllOption>
|
||||
<DebugOption>
|
||||
<OPTHX>
|
||||
<HexSelection>1</HexSelection>
|
||||
<HexRangeLowAddress>0</HexRangeLowAddress>
|
||||
<HexRangeHighAddress>0</HexRangeHighAddress>
|
||||
<HexOffset>0</HexOffset>
|
||||
<Oh166RecLen>16</Oh166RecLen>
|
||||
</OPTHX>
|
||||
</DebugOption>
|
||||
<Utilities>
|
||||
<Flash1>
|
||||
<UseTargetDll>1</UseTargetDll>
|
||||
<UseExternalTool>0</UseExternalTool>
|
||||
<RunIndependent>0</RunIndependent>
|
||||
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
|
||||
<Capability>1</Capability>
|
||||
<DriverSelection>4101</DriverSelection>
|
||||
</Flash1>
|
||||
<bUseTDR>1</bUseTDR>
|
||||
<Flash2>BIN\UL2CM3.DLL</Flash2>
|
||||
<Flash3>"" ()</Flash3>
|
||||
<Flash4></Flash4>
|
||||
<pFcarmOut></pFcarmOut>
|
||||
<pFcarmGrp></pFcarmGrp>
|
||||
<pFcArmRoot></pFcArmRoot>
|
||||
<FcArmLst>0</FcArmLst>
|
||||
</Utilities>
|
||||
<TargetArmAds>
|
||||
<ArmAdsMisc>
|
||||
<GenerateListings>0</GenerateListings>
|
||||
<asHll>1</asHll>
|
||||
<asAsm>1</asAsm>
|
||||
<asMacX>1</asMacX>
|
||||
<asSyms>1</asSyms>
|
||||
<asFals>1</asFals>
|
||||
<asDbgD>1</asDbgD>
|
||||
<asForm>1</asForm>
|
||||
<ldLst>0</ldLst>
|
||||
<ldmm>1</ldmm>
|
||||
<ldXref>1</ldXref>
|
||||
<BigEnd>0</BigEnd>
|
||||
<AdsALst>1</AdsALst>
|
||||
<AdsACrf>1</AdsACrf>
|
||||
<AdsANop>0</AdsANop>
|
||||
<AdsANot>0</AdsANot>
|
||||
<AdsLLst>1</AdsLLst>
|
||||
<AdsLmap>1</AdsLmap>
|
||||
<AdsLcgr>1</AdsLcgr>
|
||||
<AdsLsym>1</AdsLsym>
|
||||
<AdsLszi>1</AdsLszi>
|
||||
<AdsLtoi>1</AdsLtoi>
|
||||
<AdsLsun>1</AdsLsun>
|
||||
<AdsLven>1</AdsLven>
|
||||
<AdsLsxf>1</AdsLsxf>
|
||||
<RvctClst>0</RvctClst>
|
||||
<GenPPlst>0</GenPPlst>
|
||||
<AdsCpuType>"Cortex-M4"</AdsCpuType>
|
||||
<RvctDeviceName></RvctDeviceName>
|
||||
<mOS>0</mOS>
|
||||
<uocRom>0</uocRom>
|
||||
<uocRam>0</uocRam>
|
||||
<hadIROM>1</hadIROM>
|
||||
<hadIRAM>1</hadIRAM>
|
||||
<hadXRAM>0</hadXRAM>
|
||||
<uocXRam>0</uocXRam>
|
||||
<RvdsVP>2</RvdsVP>
|
||||
<RvdsMve>0</RvdsMve>
|
||||
<RvdsCdeCp>0</RvdsCdeCp>
|
||||
<hadIRAM2>1</hadIRAM2>
|
||||
<hadIROM2>0</hadIROM2>
|
||||
<StupSel>8</StupSel>
|
||||
<useUlib>0</useUlib>
|
||||
<EndSel>0</EndSel>
|
||||
<uLtcg>0</uLtcg>
|
||||
<nSecure>0</nSecure>
|
||||
<RoSelD>3</RoSelD>
|
||||
<RwSelD>4</RwSelD>
|
||||
<CodeSel>0</CodeSel>
|
||||
<OptFeed>0</OptFeed>
|
||||
<NoZi1>0</NoZi1>
|
||||
<NoZi2>0</NoZi2>
|
||||
<NoZi3>0</NoZi3>
|
||||
<NoZi4>0</NoZi4>
|
||||
<NoZi5>0</NoZi5>
|
||||
<Ro1Chk>0</Ro1Chk>
|
||||
<Ro2Chk>0</Ro2Chk>
|
||||
<Ro3Chk>0</Ro3Chk>
|
||||
<Ir1Chk>1</Ir1Chk>
|
||||
<Ir2Chk>0</Ir2Chk>
|
||||
<Ra1Chk>0</Ra1Chk>
|
||||
<Ra2Chk>0</Ra2Chk>
|
||||
<Ra3Chk>0</Ra3Chk>
|
||||
<Im1Chk>1</Im1Chk>
|
||||
<Im2Chk>1</Im2Chk>
|
||||
<OnChipMemories>
|
||||
<Ocm1>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm1>
|
||||
<Ocm2>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm2>
|
||||
<Ocm3>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm3>
|
||||
<Ocm4>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm4>
|
||||
<Ocm5>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm5>
|
||||
<Ocm6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm6>
|
||||
<IRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0x1c000</Size>
|
||||
</IRAM>
|
||||
<IROM>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x100000</Size>
|
||||
</IROM>
|
||||
<XRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</XRAM>
|
||||
<OCR_RVCT1>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT1>
|
||||
<OCR_RVCT2>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT2>
|
||||
<OCR_RVCT3>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT3>
|
||||
<OCR_RVCT4>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x100000</Size>
|
||||
</OCR_RVCT4>
|
||||
<OCR_RVCT5>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT5>
|
||||
<OCR_RVCT6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT6>
|
||||
<OCR_RVCT7>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT7>
|
||||
<OCR_RVCT8>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT8>
|
||||
<OCR_RVCT9>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0x1c000</Size>
|
||||
</OCR_RVCT9>
|
||||
<OCR_RVCT10>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x2001c000</StartAddress>
|
||||
<Size>0x4000</Size>
|
||||
</OCR_RVCT10>
|
||||
</OnChipMemories>
|
||||
<RvctStartVector></RvctStartVector>
|
||||
</ArmAdsMisc>
|
||||
<Cads>
|
||||
<interw>1</interw>
|
||||
<Optim>4</Optim>
|
||||
<oTime>0</oTime>
|
||||
<SplitLS>0</SplitLS>
|
||||
<OneElfS>1</OneElfS>
|
||||
<Strict>0</Strict>
|
||||
<EnumInt>0</EnumInt>
|
||||
<PlainCh>0</PlainCh>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<wLevel>3</wLevel>
|
||||
<uThumb>0</uThumb>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<uC99>1</uC99>
|
||||
<uGnu>0</uGnu>
|
||||
<useXO>0</useXO>
|
||||
<v6Lang>3</v6Lang>
|
||||
<v6LangP>3</v6LangP>
|
||||
<vShortEn>1</vShortEn>
|
||||
<vShortWch>1</vShortWch>
|
||||
<v6Lto>0</v6Lto>
|
||||
<v6WtE>0</v6WtE>
|
||||
<v6Rtti>0</v6Rtti>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define>USE_HAL_DRIVER,STM32F407xx</Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_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;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User</IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
<Aads>
|
||||
<interw>1</interw>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<thumb>0</thumb>
|
||||
<SplitLS>0</SplitLS>
|
||||
<SwStkChk>0</SwStkChk>
|
||||
<NoWarn>0</NoWarn>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<useXO>0</useXO>
|
||||
<ClangAsOpt>1</ClangAsOpt>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>../Core/Inc;../USB_DEVICE/App;../USB_DEVICE/Target;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_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;../Middlewares/ST/STM32_USB_Device_Library/Core/Inc;../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include</IncludePath>
|
||||
</VariousControls>
|
||||
</Aads>
|
||||
<LDads>
|
||||
<umfTarg>1</umfTarg>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<noStLib>0</noStLib>
|
||||
<RepFail>1</RepFail>
|
||||
<useFile>0</useFile>
|
||||
<TextAddressRange></TextAddressRange>
|
||||
<DataAddressRange></DataAddressRange>
|
||||
<pXoBase></pXoBase>
|
||||
<ScatterFile></ScatterFile>
|
||||
<IncludeLibs></IncludeLibs>
|
||||
<IncludeLibsPath></IncludeLibsPath>
|
||||
<Misc></Misc>
|
||||
<LinkerInputFile></LinkerInputFile>
|
||||
<DisabledWarnings></DisabledWarnings>
|
||||
</LDads>
|
||||
</TargetArmAds>
|
||||
</TargetOption>
|
||||
<Groups>
|
||||
<Group>
|
||||
<GroupName>Application/MDK-ARM</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>startup_stm32f407xx.s</FileName>
|
||||
<FileType>2</FileType>
|
||||
<FilePath>startup_stm32f407xx.s</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Application/User/Core</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>main.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/main.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>freertos.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/freertos.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>adc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/adc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>can.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/can.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>crc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/crc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/dma.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>i2c.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/i2c.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>rng.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/rng.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>spi.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/spi.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>tim.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/tim.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>usart.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/usart.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_it.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/stm32f4xx_it.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_msp.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/stm32f4xx_hal_msp.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Application/User/USB_DEVICE/App</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>usb_device.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../USB_DEVICE/App/usb_device.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>usbd_desc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../USB_DEVICE/App/usbd_desc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>usbd_cdc_if.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../USB_DEVICE/App/usbd_cdc_if.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Application/User/USB_DEVICE/Target</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>usbd_conf.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../USB_DEVICE/Target/usbd_conf.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_pcd.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_pcd_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_ll_usb.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_rcc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_rcc_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_flash.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_flash_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_flash_ramfunc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_dma_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_pwr.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_pwr_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_cortex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_exti.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_adc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_adc_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_ll_adc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_can.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_crc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_i2c.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_i2c_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_rng.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_spi.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_tim.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_tim_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f4xx_hal_uart.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Drivers/CMSIS</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>system_stm32f4xx.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/system_stm32f4xx.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Middlewares/FreeRTOS</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>croutine.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/croutine.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>event_groups.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>list.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/list.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>queue.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/queue.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stream_buffer.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>tasks.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/tasks.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>timers.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/timers.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>cmsis_os2.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>heap_4.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>port.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Middlewares/USB_Device_Library</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>usbd_core.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>usbd_ctlreq.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>usbd_ioreq.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>usbd_cdc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>User/bsp</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>can.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\bsp\can.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\bsp\gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>mm.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\bsp\mm.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>pwm.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\bsp\pwm.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>spi.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\bsp\spi.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>time.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\bsp\time.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>uart.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\bsp\uart.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>User/component</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>ahrs.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\component\ahrs.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>crc8.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\component\crc8.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>crc16.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\component\crc16.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>filter.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\component\filter.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>limiter.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\component\limiter.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>pid.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\component\pid.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>user_math.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\component\user_math.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>User/device</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>bmi088.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\device\bmi088.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>buzzer.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\device\buzzer.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>dr16.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\device\dr16.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>motor.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\device\motor.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>motor_rm.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\device\motor_rm.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>rc_can.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\device\rc_can.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>User/module</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>config.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\module\config.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gimbal.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\module\gimbal.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>shoot.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\module\shoot.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>User/task</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>ai.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\ai.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>atti_esti.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\atti_esti.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>ctrl_gimbal.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\ctrl_gimbal.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>ctrl_shoot.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\ctrl_shoot.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>init.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\init.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>monitor.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\monitor.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>rc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\rc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>user_task.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\User\task\user_task.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>user_task.h</FileName>
|
||||
<FileType>5</FileType>
|
||||
<FilePath>..\User\task\user_task.h</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>::CMSIS</GroupName>
|
||||
</Group>
|
||||
</Groups>
|
||||
</Target>
|
||||
</Targets>
|
||||
|
||||
<RTE>
|
||||
<apis/>
|
||||
<components>
|
||||
<component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="6.1.0" condition="ARMv6_7_8-M Device">
|
||||
<package name="CMSIS" schemaVersion="1.7.36" url="https://www.keil.com/pack/" vendor="ARM" version="6.1.0"/>
|
||||
<targetInfos>
|
||||
<targetInfo name="DevC"/>
|
||||
</targetInfos>
|
||||
</component>
|
||||
</components>
|
||||
<files/>
|
||||
</RTE>
|
||||
|
||||
<LayerInfo>
|
||||
<Layers>
|
||||
<Layer>
|
||||
<LayName>DevC</LayName>
|
||||
<LayPrjMark>1</LayPrjMark>
|
||||
</Layer>
|
||||
</Layers>
|
||||
</LayerInfo>
|
||||
|
||||
</Project>
|
||||
Binary file not shown.
@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
|
||||
|
||||
<h2>Project:</h2>
|
||||
C:\Mac\Home\Documents\R\balance_infantry\MDK-ARM\DevC.uvprojx
|
||||
Project File Date: 09/29/2025
|
||||
Project File Date: 09/30/2025
|
||||
|
||||
<h2>Output:</h2>
|
||||
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
|
||||
@ -30,38 +30,31 @@ Build target 'DevC'
|
||||
Note: source file '..\User\bsp\can.c' - object file renamed from '.\DevC\can.o' to '.\DevC\can_1.o'.
|
||||
Note: source file '..\User\bsp\gpio.c' - object file renamed from '.\DevC\gpio.o' to '.\DevC\gpio_1.o'.
|
||||
Note: source file '..\User\bsp\spi.c' - object file renamed from '.\DevC\spi.o' to '.\DevC\spi_1.o'.
|
||||
compiling croutine.c...
|
||||
compiling list.c...
|
||||
compiling event_groups.c...
|
||||
compiling stream_buffer.c...
|
||||
compiling timers.c...
|
||||
compiling stm32f4xx_it.c...
|
||||
compiling freertos.c...
|
||||
compiling main.c...
|
||||
compiling queue.c...
|
||||
compiling heap_4.c...
|
||||
compiling port.c...
|
||||
compiling mm.c...
|
||||
compiling tasks.c...
|
||||
compiling cmsis_os2.c...
|
||||
compiling time.c...
|
||||
compiling can.c...
|
||||
compiling user_task.c...
|
||||
compiling dm_imu.c...
|
||||
compiling config.c...
|
||||
compiling blink.c...
|
||||
compiling motor_lk.c...
|
||||
compiling motor_lz.c...
|
||||
compiling init.c...
|
||||
compiling balance_chassis.c...
|
||||
compiling rc.c...
|
||||
compiling atti_esti.c...
|
||||
compiling ctrl_chassis.c...
|
||||
compiling ctrl_gimbal.c...
|
||||
linking...
|
||||
Program Size: Code=77552 RO-data=1588 RW-data=66508 ZI-data=23356
|
||||
FromELF: creating hex file...
|
||||
".\DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
|
||||
compiling rc_can.c...
|
||||
compiling crc8.c...
|
||||
compiling gimbal.c...
|
||||
compiling ai.c...
|
||||
compiling crc16.c...
|
||||
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c(221): error: conflicting types for 'HAL_RCC_OscConfig'
|
||||
__weak HAL_StatusTypeDef HAL_RCC_OscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct)
|
||||
^
|
||||
../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_rcc.h(1245): note: previous declaration is here
|
||||
HAL_StatusTypeDef HAL_RCC_OscConfig(const RCC_OscInitTypeDef *RCC_OscInitStruct);
|
||||
^
|
||||
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c(593): error: conflicting types for 'HAL_RCC_ClockConfig'
|
||||
HAL_StatusTypeDef HAL_RCC_ClockConfig(RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency)
|
||||
^
|
||||
../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_rcc.h(1246): note: previous declaration is here
|
||||
HAL_StatusTypeDef HAL_RCC_ClockConfig(const RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency);
|
||||
^
|
||||
2 errors generated.
|
||||
compiling stm32f4xx_hal_rcc.c...
|
||||
compiling shoot.c...
|
||||
compiling ctrl_shoot.c...
|
||||
compiling monitor.c...
|
||||
compiling bmi088.c...
|
||||
compiling motor_rm.c...
|
||||
".\DevC\DevC.axf" - 2 Error(s), 0 Warning(s).
|
||||
|
||||
<h2>Software Packages used:</h2>
|
||||
|
||||
@ -84,7 +77,8 @@ Package Vendor: Keil
|
||||
|
||||
* Component: ARM::CMSIS:CORE:6.1.0
|
||||
Include file: CMSIS\Core\Include\tz_context.h
|
||||
Build Time Elapsed: 00:00:04
|
||||
Target not created.
|
||||
Build Time Elapsed: 00:00:03
|
||||
</pre>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
19
MDK-ARM/DevC/DevC.sct
Normal file
19
MDK-ARM/DevC/DevC.sct
Normal file
@ -0,0 +1,19 @@
|
||||
; *************************************************************
|
||||
; *** Scatter-Loading Description File generated by uVision ***
|
||||
; *************************************************************
|
||||
|
||||
LR_IROM1 0x08000000 0x00100000 { ; load region size_region
|
||||
ER_IROM1 0x08000000 0x00100000 { ; load address = execution address
|
||||
*.o (RESET, +First)
|
||||
*(InRoot$$Sections)
|
||||
.ANY (+RO)
|
||||
.ANY (+XO)
|
||||
}
|
||||
RW_IRAM1 0x20000000 0x0001C000 { ; RW data
|
||||
.ANY (+RW +ZI)
|
||||
}
|
||||
RW_IRAM2 0x2001C000 0x00004000 {
|
||||
.ANY (+RW +ZI)
|
||||
}
|
||||
}
|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
13
MDK-ARM/DevC/ai.d
Normal file
13
MDK-ARM/DevC/ai.d
Normal file
@ -0,0 +1,13 @@
|
||||
./devc/ai.o: ..\User\task\ai.c ..\User\task\user_task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||
..\Core\Inc\FreeRTOSConfig.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
|
||||
@ -10,58 +10,4 @@
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||
..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
..\User\device\dm_imu.h ..\User\device\device.h \
|
||||
..\User\component\ahrs.h ..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\module\config.h \
|
||||
..\User\device\motor_lz.h ..\User\device\motor.h \
|
||||
..\User\device\motor_lk.h ..\User\module\balance_chassis.h \
|
||||
..\User\component\vmc.h ..\User\component\kinematics.h \
|
||||
..\User\component\lqr.h ..\User\component\filter.h \
|
||||
..\User\component\pid.h
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
|
||||
|
||||
55
MDK-ARM/DevC/bmi088.d
Normal file
55
MDK-ARM/DevC/bmi088.d
Normal file
@ -0,0 +1,55 @@
|
||||
./devc/bmi088.o: ..\User\device\bmi088.c ..\User\device\bmi088.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||
..\User\component\ahrs.h ..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\User\device\device.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
..\Core\Inc\gpio.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\time.h \
|
||||
..\User\bsp\bsp.h ..\User\bsp\gpio.h ..\User\bsp\spi.h \
|
||||
..\Core\Inc\spi.h
|
||||
@ -13,6 +13,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -6,6 +6,8 @@
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||
..\Core\Inc\FreeRTOSConfig.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||
|
||||
@ -1,13 +1,6 @@
|
||||
./devc/config.o: ..\User\module\config.c ..\User\module\config.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||
..\User\device\dm_imu.h ..\User\device\device.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
..\User\component\ahrs.h ..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h ..\User\bsp\can.h \
|
||||
..\Core\Inc\can.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h ..\User\module\shoot.h \
|
||||
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||
@ -17,9 +10,12 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
||||
@ -47,7 +43,14 @@
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
..\User\component\pid.h ..\User\component\filter.h \
|
||||
..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||
..\User\device\device.h ..\User\bsp\can.h ..\Core\Inc\can.h \
|
||||
..\Core\Inc\main.h ..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||
..\Core\Inc\FreeRTOSConfig.h \
|
||||
@ -59,8 +62,4 @@
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
..\User\device\motor_lz.h ..\User\device\motor.h \
|
||||
..\User\device\motor_lk.h ..\User\module\balance_chassis.h \
|
||||
..\User\component\vmc.h ..\User\component\kinematics.h \
|
||||
..\User\component\lqr.h ..\User\component\filter.h \
|
||||
..\User\component\pid.h
|
||||
..\User\module\gimbal.h
|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
7
MDK-ARM/DevC/crc16.d
Normal file
7
MDK-ARM/DevC/crc16.d
Normal file
@ -0,0 +1,7 @@
|
||||
./devc/crc16.o: ..\User\component\crc16.c ..\User\component\crc16.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h
|
||||
4
MDK-ARM/DevC/crc8.d
Normal file
4
MDK-ARM/DevC/crc8.d
Normal file
@ -0,0 +1,4 @@
|
||||
./devc/crc8.o: ..\User\component\crc8.c ..\User\component\crc8.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h
|
||||
@ -1,52 +1,7 @@
|
||||
./devc/ctrl_gimbal.o: ..\User\task\ctrl_gimbal.c \
|
||||
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||
..\User\device\device.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h ..\User\bsp\can.h \
|
||||
..\Core\Inc\can.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
./devc/ctrl_gimbal.o: ..\User\task\ctrl_gimbal.c ..\User\task\user_task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||
..\Core\Inc\FreeRTOSConfig.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||
@ -55,11 +10,4 @@
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
..\User\task\user_task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
..\User\device\motor_dm.h ..\User\component\pid.h \
|
||||
..\User\component\filter.h ..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
|
||||
|
||||
68
MDK-ARM/DevC/ctrl_shoot.d
Normal file
68
MDK-ARM/DevC/ctrl_shoot.d
Normal file
@ -0,0 +1,68 @@
|
||||
./devc/ctrl_shoot.o: ..\User\task\ctrl_shoot.c \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\User\task\user_task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||
..\Core\Inc\FreeRTOSConfig.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||
..\User\module\shoot.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
..\User\component\pid.h ..\User\component\filter.h \
|
||||
..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||
..\User\device\device.h ..\User\bsp\can.h ..\Core\Inc\can.h \
|
||||
..\Core\Inc\main.h ..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
..\User\module\config.h ..\User\module\gimbal.h
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -17,6 +17,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -20,6 +20,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
1
MDK-ARM/DevC/gimbal.d
Normal file
1
MDK-ARM/DevC/gimbal.d
Normal file
@ -0,0 +1 @@
|
||||
./devc/gimbal.o: ..\User\module\gimbal.c
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -12,6 +12,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,13 +11,8 @@
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||
..\User\component\ahrs.h ..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
..\User\module\config.h ..\User\device\dm_imu.h \
|
||||
..\User\device\device.h ..\User\bsp\can.h ..\Core\Inc\can.h \
|
||||
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\User\module\shoot.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||
@ -27,6 +22,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
@ -57,11 +54,13 @@
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
..\User\component\pid.h ..\User\component\filter.h \
|
||||
..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||
..\User\device\device.h ..\User\bsp\can.h ..\Core\Inc\can.h \
|
||||
..\Core\Inc\main.h ..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
..\User\device\motor_lz.h ..\User\device\motor.h \
|
||||
..\User\device\motor_lk.h ..\User\module\balance_chassis.h \
|
||||
..\User\component\vmc.h ..\User\component\kinematics.h \
|
||||
..\User\component\lqr.h ..\User\component\filter.h \
|
||||
..\User\component\pid.h
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h
|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
61
MDK-ARM/DevC/monitor.d
Normal file
61
MDK-ARM/DevC/monitor.d
Normal file
@ -0,0 +1,61 @@
|
||||
./devc/monitor.o: ..\User\task\monitor.c ..\User\task\user_task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||
..\Core\Inc\FreeRTOSConfig.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||
..\User\bsp\time.h ..\User\bsp\bsp.h ..\User\bsp\pwm.h \
|
||||
..\Core\Inc\tim.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h
|
||||
64
MDK-ARM/DevC/motor_rm.d
Normal file
64
MDK-ARM/DevC/motor_rm.d
Normal file
@ -0,0 +1,64 @@
|
||||
./devc/motor_rm.o: ..\User\device\motor_rm.c ..\User\device\motor_rm.h \
|
||||
..\User\device\motor.h ..\User\device\device.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h ..\User\device\motor.h \
|
||||
..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||
..\Core\Inc\FreeRTOSConfig.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\time.h \
|
||||
..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -1,7 +1,8 @@
|
||||
./devc/rc.o: ..\User\task\rc.c ..\User\task\user_task.h \
|
||||
./devc/rc.o: ..\User\task\rc.c \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\User\task\user_task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||
..\Core\Inc\FreeRTOSConfig.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||
@ -15,12 +16,7 @@
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
..\User\device\device.h ..\User\module\balance_chassis.h \
|
||||
..\User\component\vmc.h ..\User\component\kinematics.h \
|
||||
..\User\component\lqr.h ..\User\component\ahrs.h \
|
||||
..\User\component\filter.h ..\User\component\pid.h \
|
||||
..\User\device\motor.h ..\User\device\motor_lk.h ..\User\bsp\can.h \
|
||||
..\Core\Inc\can.h ..\Core\Inc\main.h \
|
||||
..\User\device\device.h ..\User\module\shoot.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
@ -31,6 +27,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
@ -61,7 +59,9 @@
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
..\User\component\pid.h ..\User\component\filter.h \
|
||||
..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
|
||||
..\Core\Inc\can.h ..\Core\Inc\main.h ..\User\bsp\bsp.h \
|
||||
..\User\bsp\mm.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
..\User\device\motor_lz.h
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h
|
||||
|
||||
1
MDK-ARM/DevC/rc_can.d
Normal file
1
MDK-ARM/DevC/rc_can.d
Normal file
@ -0,0 +1 @@
|
||||
./devc/rc_can.o: ..\User\device\rc_can.c
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
65
MDK-ARM/DevC/shoot.d
Normal file
65
MDK-ARM/DevC/shoot.d
Normal file
@ -0,0 +1,65 @@
|
||||
./devc/shoot.o: ..\User\module\shoot.c ..\User\module\shoot.h \
|
||||
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||
..\User\component\pid.h ..\User\component\filter.h \
|
||||
..\User\component\user_math.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||
..\User\device\device.h ..\User\bsp\can.h ..\Core\Inc\can.h \
|
||||
..\Core\Inc\main.h ..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||
..\Core\Inc\FreeRTOSConfig.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\time.h
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
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|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -11,6 +11,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -6,6 +6,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -20,6 +20,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
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|
||||
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|
||||
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|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -10,6 +10,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -7,6 +7,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
|
||||
@ -18,6 +18,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -18,6 +18,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -6,6 +6,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||
|
||||
@ -16,6 +16,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -17,6 +17,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -15,6 +15,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
@ -17,6 +17,8 @@
|
||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
|
||||
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
|
||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
|
||||
425
MDK-ARM/startup_stm32f407xx.s
Normal file
425
MDK-ARM/startup_stm32f407xx.s
Normal file
@ -0,0 +1,425 @@
|
||||
;*******************************************************************************
|
||||
;* File Name : startup_stm32f407xx.s
|
||||
;* Author : MCD Application Team
|
||||
;* Description : STM32F407xx devices vector table for MDK-ARM toolchain.
|
||||
;* This module performs:
|
||||
;* - Set the initial SP
|
||||
;* - Set the initial PC == Reset_Handler
|
||||
;* - Set the vector table entries with the exceptions ISR address
|
||||
;* - Branches to __main in the C library (which eventually
|
||||
;* calls main()).
|
||||
;* After Reset the CortexM4 processor is in Thread mode,
|
||||
;* priority is Privileged, and the Stack is set to Main.
|
||||
;********************************************************************************
|
||||
;* @attention
|
||||
;*
|
||||
;* <h2><center>© Copyright (c) 2017 STMicroelectronics.
|
||||
;* All rights reserved.</center></h2>
|
||||
;*
|
||||
;* This software component is licensed by ST under BSD 3-Clause license,
|
||||
;* the "License"; You may not use this file except in compliance with the
|
||||
;* License. You may obtain a copy of the License at:
|
||||
;* opensource.org/licenses/BSD-3-Clause
|
||||
;*
|
||||
;*******************************************************************************
|
||||
;* <<< Use Configuration Wizard in Context Menu >>>
|
||||
;
|
||||
; Amount of memory (in bytes) allocated for Stack
|
||||
; Tailor this value to your application needs
|
||||
; <h> Stack Configuration
|
||||
; <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
|
||||
; </h>
|
||||
|
||||
Stack_Size EQU 0x1000
|
||||
|
||||
AREA STACK, NOINIT, READWRITE, ALIGN=3
|
||||
Stack_Mem SPACE Stack_Size
|
||||
__initial_sp
|
||||
|
||||
|
||||
; <h> Heap Configuration
|
||||
; <o> Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
|
||||
; </h>
|
||||
|
||||
Heap_Size EQU 0x1000
|
||||
|
||||
AREA HEAP, NOINIT, READWRITE, ALIGN=3
|
||||
__heap_base
|
||||
Heap_Mem SPACE Heap_Size
|
||||
__heap_limit
|
||||
|
||||
PRESERVE8
|
||||
THUMB
|
||||
|
||||
|
||||
; Vector Table Mapped to Address 0 at Reset
|
||||
AREA RESET, DATA, READONLY
|
||||
EXPORT __Vectors
|
||||
EXPORT __Vectors_End
|
||||
EXPORT __Vectors_Size
|
||||
|
||||
__Vectors DCD __initial_sp ; Top of Stack
|
||||
DCD Reset_Handler ; Reset Handler
|
||||
DCD NMI_Handler ; NMI Handler
|
||||
DCD HardFault_Handler ; Hard Fault Handler
|
||||
DCD MemManage_Handler ; MPU Fault Handler
|
||||
DCD BusFault_Handler ; Bus Fault Handler
|
||||
DCD UsageFault_Handler ; Usage Fault Handler
|
||||
DCD 0 ; Reserved
|
||||
DCD 0 ; Reserved
|
||||
DCD 0 ; Reserved
|
||||
DCD 0 ; Reserved
|
||||
DCD SVC_Handler ; SVCall Handler
|
||||
DCD DebugMon_Handler ; Debug Monitor Handler
|
||||
DCD 0 ; Reserved
|
||||
DCD PendSV_Handler ; PendSV Handler
|
||||
DCD SysTick_Handler ; SysTick Handler
|
||||
|
||||
; External Interrupts
|
||||
DCD WWDG_IRQHandler ; Window WatchDog
|
||||
DCD PVD_IRQHandler ; PVD through EXTI Line detection
|
||||
DCD TAMP_STAMP_IRQHandler ; Tamper and TimeStamps through the EXTI line
|
||||
DCD RTC_WKUP_IRQHandler ; RTC Wakeup through the EXTI line
|
||||
DCD FLASH_IRQHandler ; FLASH
|
||||
DCD RCC_IRQHandler ; RCC
|
||||
DCD EXTI0_IRQHandler ; EXTI Line0
|
||||
DCD EXTI1_IRQHandler ; EXTI Line1
|
||||
DCD EXTI2_IRQHandler ; EXTI Line2
|
||||
DCD EXTI3_IRQHandler ; EXTI Line3
|
||||
DCD EXTI4_IRQHandler ; EXTI Line4
|
||||
DCD DMA1_Stream0_IRQHandler ; DMA1 Stream 0
|
||||
DCD DMA1_Stream1_IRQHandler ; DMA1 Stream 1
|
||||
DCD DMA1_Stream2_IRQHandler ; DMA1 Stream 2
|
||||
DCD DMA1_Stream3_IRQHandler ; DMA1 Stream 3
|
||||
DCD DMA1_Stream4_IRQHandler ; DMA1 Stream 4
|
||||
DCD DMA1_Stream5_IRQHandler ; DMA1 Stream 5
|
||||
DCD DMA1_Stream6_IRQHandler ; DMA1 Stream 6
|
||||
DCD ADC_IRQHandler ; ADC1, ADC2 and ADC3s
|
||||
DCD CAN1_TX_IRQHandler ; CAN1 TX
|
||||
DCD CAN1_RX0_IRQHandler ; CAN1 RX0
|
||||
DCD CAN1_RX1_IRQHandler ; CAN1 RX1
|
||||
DCD CAN1_SCE_IRQHandler ; CAN1 SCE
|
||||
DCD EXTI9_5_IRQHandler ; External Line[9:5]s
|
||||
DCD TIM1_BRK_TIM9_IRQHandler ; TIM1 Break and TIM9
|
||||
DCD TIM1_UP_TIM10_IRQHandler ; TIM1 Update and TIM10
|
||||
DCD TIM1_TRG_COM_TIM11_IRQHandler ; TIM1 Trigger and Commutation and TIM11
|
||||
DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare
|
||||
DCD TIM2_IRQHandler ; TIM2
|
||||
DCD TIM3_IRQHandler ; TIM3
|
||||
DCD TIM4_IRQHandler ; TIM4
|
||||
DCD I2C1_EV_IRQHandler ; I2C1 Event
|
||||
DCD I2C1_ER_IRQHandler ; I2C1 Error
|
||||
DCD I2C2_EV_IRQHandler ; I2C2 Event
|
||||
DCD I2C2_ER_IRQHandler ; I2C2 Error
|
||||
DCD SPI1_IRQHandler ; SPI1
|
||||
DCD SPI2_IRQHandler ; SPI2
|
||||
DCD USART1_IRQHandler ; USART1
|
||||
DCD USART2_IRQHandler ; USART2
|
||||
DCD USART3_IRQHandler ; USART3
|
||||
DCD EXTI15_10_IRQHandler ; External Line[15:10]s
|
||||
DCD RTC_Alarm_IRQHandler ; RTC Alarm (A and B) through EXTI Line
|
||||
DCD OTG_FS_WKUP_IRQHandler ; USB OTG FS Wakeup through EXTI line
|
||||
DCD TIM8_BRK_TIM12_IRQHandler ; TIM8 Break and TIM12
|
||||
DCD TIM8_UP_TIM13_IRQHandler ; TIM8 Update and TIM13
|
||||
DCD TIM8_TRG_COM_TIM14_IRQHandler ; TIM8 Trigger and Commutation and TIM14
|
||||
DCD TIM8_CC_IRQHandler ; TIM8 Capture Compare
|
||||
DCD DMA1_Stream7_IRQHandler ; DMA1 Stream7
|
||||
DCD FMC_IRQHandler ; FMC
|
||||
DCD SDIO_IRQHandler ; SDIO
|
||||
DCD TIM5_IRQHandler ; TIM5
|
||||
DCD SPI3_IRQHandler ; SPI3
|
||||
DCD UART4_IRQHandler ; UART4
|
||||
DCD UART5_IRQHandler ; UART5
|
||||
DCD TIM6_DAC_IRQHandler ; TIM6 and DAC1&2 underrun errors
|
||||
DCD TIM7_IRQHandler ; TIM7
|
||||
DCD DMA2_Stream0_IRQHandler ; DMA2 Stream 0
|
||||
DCD DMA2_Stream1_IRQHandler ; DMA2 Stream 1
|
||||
DCD DMA2_Stream2_IRQHandler ; DMA2 Stream 2
|
||||
DCD DMA2_Stream3_IRQHandler ; DMA2 Stream 3
|
||||
DCD DMA2_Stream4_IRQHandler ; DMA2 Stream 4
|
||||
DCD ETH_IRQHandler ; Ethernet
|
||||
DCD ETH_WKUP_IRQHandler ; Ethernet Wakeup through EXTI line
|
||||
DCD CAN2_TX_IRQHandler ; CAN2 TX
|
||||
DCD CAN2_RX0_IRQHandler ; CAN2 RX0
|
||||
DCD CAN2_RX1_IRQHandler ; CAN2 RX1
|
||||
DCD CAN2_SCE_IRQHandler ; CAN2 SCE
|
||||
DCD OTG_FS_IRQHandler ; USB OTG FS
|
||||
DCD DMA2_Stream5_IRQHandler ; DMA2 Stream 5
|
||||
DCD DMA2_Stream6_IRQHandler ; DMA2 Stream 6
|
||||
DCD DMA2_Stream7_IRQHandler ; DMA2 Stream 7
|
||||
DCD USART6_IRQHandler ; USART6
|
||||
DCD I2C3_EV_IRQHandler ; I2C3 event
|
||||
DCD I2C3_ER_IRQHandler ; I2C3 error
|
||||
DCD OTG_HS_EP1_OUT_IRQHandler ; USB OTG HS End Point 1 Out
|
||||
DCD OTG_HS_EP1_IN_IRQHandler ; USB OTG HS End Point 1 In
|
||||
DCD OTG_HS_WKUP_IRQHandler ; USB OTG HS Wakeup through EXTI
|
||||
DCD OTG_HS_IRQHandler ; USB OTG HS
|
||||
DCD DCMI_IRQHandler ; DCMI
|
||||
DCD 0 ; Reserved
|
||||
DCD HASH_RNG_IRQHandler ; Hash and Rng
|
||||
DCD FPU_IRQHandler ; FPU
|
||||
|
||||
|
||||
__Vectors_End
|
||||
|
||||
__Vectors_Size EQU __Vectors_End - __Vectors
|
||||
|
||||
AREA |.text|, CODE, READONLY
|
||||
|
||||
; Reset handler
|
||||
Reset_Handler PROC
|
||||
EXPORT Reset_Handler [WEAK]
|
||||
IMPORT SystemInit
|
||||
IMPORT __main
|
||||
|
||||
LDR R0, =SystemInit
|
||||
BLX R0
|
||||
LDR R0, =__main
|
||||
BX R0
|
||||
ENDP
|
||||
|
||||
; Dummy Exception Handlers (infinite loops which can be modified)
|
||||
|
||||
NMI_Handler PROC
|
||||
EXPORT NMI_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
HardFault_Handler\
|
||||
PROC
|
||||
EXPORT HardFault_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
MemManage_Handler\
|
||||
PROC
|
||||
EXPORT MemManage_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
BusFault_Handler\
|
||||
PROC
|
||||
EXPORT BusFault_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
UsageFault_Handler\
|
||||
PROC
|
||||
EXPORT UsageFault_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
SVC_Handler PROC
|
||||
EXPORT SVC_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
DebugMon_Handler\
|
||||
PROC
|
||||
EXPORT DebugMon_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
PendSV_Handler PROC
|
||||
EXPORT PendSV_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
SysTick_Handler PROC
|
||||
EXPORT SysTick_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
|
||||
Default_Handler PROC
|
||||
|
||||
EXPORT WWDG_IRQHandler [WEAK]
|
||||
EXPORT PVD_IRQHandler [WEAK]
|
||||
EXPORT TAMP_STAMP_IRQHandler [WEAK]
|
||||
EXPORT RTC_WKUP_IRQHandler [WEAK]
|
||||
EXPORT FLASH_IRQHandler [WEAK]
|
||||
EXPORT RCC_IRQHandler [WEAK]
|
||||
EXPORT EXTI0_IRQHandler [WEAK]
|
||||
EXPORT EXTI1_IRQHandler [WEAK]
|
||||
EXPORT EXTI2_IRQHandler [WEAK]
|
||||
EXPORT EXTI3_IRQHandler [WEAK]
|
||||
EXPORT EXTI4_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream0_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream1_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream2_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream3_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream4_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream5_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream6_IRQHandler [WEAK]
|
||||
EXPORT ADC_IRQHandler [WEAK]
|
||||
EXPORT CAN1_TX_IRQHandler [WEAK]
|
||||
EXPORT CAN1_RX0_IRQHandler [WEAK]
|
||||
EXPORT CAN1_RX1_IRQHandler [WEAK]
|
||||
EXPORT CAN1_SCE_IRQHandler [WEAK]
|
||||
EXPORT EXTI9_5_IRQHandler [WEAK]
|
||||
EXPORT TIM1_BRK_TIM9_IRQHandler [WEAK]
|
||||
EXPORT TIM1_UP_TIM10_IRQHandler [WEAK]
|
||||
EXPORT TIM1_TRG_COM_TIM11_IRQHandler [WEAK]
|
||||
EXPORT TIM1_CC_IRQHandler [WEAK]
|
||||
EXPORT TIM2_IRQHandler [WEAK]
|
||||
EXPORT TIM3_IRQHandler [WEAK]
|
||||
EXPORT TIM4_IRQHandler [WEAK]
|
||||
EXPORT I2C1_EV_IRQHandler [WEAK]
|
||||
EXPORT I2C1_ER_IRQHandler [WEAK]
|
||||
EXPORT I2C2_EV_IRQHandler [WEAK]
|
||||
EXPORT I2C2_ER_IRQHandler [WEAK]
|
||||
EXPORT SPI1_IRQHandler [WEAK]
|
||||
EXPORT SPI2_IRQHandler [WEAK]
|
||||
EXPORT USART1_IRQHandler [WEAK]
|
||||
EXPORT USART2_IRQHandler [WEAK]
|
||||
EXPORT USART3_IRQHandler [WEAK]
|
||||
EXPORT EXTI15_10_IRQHandler [WEAK]
|
||||
EXPORT RTC_Alarm_IRQHandler [WEAK]
|
||||
EXPORT OTG_FS_WKUP_IRQHandler [WEAK]
|
||||
EXPORT TIM8_BRK_TIM12_IRQHandler [WEAK]
|
||||
EXPORT TIM8_UP_TIM13_IRQHandler [WEAK]
|
||||
EXPORT TIM8_TRG_COM_TIM14_IRQHandler [WEAK]
|
||||
EXPORT TIM8_CC_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Stream7_IRQHandler [WEAK]
|
||||
EXPORT FMC_IRQHandler [WEAK]
|
||||
EXPORT SDIO_IRQHandler [WEAK]
|
||||
EXPORT TIM5_IRQHandler [WEAK]
|
||||
EXPORT SPI3_IRQHandler [WEAK]
|
||||
EXPORT UART4_IRQHandler [WEAK]
|
||||
EXPORT UART5_IRQHandler [WEAK]
|
||||
EXPORT TIM6_DAC_IRQHandler [WEAK]
|
||||
EXPORT TIM7_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream0_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream1_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream2_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream3_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream4_IRQHandler [WEAK]
|
||||
EXPORT ETH_IRQHandler [WEAK]
|
||||
EXPORT ETH_WKUP_IRQHandler [WEAK]
|
||||
EXPORT CAN2_TX_IRQHandler [WEAK]
|
||||
EXPORT CAN2_RX0_IRQHandler [WEAK]
|
||||
EXPORT CAN2_RX1_IRQHandler [WEAK]
|
||||
EXPORT CAN2_SCE_IRQHandler [WEAK]
|
||||
EXPORT OTG_FS_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream5_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream6_IRQHandler [WEAK]
|
||||
EXPORT DMA2_Stream7_IRQHandler [WEAK]
|
||||
EXPORT USART6_IRQHandler [WEAK]
|
||||
EXPORT I2C3_EV_IRQHandler [WEAK]
|
||||
EXPORT I2C3_ER_IRQHandler [WEAK]
|
||||
EXPORT OTG_HS_EP1_OUT_IRQHandler [WEAK]
|
||||
EXPORT OTG_HS_EP1_IN_IRQHandler [WEAK]
|
||||
EXPORT OTG_HS_WKUP_IRQHandler [WEAK]
|
||||
EXPORT OTG_HS_IRQHandler [WEAK]
|
||||
EXPORT DCMI_IRQHandler [WEAK]
|
||||
EXPORT HASH_RNG_IRQHandler [WEAK]
|
||||
EXPORT FPU_IRQHandler [WEAK]
|
||||
|
||||
WWDG_IRQHandler
|
||||
PVD_IRQHandler
|
||||
TAMP_STAMP_IRQHandler
|
||||
RTC_WKUP_IRQHandler
|
||||
FLASH_IRQHandler
|
||||
RCC_IRQHandler
|
||||
EXTI0_IRQHandler
|
||||
EXTI1_IRQHandler
|
||||
EXTI2_IRQHandler
|
||||
EXTI3_IRQHandler
|
||||
EXTI4_IRQHandler
|
||||
DMA1_Stream0_IRQHandler
|
||||
DMA1_Stream1_IRQHandler
|
||||
DMA1_Stream2_IRQHandler
|
||||
DMA1_Stream3_IRQHandler
|
||||
DMA1_Stream4_IRQHandler
|
||||
DMA1_Stream5_IRQHandler
|
||||
DMA1_Stream6_IRQHandler
|
||||
ADC_IRQHandler
|
||||
CAN1_TX_IRQHandler
|
||||
CAN1_RX0_IRQHandler
|
||||
CAN1_RX1_IRQHandler
|
||||
CAN1_SCE_IRQHandler
|
||||
EXTI9_5_IRQHandler
|
||||
TIM1_BRK_TIM9_IRQHandler
|
||||
TIM1_UP_TIM10_IRQHandler
|
||||
TIM1_TRG_COM_TIM11_IRQHandler
|
||||
TIM1_CC_IRQHandler
|
||||
TIM2_IRQHandler
|
||||
TIM3_IRQHandler
|
||||
TIM4_IRQHandler
|
||||
I2C1_EV_IRQHandler
|
||||
I2C1_ER_IRQHandler
|
||||
I2C2_EV_IRQHandler
|
||||
I2C2_ER_IRQHandler
|
||||
SPI1_IRQHandler
|
||||
SPI2_IRQHandler
|
||||
USART1_IRQHandler
|
||||
USART2_IRQHandler
|
||||
USART3_IRQHandler
|
||||
EXTI15_10_IRQHandler
|
||||
RTC_Alarm_IRQHandler
|
||||
OTG_FS_WKUP_IRQHandler
|
||||
TIM8_BRK_TIM12_IRQHandler
|
||||
TIM8_UP_TIM13_IRQHandler
|
||||
TIM8_TRG_COM_TIM14_IRQHandler
|
||||
TIM8_CC_IRQHandler
|
||||
DMA1_Stream7_IRQHandler
|
||||
FMC_IRQHandler
|
||||
SDIO_IRQHandler
|
||||
TIM5_IRQHandler
|
||||
SPI3_IRQHandler
|
||||
UART4_IRQHandler
|
||||
UART5_IRQHandler
|
||||
TIM6_DAC_IRQHandler
|
||||
TIM7_IRQHandler
|
||||
DMA2_Stream0_IRQHandler
|
||||
DMA2_Stream1_IRQHandler
|
||||
DMA2_Stream2_IRQHandler
|
||||
DMA2_Stream3_IRQHandler
|
||||
DMA2_Stream4_IRQHandler
|
||||
ETH_IRQHandler
|
||||
ETH_WKUP_IRQHandler
|
||||
CAN2_TX_IRQHandler
|
||||
CAN2_RX0_IRQHandler
|
||||
CAN2_RX1_IRQHandler
|
||||
CAN2_SCE_IRQHandler
|
||||
OTG_FS_IRQHandler
|
||||
DMA2_Stream5_IRQHandler
|
||||
DMA2_Stream6_IRQHandler
|
||||
DMA2_Stream7_IRQHandler
|
||||
USART6_IRQHandler
|
||||
I2C3_EV_IRQHandler
|
||||
I2C3_ER_IRQHandler
|
||||
OTG_HS_EP1_OUT_IRQHandler
|
||||
OTG_HS_EP1_IN_IRQHandler
|
||||
OTG_HS_WKUP_IRQHandler
|
||||
OTG_HS_IRQHandler
|
||||
DCMI_IRQHandler
|
||||
HASH_RNG_IRQHandler
|
||||
FPU_IRQHandler
|
||||
|
||||
B .
|
||||
|
||||
ENDP
|
||||
|
||||
ALIGN
|
||||
|
||||
;*******************************************************************************
|
||||
; User Stack and Heap initialization
|
||||
;*******************************************************************************
|
||||
IF :DEF:__MICROLIB
|
||||
|
||||
EXPORT __initial_sp
|
||||
EXPORT __heap_base
|
||||
EXPORT __heap_limit
|
||||
|
||||
ELSE
|
||||
|
||||
IMPORT __use_two_region_memory
|
||||
EXPORT __user_initial_stackheap
|
||||
|
||||
__user_initial_stackheap
|
||||
|
||||
LDR R0, = Heap_Mem
|
||||
LDR R1, =(Stack_Mem + Stack_Size)
|
||||
LDR R2, = (Heap_Mem + Heap_Size)
|
||||
LDR R3, = Stack_Mem
|
||||
BX LR
|
||||
|
||||
ALIGN
|
||||
|
||||
ENDIF
|
||||
|
||||
END
|
||||
|
||||
;************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE*****
|
||||
775
Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
vendored
Normal file
775
Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
vendored
Normal file
@ -0,0 +1,775 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.3.1
|
||||
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
* this software and associated documentation files (the "Software"), to deal in
|
||||
* the Software without restriction, including without limitation the rights to
|
||||
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* http://www.FreeRTOS.org
|
||||
* http://aws.amazon.com/freertos
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Implementation of functions defined in portable.h for the ARM CM4F port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/* Scheduler includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#ifndef __VFP_FP__
|
||||
#error This port can only be used when the project options are configured to enable hardware floating point support.
|
||||
#endif
|
||||
|
||||
#ifndef configSYSTICK_CLOCK_HZ
|
||||
#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
|
||||
/* Ensure the SysTick is clocked at the same frequency as the core. */
|
||||
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
|
||||
#else
|
||||
/* The way the SysTick is clocked is not modified in case it is not the same
|
||||
as the core. */
|
||||
#define portNVIC_SYSTICK_CLK_BIT ( 0 )
|
||||
#endif
|
||||
|
||||
/* Constants required to manipulate the core. Registers first... */
|
||||
#define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000e010 ) )
|
||||
#define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile uint32_t * ) 0xe000e014 ) )
|
||||
#define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile uint32_t * ) 0xe000e018 ) )
|
||||
#define portNVIC_SYSPRI2_REG ( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
|
||||
/* ...then bits in the registers. */
|
||||
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
|
||||
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
|
||||
#define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
|
||||
#define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )
|
||||
#define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
|
||||
|
||||
/* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7
|
||||
r0p1 port. */
|
||||
#define portCPUID ( * ( ( volatile uint32_t * ) 0xE000ed00 ) )
|
||||
#define portCORTEX_M7_r0p1_ID ( 0x410FC271UL )
|
||||
#define portCORTEX_M7_r0p0_ID ( 0x410FC270UL )
|
||||
|
||||
#define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
|
||||
#define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
|
||||
|
||||
/* Constants required to check the validity of an interrupt priority. */
|
||||
#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )
|
||||
#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )
|
||||
#define portAIRCR_REG ( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
|
||||
#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
|
||||
#define portTOP_BIT_OF_BYTE ( ( uint8_t ) 0x80 )
|
||||
#define portMAX_PRIGROUP_BITS ( ( uint8_t ) 7 )
|
||||
#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL )
|
||||
#define portPRIGROUP_SHIFT ( 8UL )
|
||||
|
||||
/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
|
||||
#define portVECTACTIVE_MASK ( 0xFFUL )
|
||||
|
||||
/* Constants required to manipulate the VFP. */
|
||||
#define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
|
||||
#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
|
||||
|
||||
/* Constants required to set up the initial stack. */
|
||||
#define portINITIAL_XPSR ( 0x01000000 )
|
||||
#define portINITIAL_EXC_RETURN ( 0xfffffffd )
|
||||
|
||||
/* The systick is a 24-bit counter. */
|
||||
#define portMAX_24_BIT_NUMBER ( 0xffffffUL )
|
||||
|
||||
/* For strict compliance with the Cortex-M spec the task start address should
|
||||
have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
|
||||
#define portSTART_ADDRESS_MASK ( ( StackType_t ) 0xfffffffeUL )
|
||||
|
||||
/* A fiddle factor to estimate the number of SysTick counts that would have
|
||||
occurred while the SysTick counter is stopped during tickless idle
|
||||
calculations. */
|
||||
#define portMISSED_COUNTS_FACTOR ( 45UL )
|
||||
|
||||
/* Let the user override the pre-loading of the initial LR with the address of
|
||||
prvTaskExitError() in case it messes up unwinding of the stack in the
|
||||
debugger. */
|
||||
#ifdef configTASK_RETURN_ADDRESS
|
||||
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
|
||||
#else
|
||||
#define portTASK_RETURN_ADDRESS prvTaskExitError
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Setup the timer to generate the tick interrupts. The implementation in this
|
||||
* file is weak to allow application writers to change the timer used to
|
||||
* generate the tick interrupt.
|
||||
*/
|
||||
void vPortSetupTimerInterrupt( void );
|
||||
|
||||
/*
|
||||
* Exception handlers.
|
||||
*/
|
||||
void xPortPendSVHandler( void ) __attribute__ (( naked ));
|
||||
void xPortSysTickHandler( void );
|
||||
void vPortSVCHandler( void ) __attribute__ (( naked ));
|
||||
|
||||
/*
|
||||
* Start first task is a separate function so it can be tested in isolation.
|
||||
*/
|
||||
static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
|
||||
|
||||
/*
|
||||
* Function to enable the VFP.
|
||||
*/
|
||||
static void vPortEnableVFP( void ) __attribute__ (( naked ));
|
||||
|
||||
/*
|
||||
* Used to catch tasks that attempt to return from their implementing function.
|
||||
*/
|
||||
static void prvTaskExitError( void );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Each task maintains its own interrupt status in the critical nesting
|
||||
variable. */
|
||||
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
|
||||
|
||||
/*
|
||||
* The number of SysTick increments that make up one tick period.
|
||||
*/
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulTimerCountsForOneTick = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
/*
|
||||
* The maximum number of tick periods that can be suppressed is limited by the
|
||||
* 24 bit resolution of the SysTick timer.
|
||||
*/
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t xMaximumPossibleSuppressedTicks = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
/*
|
||||
* Compensate for the CPU cycles that pass while the SysTick is stopped (low
|
||||
* power functionality only.
|
||||
*/
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
static uint32_t ulStoppedTimerCompensation = 0;
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
/*
|
||||
* Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
|
||||
* FreeRTOS API functions are not called from interrupts that have been assigned
|
||||
* a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
|
||||
*/
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
static uint8_t ucMaxSysCallPriority = 0;
|
||||
static uint32_t ulMaxPRIGROUPValue = 0;
|
||||
static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
|
||||
#endif /* configASSERT_DEFINED */
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* See header file for description.
|
||||
*/
|
||||
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
|
||||
{
|
||||
/* Simulate the stack frame as it would be created by a context switch
|
||||
interrupt. */
|
||||
|
||||
/* Offset added to account for the way the MCU uses the stack on entry/exit
|
||||
of interrupts, and to ensure alignment. */
|
||||
pxTopOfStack--;
|
||||
|
||||
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
|
||||
|
||||
/* Save code space by skipping register initialisation. */
|
||||
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
|
||||
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
|
||||
|
||||
/* A save method is being used that requires each task to maintain its
|
||||
own exec return value. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = portINITIAL_EXC_RETURN;
|
||||
|
||||
pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
|
||||
|
||||
return pxTopOfStack;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvTaskExitError( void )
|
||||
{
|
||||
volatile uint32_t ulDummy = 0;
|
||||
|
||||
/* A function that implements a task must not exit or attempt to return to
|
||||
its caller as there is nothing to return to. If a task wants to exit it
|
||||
should instead call vTaskDelete( NULL ).
|
||||
|
||||
Artificially force an assert() to be triggered if configASSERT() is
|
||||
defined, then stop here so application writers can catch the error. */
|
||||
configASSERT( uxCriticalNesting == ~0UL );
|
||||
portDISABLE_INTERRUPTS();
|
||||
while( ulDummy == 0 )
|
||||
{
|
||||
/* This file calls prvTaskExitError() after the scheduler has been
|
||||
started to remove a compiler warning about the function being defined
|
||||
but never called. ulDummy is used purely to quieten other warnings
|
||||
about code appearing after this function is called - making ulDummy
|
||||
volatile makes the compiler think the function could return and
|
||||
therefore not output an 'unreachable code' warning for code that appears
|
||||
after it. */
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortSVCHandler( void )
|
||||
{
|
||||
__asm volatile (
|
||||
" ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */
|
||||
" ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
|
||||
" ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
|
||||
" ldmia r0!, {r4-r11, r14} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
|
||||
" msr psp, r0 \n" /* Restore the task stack pointer. */
|
||||
" isb \n"
|
||||
" mov r0, #0 \n"
|
||||
" msr basepri, r0 \n"
|
||||
" bx r14 \n"
|
||||
" \n"
|
||||
" .align 4 \n"
|
||||
"pxCurrentTCBConst2: .word pxCurrentTCB \n"
|
||||
);
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvPortStartFirstTask( void )
|
||||
{
|
||||
/* Start the first task. This also clears the bit that indicates the FPU is
|
||||
in use in case the FPU was used before the scheduler was started - which
|
||||
would otherwise result in the unnecessary leaving of space in the SVC stack
|
||||
for lazy saving of FPU registers. */
|
||||
__asm volatile(
|
||||
" ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */
|
||||
" ldr r0, [r0] \n"
|
||||
" ldr r0, [r0] \n"
|
||||
" msr msp, r0 \n" /* Set the msp back to the start of the stack. */
|
||||
" mov r0, #0 \n" /* Clear the bit that indicates the FPU is in use, see comment above. */
|
||||
" msr control, r0 \n"
|
||||
" cpsie i \n" /* Globally enable interrupts. */
|
||||
" cpsie f \n"
|
||||
" dsb \n"
|
||||
" isb \n"
|
||||
" svc 0 \n" /* System call to start first task. */
|
||||
" nop \n"
|
||||
);
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* See header file for description.
|
||||
*/
|
||||
BaseType_t xPortStartScheduler( void )
|
||||
{
|
||||
/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
|
||||
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
|
||||
configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
|
||||
|
||||
/* This port can be used on all revisions of the Cortex-M7 core other than
|
||||
the r0p1 parts. r0p1 parts should use the port from the
|
||||
/source/portable/GCC/ARM_CM7/r0p1 directory. */
|
||||
configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
|
||||
configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
|
||||
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
{
|
||||
volatile uint32_t ulOriginalPriority;
|
||||
volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
|
||||
volatile uint8_t ucMaxPriorityValue;
|
||||
|
||||
/* Determine the maximum priority from which ISR safe FreeRTOS API
|
||||
functions can be called. ISR safe functions are those that end in
|
||||
"FromISR". FreeRTOS maintains separate thread and ISR API functions to
|
||||
ensure interrupt entry is as fast and simple as possible.
|
||||
|
||||
Save the interrupt priority value that is about to be clobbered. */
|
||||
ulOriginalPriority = *pucFirstUserPriorityRegister;
|
||||
|
||||
/* Determine the number of priority bits available. First write to all
|
||||
possible bits. */
|
||||
*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
|
||||
|
||||
/* Read the value back to see how many bits stuck. */
|
||||
ucMaxPriorityValue = *pucFirstUserPriorityRegister;
|
||||
|
||||
/* Use the same mask on the maximum system call priority. */
|
||||
ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
|
||||
|
||||
/* Calculate the maximum acceptable priority group value for the number
|
||||
of bits read back. */
|
||||
ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
|
||||
while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
|
||||
{
|
||||
ulMaxPRIGROUPValue--;
|
||||
ucMaxPriorityValue <<= ( uint8_t ) 0x01;
|
||||
}
|
||||
|
||||
#ifdef __NVIC_PRIO_BITS
|
||||
{
|
||||
/* Check the CMSIS configuration that defines the number of
|
||||
priority bits matches the number of priority bits actually queried
|
||||
from the hardware. */
|
||||
configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef configPRIO_BITS
|
||||
{
|
||||
/* Check the FreeRTOS configuration that defines the number of
|
||||
priority bits matches the number of priority bits actually queried
|
||||
from the hardware. */
|
||||
configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Shift the priority group value back to its position within the AIRCR
|
||||
register. */
|
||||
ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
|
||||
ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
|
||||
|
||||
/* Restore the clobbered interrupt priority register to its original
|
||||
value. */
|
||||
*pucFirstUserPriorityRegister = ulOriginalPriority;
|
||||
}
|
||||
#endif /* conifgASSERT_DEFINED */
|
||||
|
||||
/* Make PendSV and SysTick the lowest priority interrupts. */
|
||||
portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
|
||||
portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
|
||||
|
||||
/* Start the timer that generates the tick ISR. Interrupts are disabled
|
||||
here already. */
|
||||
vPortSetupTimerInterrupt();
|
||||
|
||||
/* Initialise the critical nesting count ready for the first task. */
|
||||
uxCriticalNesting = 0;
|
||||
|
||||
/* Ensure the VFP is enabled - it should be anyway. */
|
||||
vPortEnableVFP();
|
||||
|
||||
/* Lazy save always. */
|
||||
*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
|
||||
|
||||
/* Start the first task. */
|
||||
prvPortStartFirstTask();
|
||||
|
||||
/* Should never get here as the tasks will now be executing! Call the task
|
||||
exit error function to prevent compiler warnings about a static function
|
||||
not being called in the case that the application writer overrides this
|
||||
functionality by defining configTASK_RETURN_ADDRESS. Call
|
||||
vTaskSwitchContext() so link time optimisation does not remove the
|
||||
symbol. */
|
||||
vTaskSwitchContext();
|
||||
prvTaskExitError();
|
||||
|
||||
/* Should not get here! */
|
||||
return 0;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEndScheduler( void )
|
||||
{
|
||||
/* Not implemented in ports where there is nothing to return to.
|
||||
Artificially force an assert. */
|
||||
configASSERT( uxCriticalNesting == 1000UL );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEnterCritical( void )
|
||||
{
|
||||
portDISABLE_INTERRUPTS();
|
||||
uxCriticalNesting++;
|
||||
|
||||
/* This is not the interrupt safe version of the enter critical function so
|
||||
assert() if it is being called from an interrupt context. Only API
|
||||
functions that end in "FromISR" can be used in an interrupt. Only assert if
|
||||
the critical nesting count is 1 to protect against recursive calls if the
|
||||
assert function also uses a critical section. */
|
||||
if( uxCriticalNesting == 1 )
|
||||
{
|
||||
configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortExitCritical( void )
|
||||
{
|
||||
configASSERT( uxCriticalNesting );
|
||||
uxCriticalNesting--;
|
||||
if( uxCriticalNesting == 0 )
|
||||
{
|
||||
portENABLE_INTERRUPTS();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void xPortPendSVHandler( void )
|
||||
{
|
||||
/* This is a naked function. */
|
||||
|
||||
__asm volatile
|
||||
(
|
||||
" mrs r0, psp \n"
|
||||
" isb \n"
|
||||
" \n"
|
||||
" ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
|
||||
" ldr r2, [r3] \n"
|
||||
" \n"
|
||||
" tst r14, #0x10 \n" /* Is the task using the FPU context? If so, push high vfp registers. */
|
||||
" it eq \n"
|
||||
" vstmdbeq r0!, {s16-s31} \n"
|
||||
" \n"
|
||||
" stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */
|
||||
" str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
|
||||
" \n"
|
||||
" stmdb sp!, {r0, r3} \n"
|
||||
" mov r0, %0 \n"
|
||||
" msr basepri, r0 \n"
|
||||
" dsb \n"
|
||||
" isb \n"
|
||||
" bl vTaskSwitchContext \n"
|
||||
" mov r0, #0 \n"
|
||||
" msr basepri, r0 \n"
|
||||
" ldmia sp!, {r0, r3} \n"
|
||||
" \n"
|
||||
" ldr r1, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */
|
||||
" ldr r0, [r1] \n"
|
||||
" \n"
|
||||
" ldmia r0!, {r4-r11, r14} \n" /* Pop the core registers. */
|
||||
" \n"
|
||||
" tst r14, #0x10 \n" /* Is the task using the FPU context? If so, pop the high vfp registers too. */
|
||||
" it eq \n"
|
||||
" vldmiaeq r0!, {s16-s31} \n"
|
||||
" \n"
|
||||
" msr psp, r0 \n"
|
||||
" isb \n"
|
||||
" \n"
|
||||
#ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */
|
||||
#if WORKAROUND_PMU_CM001 == 1
|
||||
" push { r14 } \n"
|
||||
" pop { pc } \n"
|
||||
#endif
|
||||
#endif
|
||||
" \n"
|
||||
" bx r14 \n"
|
||||
" \n"
|
||||
" .align 4 \n"
|
||||
"pxCurrentTCBConst: .word pxCurrentTCB \n"
|
||||
::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
|
||||
);
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void xPortSysTickHandler( void )
|
||||
{
|
||||
/* The SysTick runs at the lowest interrupt priority, so when this interrupt
|
||||
executes all interrupts must be unmasked. There is therefore no need to
|
||||
save and then restore the interrupt mask value as its value is already
|
||||
known. */
|
||||
portDISABLE_INTERRUPTS();
|
||||
{
|
||||
/* Increment the RTOS tick. */
|
||||
if( xTaskIncrementTick() != pdFALSE )
|
||||
{
|
||||
/* A context switch is required. Context switching is performed in
|
||||
the PendSV interrupt. Pend the PendSV interrupt. */
|
||||
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
|
||||
}
|
||||
}
|
||||
portENABLE_INTERRUPTS();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
|
||||
{
|
||||
uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
|
||||
TickType_t xModifiableIdleTime;
|
||||
|
||||
/* Make sure the SysTick reload value does not overflow the counter. */
|
||||
if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
|
||||
{
|
||||
xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
|
||||
}
|
||||
|
||||
/* Stop the SysTick momentarily. The time the SysTick is stopped for
|
||||
is accounted for as best it can be, but using the tickless mode will
|
||||
inevitably result in some tiny drift of the time maintained by the
|
||||
kernel with respect to calendar time. */
|
||||
portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
|
||||
|
||||
/* Calculate the reload value required to wait xExpectedIdleTime
|
||||
tick periods. -1 is used because this code will execute part way
|
||||
through one of the tick periods. */
|
||||
ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
|
||||
if( ulReloadValue > ulStoppedTimerCompensation )
|
||||
{
|
||||
ulReloadValue -= ulStoppedTimerCompensation;
|
||||
}
|
||||
|
||||
/* Enter a critical section but don't use the taskENTER_CRITICAL()
|
||||
method as that will mask interrupts that should exit sleep mode. */
|
||||
__asm volatile( "cpsid i" ::: "memory" );
|
||||
__asm volatile( "dsb" );
|
||||
__asm volatile( "isb" );
|
||||
|
||||
/* If a context switch is pending or a task is waiting for the scheduler
|
||||
to be unsuspended then abandon the low power entry. */
|
||||
if( eTaskConfirmSleepModeStatus() == eAbortSleep )
|
||||
{
|
||||
/* Restart from whatever is left in the count register to complete
|
||||
this tick period. */
|
||||
portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
|
||||
|
||||
/* Restart SysTick. */
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
|
||||
/* Reset the reload register to the value required for normal tick
|
||||
periods. */
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Re-enable interrupts - see comments above the cpsid instruction()
|
||||
above. */
|
||||
__asm volatile( "cpsie i" ::: "memory" );
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Set the new reload value. */
|
||||
portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
|
||||
|
||||
/* Clear the SysTick count flag and set the count value back to
|
||||
zero. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
|
||||
/* Restart SysTick. */
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
|
||||
/* Sleep until something happens. configPRE_SLEEP_PROCESSING() can
|
||||
set its parameter to 0 to indicate that its implementation contains
|
||||
its own wait for interrupt or wait for event instruction, and so wfi
|
||||
should not be executed again. However, the original expected idle
|
||||
time variable must remain unmodified, so a copy is taken. */
|
||||
xModifiableIdleTime = xExpectedIdleTime;
|
||||
configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
|
||||
if( xModifiableIdleTime > 0 )
|
||||
{
|
||||
__asm volatile( "dsb" ::: "memory" );
|
||||
__asm volatile( "wfi" );
|
||||
__asm volatile( "isb" );
|
||||
}
|
||||
configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
|
||||
|
||||
/* Re-enable interrupts to allow the interrupt that brought the MCU
|
||||
out of sleep mode to execute immediately. see comments above
|
||||
__disable_interrupt() call above. */
|
||||
__asm volatile( "cpsie i" ::: "memory" );
|
||||
__asm volatile( "dsb" );
|
||||
__asm volatile( "isb" );
|
||||
|
||||
/* Disable interrupts again because the clock is about to be stopped
|
||||
and interrupts that execute while the clock is stopped will increase
|
||||
any slippage between the time maintained by the RTOS and calendar
|
||||
time. */
|
||||
__asm volatile( "cpsid i" ::: "memory" );
|
||||
__asm volatile( "dsb" );
|
||||
__asm volatile( "isb" );
|
||||
|
||||
/* Disable the SysTick clock without reading the
|
||||
portNVIC_SYSTICK_CTRL_REG register to ensure the
|
||||
portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set. Again,
|
||||
the time the SysTick is stopped for is accounted for as best it can
|
||||
be, but using the tickless mode will inevitably result in some tiny
|
||||
drift of the time maintained by the kernel with respect to calendar
|
||||
time*/
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
|
||||
|
||||
/* Determine if the SysTick clock has already counted to zero and
|
||||
been set back to the current reload value (the reload back being
|
||||
correct for the entire expected idle time) or if the SysTick is yet
|
||||
to count to zero (in which case an interrupt other than the SysTick
|
||||
must have brought the system out of sleep mode). */
|
||||
if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
|
||||
{
|
||||
uint32_t ulCalculatedLoadValue;
|
||||
|
||||
/* The tick interrupt is already pending, and the SysTick count
|
||||
reloaded with ulReloadValue. Reset the
|
||||
portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
|
||||
period. */
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
|
||||
|
||||
/* Don't allow a tiny value, or values that have somehow
|
||||
underflowed because the post sleep hook did something
|
||||
that took too long. */
|
||||
if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
|
||||
{
|
||||
ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
|
||||
}
|
||||
|
||||
portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
|
||||
|
||||
/* As the pending tick will be processed as soon as this
|
||||
function exits, the tick value maintained by the tick is stepped
|
||||
forward by one less than the time spent waiting. */
|
||||
ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Something other than the tick interrupt ended the sleep.
|
||||
Work out how long the sleep lasted rounded to complete tick
|
||||
periods (not the ulReload value which accounted for part
|
||||
ticks). */
|
||||
ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
|
||||
|
||||
/* How many complete tick periods passed while the processor
|
||||
was waiting? */
|
||||
ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
|
||||
|
||||
/* The reload value is set to whatever fraction of a single tick
|
||||
period remains. */
|
||||
portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
|
||||
}
|
||||
|
||||
/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
|
||||
again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
|
||||
value. */
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
|
||||
vTaskStepTick( ulCompleteTickPeriods );
|
||||
portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
|
||||
|
||||
/* Exit with interrupts enabled. */
|
||||
__asm volatile( "cpsie i" ::: "memory" );
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* #if configUSE_TICKLESS_IDLE */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Setup the systick timer to generate the tick interrupts at the required
|
||||
* frequency.
|
||||
*/
|
||||
__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
|
||||
{
|
||||
/* Calculate the constants required to configure the tick interrupt. */
|
||||
#if( configUSE_TICKLESS_IDLE == 1 )
|
||||
{
|
||||
ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
|
||||
xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
|
||||
ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
|
||||
}
|
||||
#endif /* configUSE_TICKLESS_IDLE */
|
||||
|
||||
/* Stop and clear the SysTick. */
|
||||
portNVIC_SYSTICK_CTRL_REG = 0UL;
|
||||
portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
|
||||
|
||||
/* Configure SysTick to interrupt at the requested rate. */
|
||||
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
|
||||
portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This is a naked function. */
|
||||
static void vPortEnableVFP( void )
|
||||
{
|
||||
__asm volatile
|
||||
(
|
||||
" ldr.w r0, =0xE000ED88 \n" /* The FPU enable bits are in the CPACR. */
|
||||
" ldr r1, [r0] \n"
|
||||
" \n"
|
||||
" orr r1, r1, #( 0xf << 20 ) \n" /* Enable CP10 and CP11 coprocessors, then save back. */
|
||||
" str r1, [r0] \n"
|
||||
" bx r14 "
|
||||
);
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if( configASSERT_DEFINED == 1 )
|
||||
|
||||
void vPortValidateInterruptPriority( void )
|
||||
{
|
||||
uint32_t ulCurrentInterrupt;
|
||||
uint8_t ucCurrentPriority;
|
||||
|
||||
/* Obtain the number of the currently executing interrupt. */
|
||||
__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
|
||||
|
||||
/* Is the interrupt number a user defined interrupt? */
|
||||
if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
|
||||
{
|
||||
/* Look up the interrupt's priority. */
|
||||
ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
|
||||
|
||||
/* The following assertion will fail if a service routine (ISR) for
|
||||
an interrupt that has been assigned a priority above
|
||||
configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
|
||||
function. ISR safe FreeRTOS API functions must *only* be called
|
||||
from interrupts that have been assigned a priority at or below
|
||||
configMAX_SYSCALL_INTERRUPT_PRIORITY.
|
||||
|
||||
Numerically low interrupt priority numbers represent logically high
|
||||
interrupt priorities, therefore the priority of the interrupt must
|
||||
be set to a value equal to or numerically *higher* than
|
||||
configMAX_SYSCALL_INTERRUPT_PRIORITY.
|
||||
|
||||
Interrupts that use the FreeRTOS API must not be left at their
|
||||
default priority of zero as that is the highest possible priority,
|
||||
which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
|
||||
and therefore also guaranteed to be invalid.
|
||||
|
||||
FreeRTOS maintains separate thread and ISR API functions to ensure
|
||||
interrupt entry is as fast and simple as possible.
|
||||
|
||||
The following links provide detailed information:
|
||||
http://www.freertos.org/RTOS-Cortex-M3-M4.html
|
||||
http://www.freertos.org/FAQHelp.html */
|
||||
configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
|
||||
}
|
||||
|
||||
/* Priority grouping: The interrupt controller (NVIC) allows the bits
|
||||
that define each interrupt's priority to be split between bits that
|
||||
define the interrupt's pre-emption priority bits and bits that define
|
||||
the interrupt's sub-priority. For simplicity all bits must be defined
|
||||
to be pre-emption priority bits. The following assertion will fail if
|
||||
this is not the case (if some bits represent a sub-priority).
|
||||
|
||||
If the application only uses CMSIS libraries for interrupt
|
||||
configuration then the correct setting can be achieved on all Cortex-M
|
||||
devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
|
||||
scheduler. Note however that some vendor specific peripheral libraries
|
||||
assume a non-zero priority group setting, in which cases using a value
|
||||
of zero will result in unpredictable behaviour. */
|
||||
configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
|
||||
}
|
||||
|
||||
#endif /* configASSERT_DEFINED */
|
||||
|
||||
|
||||
243
Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
vendored
Normal file
243
Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
vendored
Normal file
@ -0,0 +1,243 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.3.1
|
||||
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
* this software and associated documentation files (the "Software"), to deal in
|
||||
* the Software without restriction, including without limitation the rights to
|
||||
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* http://www.FreeRTOS.org
|
||||
* http://aws.amazon.com/freertos
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Port specific definitions.
|
||||
*
|
||||
* The settings in this file configure FreeRTOS correctly for the
|
||||
* given hardware and compiler.
|
||||
*
|
||||
* These settings should not be altered.
|
||||
*-----------------------------------------------------------
|
||||
*/
|
||||
|
||||
/* Type definitions. */
|
||||
#define portCHAR char
|
||||
#define portFLOAT float
|
||||
#define portDOUBLE double
|
||||
#define portLONG long
|
||||
#define portSHORT short
|
||||
#define portSTACK_TYPE uint32_t
|
||||
#define portBASE_TYPE long
|
||||
|
||||
typedef portSTACK_TYPE StackType_t;
|
||||
typedef long BaseType_t;
|
||||
typedef unsigned long UBaseType_t;
|
||||
|
||||
#if( configUSE_16_BIT_TICKS == 1 )
|
||||
typedef uint16_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffff
|
||||
#else
|
||||
typedef uint32_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
|
||||
|
||||
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
|
||||
not need to be guarded with a critical section. */
|
||||
#define portTICK_TYPE_IS_ATOMIC 1
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Architecture specifics. */
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#define portBYTE_ALIGNMENT 8
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Scheduler utilities. */
|
||||
#define portYIELD() \
|
||||
{ \
|
||||
/* Set a PendSV to request a context switch. */ \
|
||||
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
|
||||
\
|
||||
/* Barriers are normally not required but do ensure the code is completely \
|
||||
within the specified behaviour for the architecture. */ \
|
||||
__asm volatile( "dsb" ::: "memory" ); \
|
||||
__asm volatile( "isb" ); \
|
||||
}
|
||||
|
||||
#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
|
||||
#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
|
||||
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
|
||||
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section management. */
|
||||
extern void vPortEnterCritical( void );
|
||||
extern void vPortExitCritical( void );
|
||||
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortRaiseBASEPRI()
|
||||
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortSetBASEPRI(x)
|
||||
#define portDISABLE_INTERRUPTS() vPortRaiseBASEPRI()
|
||||
#define portENABLE_INTERRUPTS() vPortSetBASEPRI(0)
|
||||
#define portENTER_CRITICAL() vPortEnterCritical()
|
||||
#define portEXIT_CRITICAL() vPortExitCritical()
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task function macros as described on the FreeRTOS.org WEB site. These are
|
||||
not necessary for to use this port. They are defined so the common demo files
|
||||
(which build with all the ports) will build. */
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Tickless idle/low power functionality. */
|
||||
#ifndef portSUPPRESS_TICKS_AND_SLEEP
|
||||
extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
|
||||
#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Architecture specific optimisations. */
|
||||
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
|
||||
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
|
||||
#endif
|
||||
|
||||
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
|
||||
|
||||
/* Generic helper function. */
|
||||
__attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap )
|
||||
{
|
||||
uint8_t ucReturn;
|
||||
|
||||
__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" );
|
||||
return ucReturn;
|
||||
}
|
||||
|
||||
/* Check the configuration. */
|
||||
#if( configMAX_PRIORITIES > 32 )
|
||||
#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
|
||||
#endif
|
||||
|
||||
/* Store/clear the ready priorities in a bit map. */
|
||||
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
|
||||
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
|
||||
|
||||
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#ifdef configASSERT
|
||||
void vPortValidateInterruptPriority( void );
|
||||
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
|
||||
#endif
|
||||
|
||||
/* portNOP() is not required by this port. */
|
||||
#define portNOP()
|
||||
|
||||
#define portINLINE __inline
|
||||
|
||||
#ifndef portFORCE_INLINE
|
||||
#define portFORCE_INLINE inline __attribute__(( always_inline))
|
||||
#endif
|
||||
|
||||
portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void )
|
||||
{
|
||||
uint32_t ulCurrentInterrupt;
|
||||
BaseType_t xReturn;
|
||||
|
||||
/* Obtain the number of the currently executing interrupt. */
|
||||
__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
|
||||
|
||||
if( ulCurrentInterrupt == 0 )
|
||||
{
|
||||
xReturn = pdFALSE;
|
||||
}
|
||||
else
|
||||
{
|
||||
xReturn = pdTRUE;
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portFORCE_INLINE static void vPortRaiseBASEPRI( void )
|
||||
{
|
||||
uint32_t ulNewBASEPRI;
|
||||
|
||||
__asm volatile
|
||||
(
|
||||
" mov %0, %1 \n" \
|
||||
" msr basepri, %0 \n" \
|
||||
" isb \n" \
|
||||
" dsb \n" \
|
||||
:"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
|
||||
);
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
|
||||
{
|
||||
uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
|
||||
|
||||
__asm volatile
|
||||
(
|
||||
" mrs %0, basepri \n" \
|
||||
" mov %1, %2 \n" \
|
||||
" msr basepri, %1 \n" \
|
||||
" isb \n" \
|
||||
" dsb \n" \
|
||||
:"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
|
||||
);
|
||||
|
||||
/* This return will not be reached but is necessary to prevent compiler
|
||||
warnings. */
|
||||
return ulOriginalBASEPRI;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
|
||||
{
|
||||
__asm volatile
|
||||
(
|
||||
" msr basepri, %0 " :: "r" ( ulNewMaskValue ) : "memory"
|
||||
);
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
0
User/device/rc_can.c
Normal file
0
User/device/rc_can.c
Normal file
56
User/device/rc_can.h
Normal file
56
User/device/rc_can.h
Normal file
@ -0,0 +1,56 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Includes ----------------------------------------------------------------- */
|
||||
#include "bsp/can.h"
|
||||
#include "device/device.h"
|
||||
/* USER INCLUDE BEGIN */
|
||||
|
||||
/* USER INCLUDE END */
|
||||
|
||||
/* USER DEFINE BEGIN */
|
||||
|
||||
/* USER DEFINE END */
|
||||
|
||||
/* Exported constants ------------------------------------------------------- */
|
||||
/* Exported macro ----------------------------------------------------------- */
|
||||
/* Exported types ----------------------------------------------------------- */
|
||||
|
||||
typedef enum {
|
||||
RC_CAN_SW_ERR = 0,
|
||||
RC_CAN_SW_UP = 1,
|
||||
RC_CAN_SW_MID = 3,
|
||||
RC_CAN_SW_DOWN = 2,
|
||||
} RC_CAN_SW_t;
|
||||
|
||||
typedef struct {
|
||||
float ch_l_x;
|
||||
float ch_l_y;
|
||||
float ch_r_x;
|
||||
float ch_r_y;
|
||||
RC_CAN_SW_t sw_l;
|
||||
RC_CAN_SW_t sw_r;
|
||||
flaot res;
|
||||
} RC_CAN_DR16_t;
|
||||
|
||||
typedef struct {
|
||||
f
|
||||
} RC_CAN_DR16_t;
|
||||
|
||||
|
||||
/* USER STRUCT BEGIN */
|
||||
|
||||
/* USER STRUCT END */
|
||||
|
||||
/* Exported functions prototypes -------------------------------------------- */
|
||||
|
||||
/* USER FUNCTION BEGIN */
|
||||
|
||||
/* USER FUNCTION END */
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@ -18,28 +18,69 @@
|
||||
|
||||
// 机器人参数配置
|
||||
Config_RobotParam_t robot_config = {
|
||||
// .shoot_param = {
|
||||
// .trig_motor_param = {
|
||||
// .can = BSP_CAN_1,
|
||||
// .id = 0x201,
|
||||
// .module = MOTOR_M2006,
|
||||
// .reverse = false,
|
||||
// .gear = true,
|
||||
// },
|
||||
// .trig_pid_param = {
|
||||
// .k = 12.0f,
|
||||
// .p = 1.0f,
|
||||
// .i = 0.0f,
|
||||
// .d = 0.0450000018f,
|
||||
// .i_limit = 1.0f,
|
||||
// .out_limit = 1.0f,
|
||||
// .d_cutoff_freq = -1.0f,
|
||||
// .range = M_2PI,
|
||||
// },
|
||||
// .num_trig_tooth = 8.0f,
|
||||
// .fric_radius = 0.03f,
|
||||
// .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
|
||||
// }
|
||||
.shoot_param = {
|
||||
.trig_step_angle=M_2PI/8,
|
||||
.fric_motor_param[0] = {
|
||||
.can = BSP_CAN_1,
|
||||
.id = 0x205,
|
||||
.module = MOTOR_M3508,
|
||||
.reverse = false,
|
||||
.gear=false,
|
||||
},
|
||||
.fric_motor_param[1] = {
|
||||
.can = BSP_CAN_1,
|
||||
.id = 0x206,
|
||||
.module = MOTOR_M3508,
|
||||
.reverse = true,
|
||||
.gear=false,
|
||||
},
|
||||
.trig_motor_param = {
|
||||
.can = BSP_CAN_1,
|
||||
.id = 0x202,
|
||||
.module = MOTOR_M2006,
|
||||
.reverse = false,
|
||||
.gear=true,
|
||||
},
|
||||
.fric_follow = {
|
||||
.k=1.0f,
|
||||
.p=1.8f,
|
||||
.i=0.0f,
|
||||
.d=0.0f,
|
||||
.i_limit=0.0f,
|
||||
.out_limit=0.9f,
|
||||
.d_cutoff_freq=30.0f,
|
||||
.range=-1.0f,
|
||||
},
|
||||
.fric_err = {
|
||||
.k=1.0f,
|
||||
.p=4.0f,
|
||||
.i=0.4f,
|
||||
.d=0.04f,
|
||||
.i_limit=0.25f,
|
||||
.out_limit=0.25f,
|
||||
.d_cutoff_freq=40.0f,
|
||||
.range=-1.0f,
|
||||
},
|
||||
.trig = {
|
||||
.k=1.0f,
|
||||
.p=1.2f,
|
||||
.i=0.0f,
|
||||
.d=0.05f,
|
||||
.i_limit=0.2f,
|
||||
.out_limit=0.9f,
|
||||
.d_cutoff_freq=30.0f,
|
||||
.range=-1.0f,
|
||||
},
|
||||
.filter.fric = {
|
||||
.in = 30.0f,
|
||||
.out = 30.0f,
|
||||
},
|
||||
.filter.trig = {
|
||||
.in = 30.0f,
|
||||
.out = 30.0f,
|
||||
},
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
/* Private function prototypes ---------------------------------------------- */
|
||||
|
||||
@ -14,6 +14,7 @@ extern "C" {
|
||||
|
||||
|
||||
typedef struct {
|
||||
Shoot_Params_t shoot_param;
|
||||
// Shoot_Params_t shoot_param; /* 射击参数 */
|
||||
} Config_RobotParam_t;
|
||||
|
||||
|
||||
@ -1,201 +1,172 @@
|
||||
// /*
|
||||
// * 射击模组
|
||||
// */
|
||||
|
||||
// /* Includes ----------------------------------------------------------------- */
|
||||
// #include "shoot.h"
|
||||
#include "shoot.h"
|
||||
|
||||
// #include "bsp/pwm.h"
|
||||
// #include "bsp/time.h"
|
||||
// #include "bsp/can.h"
|
||||
// #include "component/pid.h"
|
||||
// #include "component/limiter.h"
|
||||
// #include "component/user_math.h"
|
||||
// #include "device/motor_rm.h"
|
||||
// #include <stdint.h>
|
||||
// /* Private typedef ---------------------------------------------------------- */
|
||||
// /* Private define ----------------------------------------------------------- */
|
||||
#include "bsp/can.h"
|
||||
#include "component/filter.h"
|
||||
#include <string.h>
|
||||
// #include
|
||||
#include <math.h>
|
||||
#include "bsp/time.h"
|
||||
|
||||
// #define BULLET_SPEED_LIMIT_17MM (25.0)
|
||||
uint32_t shoot_ctrl_cnt_last;
|
||||
float shoot_ctrl_dt;
|
||||
bool last_firecmd=false;
|
||||
|
||||
// /* Private macro ------------------------------------------------------------ */
|
||||
// /* Private variables -------------------------------------------------------- */
|
||||
// /* Private function -------------------------------------------------------- */
|
||||
static inline void ScaleSumTo1(float *a, float *b) {
|
||||
float sum = *a + *b;
|
||||
if (sum > 1.0f) {
|
||||
float scale = 1.0f / sum;
|
||||
*a *= scale;
|
||||
*b *= scale;
|
||||
}
|
||||
}
|
||||
|
||||
// /**
|
||||
// * \brief 设置射击模式
|
||||
// *
|
||||
// * \param c 包含射击数据的结构体
|
||||
// * \param mode 要设置的模式
|
||||
// *
|
||||
// * \return 函数运行结果
|
||||
// */
|
||||
// static int8_t Shoot_SetMode(Shoot_t *s, CMD_ShootMode_t mode) {
|
||||
// if (s == NULL) return -1;
|
||||
int8_t Shoot_Init(Shoot_t *c, Shoot_Params_t *param, float target_freq)
|
||||
{
|
||||
if (c == NULL || param == NULL || target_freq <= 0.0f) {
|
||||
return -1; // 参数错误
|
||||
}
|
||||
c->param=param;
|
||||
BSP_CAN_Init();
|
||||
memset(&c->feedback, 0, sizeof(c->feedback));
|
||||
|
||||
for(int i=0;i<SHOOT_FRIC_NUM;i++){
|
||||
MOTOR_RM_Register(¶m->fric_motor_param[i]);
|
||||
PID_Init(&c->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,¶m->fric_follow);
|
||||
LowPassFilter2p_Init(&c->filter.fric.in[i], target_freq, c->param->filter.fric.in);
|
||||
LowPassFilter2p_Init(&c->filter.fric.out[i], target_freq, c->param->filter.fric.out);
|
||||
}
|
||||
MOTOR_RM_Register(¶m->trig_motor_param);
|
||||
PID_Init(&c->pid.trig, KPID_MODE_CALC_D, target_freq,¶m->trig);
|
||||
|
||||
LowPassFilter2p_Init(&c->filter.trig.in, target_freq, c->param->filter.trig.in);
|
||||
LowPassFilter2p_Init(&c->filter.trig.out, target_freq, c->param->filter.trig.out);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int8_t Chassis_UpdateFeedback(Shoot_t *c)
|
||||
{
|
||||
if (c == NULL) {
|
||||
return -1; // 参数错误
|
||||
}
|
||||
|
||||
float rpm_sum=0.0f;
|
||||
for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
|
||||
MOTOR_RM_Update(&c->param->fric_motor_param[i]);
|
||||
MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&c->param->fric_motor_param[i]);
|
||||
if(motor_fed!=NULL)
|
||||
{
|
||||
c->feedback.fric[i]=motor_fed->motor.feedback;
|
||||
}
|
||||
c->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&c->filter.fric.in[i], c->feedback.fric[i].rotor_speed);
|
||||
c->feedback.fric_rpm[i] = c->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
|
||||
if(c->feedback.fric_rpm[i]>1.0f)c->feedback.fric_rpm[i]=1.0f;
|
||||
if(c->feedback.fric_rpm[i]<-1.0f)c->feedback.fric_rpm[i]=-1.0f;
|
||||
rpm_sum+=c->feedback.fric_rpm[i];
|
||||
}
|
||||
c->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM;
|
||||
MOTOR_RM_Update(&c->param->trig_motor_param);
|
||||
c->feedback.trig = MOTOR_RM_GetMotor(&c->param->trig_motor_param);
|
||||
//
|
||||
c->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&c->filter.trig.in, c->feedback.trig->feedback.rotor_speed);
|
||||
c->feedback.trig_rpm = c->feedback.trig->feedback.rotor_speed / MAX_TRIG_RPM;
|
||||
if(c->feedback.trig_rpm>1.0f)c->feedback.trig_rpm=1.0f; //如果单环效果好就删
|
||||
if(c->feedback.trig_rpm<-1.0f)c->feedback.trig_rpm=-1.0f;
|
||||
//
|
||||
c->errtosee = c->feedback.fric[0].rotor_speed - c->feedback.fric[1].rotor_speed;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int8_t Shoot_Control(Shoot_t *c, const Shoot_CMD_t *cmd)
|
||||
{
|
||||
if (c == NULL || cmd == NULL) {
|
||||
return -1; // 参数错误
|
||||
}
|
||||
c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) / 1000000.0f;
|
||||
c->lask_wakeup = BSP_TIME_Get_us();
|
||||
c->online = cmd->online;
|
||||
if(!c->online /*|| c->mode==SHOOT_MODE_SAFE*/){
|
||||
for(int i=0;i<SHOOT_FRIC_NUM;i++)
|
||||
{
|
||||
MOTOR_RM_Relax(&c->param->fric_motor_param[i]);
|
||||
}
|
||||
MOTOR_RM_Relax(&c->param->trig_motor_param);
|
||||
}
|
||||
else{
|
||||
switch(c->running_state)
|
||||
{
|
||||
case SHOOT_STATE_IDLE:/*熄火等待*/
|
||||
for(int i=0;i<SHOOT_FRIC_NUM;i++)
|
||||
{
|
||||
PID_ResetIntegral(&c->pid.fric_follow[i]);
|
||||
c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],0.0f,c->feedback.fric_rpm[i],0,c->dt);
|
||||
c->output.out_fric[i]=c->output.out_follow[i];
|
||||
c->output.lpfout_fric[i] = LowPassFilter2p_Apply(&c->filter.fric.out[i], c->output.out_fric[i]);
|
||||
MOTOR_RM_SetOutput(&c->param->fric_motor_param[i], c->output.lpfout_fric[i]);
|
||||
}
|
||||
c->output.out_trig=PID_Calc(&c->pid.trig,c->target_variable.target_angle,c->feedback.trig->gearbox_total_angle,0,c->dt);
|
||||
MOTOR_RM_SetOutput(&c->param->trig_motor_param, c->output.out_trig);
|
||||
if(cmd->ready)
|
||||
{
|
||||
c->running_state=SHOOT_STATE_READY;
|
||||
}
|
||||
break;
|
||||
case SHOOT_STATE_READY:/*准备射击*/
|
||||
for(int i=0;i<SHOOT_FRIC_NUM;i++)
|
||||
{ /* 计算跟随输出->计算修正输出->加和、滤波、输出 */
|
||||
c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],c->target_variable.target_rpm/MAX_FRIC_RPM,c->feedback.fric_rpm[i],0,c->dt);
|
||||
c->output.out_err[i]=PID_Calc(&c->pid.fric_err[i],c->feedback.fric_avgrpm,c->feedback.fric_rpm[i],0,c->dt);
|
||||
ScaleSumTo1(&c->output.out_follow[i], &c->output.out_err[i]);
|
||||
c->output.out_fric[i]=c->output.out_follow[i]+c->output.out_err[i];
|
||||
c->output.lpfout_fric[i] = LowPassFilter2p_Apply(&c->filter.fric.out[i], c->output.out_fric[i]);
|
||||
MOTOR_RM_SetOutput(&c->param->fric_motor_param[i], c->output.lpfout_fric[i]);
|
||||
}
|
||||
c->output.out_trig=PID_Calc(&c->pid.trig,c->target_variable.target_angle,c->feedback.trig->gearbox_total_angle,0,c->dt);
|
||||
MOTOR_RM_SetOutput(&c->param->trig_motor_param, c->output.out_trig);
|
||||
if(!cmd->ready)
|
||||
{
|
||||
c->running_state=SHOOT_STATE_IDLE;
|
||||
}
|
||||
else if(cmd->last_firecmd==false&&cmd->firecmd==true)//可以加一个到达目标速度的判断
|
||||
{
|
||||
c->running_state=SHOOT_STATE_FIRE;
|
||||
c->target_variable.target_angle-=c->param->trig_step_angle;
|
||||
}
|
||||
break;
|
||||
case SHOOT_STATE_FIRE:
|
||||
// c->target_variable.target_angle+=c->param->trig_step_angle;
|
||||
for(int i=0;i<SHOOT_FRIC_NUM;i++)
|
||||
{
|
||||
c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],c->target_variable.target_rpm/MAX_FRIC_RPM,c->feedback.fric_rpm[i],0,c->dt);
|
||||
c->output.out_err[i]=PID_Calc(&c->pid.fric_err[i],c->feedback.fric_avgrpm,c->feedback.fric_rpm[i],0,c->dt);
|
||||
ScaleSumTo1(&c->output.out_follow[i], &c->output.out_err[i]);
|
||||
c->output.out_fric[i]=c->output.out_follow[i]+c->output.out_err[i];
|
||||
c->output.lpfout_fric[i] = LowPassFilter2p_Apply(&c->filter.fric.out[i], c->output.out_fric[i]);
|
||||
MOTOR_RM_SetOutput(&c->param->fric_motor_param[i], c->output.lpfout_fric[i]);
|
||||
}
|
||||
c->output.out_trig=PID_Calc(&c->pid.trig,c->target_variable.target_angle,c->feedback.trig->gearbox_total_angle,0,c->dt);
|
||||
MOTOR_RM_SetOutput(&c->param->trig_motor_param, c->output.out_trig);
|
||||
if(!cmd->firecmd)
|
||||
{
|
||||
c->running_state=SHOOT_STATE_READY;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
c->running_state=SHOOT_STATE_IDLE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
MOTOR_RM_Ctrl(&c->param->fric_motor_param[0]);
|
||||
MOTOR_RM_Ctrl(&c->param->trig_motor_param);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
// if (mode == s->mode) return SHOOT_OK;
|
||||
|
||||
// /* 切换模式后重置PID和滤波器 */
|
||||
// // for (uint8_t i = 0; i < 2; i++) {
|
||||
// // PID_Reset(s->pid.fric + i);
|
||||
// // LowPassFilter2p_Reset(s->filter.in.fric + i, 0.0f);
|
||||
// // LowPassFilter2p_Reset(s->filter.out.fric + i, 0.0f);
|
||||
// // }
|
||||
// // PID_Reset(&(s->pid.trig));
|
||||
// // LowPassFilter2p_Reset(&(s->filter.in.trig), 0.0f);
|
||||
// // LowPassFilter2p_Reset(&(s->filter.out.trig), 0.0f);
|
||||
// PID_Reset(&(s->pid.fric[0]));
|
||||
// PID_Reset(&(s->pid.fric[1]));
|
||||
// LowPassFilter2p_Reset(&(s->filter.in.fric[0]), 0.0f);
|
||||
// LowPassFilter2p_Reset(&(s->filter.in.fric[1]), 0.0f);
|
||||
// LowPassFilter2p_Reset(&(s->filter.out.fric[0]), 0.0f);
|
||||
// LowPassFilter2p_Reset(&(s->filter.out.fric[1]), 0.0f);
|
||||
// PID_Reset(&(s->pid.trig));
|
||||
// LowPassFilter2p_Reset(&(s->filter.in.trig), 0.0f);
|
||||
// LowPassFilter2p_Reset(&(s->filter.out.trig), 0.0f);
|
||||
|
||||
// // while (fabsf(CircleError(s->setpoint.trig_angle, s->feedback.trig_angle,
|
||||
// // M_2PI)) >= M_2PI / s->param->num_trig_tooth / 2.0f) {
|
||||
// // CircleAdd(&(s->setpoint.trig_angle), M_2PI / s->param->num_trig_tooth,
|
||||
// // M_2PI);
|
||||
// // }
|
||||
|
||||
// if (mode == SHOOT_MODE_LOADED) s->fire_ctrl.to_shoot = 0;
|
||||
// s->mode = mode;
|
||||
// return 0;
|
||||
// }
|
||||
|
||||
// // static float Shoot_CalcRPMFromSpeed(float speed, float radius, float *rpm) {
|
||||
// // if (rpm == NULL) return -1;
|
||||
// // if (radius <= 0.0f) return -2;
|
||||
|
||||
// // /* 限制弹丸速度 */
|
||||
// // speed = Limit_Abs(speed, BULLET_SPEED_LIMIT_17MM);
|
||||
|
||||
// // /* 计算转速 */
|
||||
// // *rpm = speed / (2.0f * M_PI * radius) * 60.0f;
|
||||
|
||||
// // return 0;
|
||||
// // }
|
||||
|
||||
// /* Exported functions ------------------------------------------------------- */
|
||||
|
||||
// /**
|
||||
// * \brief 初始化射击
|
||||
// *
|
||||
// * \param s 包含射击数据的结构体
|
||||
// * \param param 包含射击参数的结构体指针
|
||||
// * \param target_freq 任务预期的运行频率
|
||||
// *
|
||||
// * \return 函数运行结果
|
||||
// */
|
||||
// int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq) {
|
||||
// if (s == NULL) return -1;
|
||||
|
||||
// s->param = param; /* 初始化参数 */
|
||||
// s->mode = SHOOT_MODE_RELAX; /* 设置默认模式 */
|
||||
|
||||
// PID_Init(&(s->pid.fric[0]), KPID_MODE_NO_D, target_freq,
|
||||
// &(param->fric_pid_param));
|
||||
// PID_Init(&(s->pid.fric[1]), KPID_MODE_NO_D, target_freq,
|
||||
// &(param->fric_pid_param));
|
||||
// PID_Init(&(s->pid.trig), KPID_MODE_CALC_D, target_freq,
|
||||
// &(param->trig_pid_param));
|
||||
|
||||
// LowPassFilter2p_Init(&(s->filter.in.fric[0]), target_freq,
|
||||
// param->low_pass_cutoff_freq.in.fric);
|
||||
// LowPassFilter2p_Init(&(s->filter.in.fric[1]), target_freq,
|
||||
// param->low_pass_cutoff_freq.in.fric);
|
||||
// LowPassFilter2p_Init(&(s->filter.out.fric[0]), target_freq,
|
||||
// param->low_pass_cutoff_freq.out.fric);
|
||||
// LowPassFilter2p_Init(&(s->filter.out.fric[1]), target_freq,
|
||||
// param->low_pass_cutoff_freq.out.fric);
|
||||
// LowPassFilter2p_Init(&(s->filter.in.trig), target_freq,
|
||||
// param->low_pass_cutoff_freq.in.trig);
|
||||
// LowPassFilter2p_Init(&(s->filter.out.trig), target_freq,
|
||||
// param->low_pass_cutoff_freq.out.trig);
|
||||
|
||||
// BSP_CAN_Init();
|
||||
// MOTOR_RM_Register(s->param->fric_motor_param[0]);
|
||||
// MOTOR_RM_Register(s->param->fric_motor_param[1]);
|
||||
// MOTOR_RM_Register(s->param->trig_motor_param);
|
||||
|
||||
// return SHOOT_OK;
|
||||
// }
|
||||
|
||||
// /**
|
||||
// * \brief 更新射击的反馈信息
|
||||
// *
|
||||
// * \param s 包含射击数据的结构体
|
||||
// *
|
||||
// * \return 函数运行结果
|
||||
// */
|
||||
// int8_t Shoot_UpdateFeedback(Shoot_t *s) {
|
||||
// if (s == NULL) return -1;
|
||||
// MOTOR_RM_Update(s->param->fric_motor_param[0]);
|
||||
// MOTOR_RM_Update(s->param->fric_motor_param[1]);
|
||||
// MOTOR_RM_Update(s->param->trig_motor_param);
|
||||
|
||||
// MOTOR_RM_t *motor;
|
||||
// motor = MOTOR_RM_GetMotor(s->param->fric_motor_param[0]);
|
||||
// s->feedback.fric[0] = motor->feedback;
|
||||
// motor = MOTOR_RM_GetMotor(s->param->fric_motor_param[1]);
|
||||
// s->feedback.fric[1] = motor->feedback;
|
||||
// motor = MOTOR_RM_GetMotor(s->param->trig_motor_param);
|
||||
// s->feedback.trig = motor->feedback;
|
||||
|
||||
// return SHOOT_OK;
|
||||
// }
|
||||
|
||||
// /**
|
||||
// * \brief 运行射击控制逻辑
|
||||
// *
|
||||
// * \param s 包含射击数据的结构体
|
||||
// * \param s_cmd 射击控制指令
|
||||
// *
|
||||
// * \return 函数运行结果
|
||||
// */
|
||||
// int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *s_cmd) {
|
||||
// if (s == NULL) return -1;
|
||||
// if (s_cmd == NULL) return -1;
|
||||
|
||||
// Shoot_SetMode(s, s_cmd->mode); /* 设置射击模式 */
|
||||
|
||||
// /* 计算摩擦轮转速的目标值 */
|
||||
// // 根据弹丸射速计算转速，这里需要实现具体的计算逻辑
|
||||
// // s->setpoint.fric_rpm[0] = calculate_rpm_from_speed(s_cmd->bullet_speed);
|
||||
// // s->setpoint.fric_rpm[1] = -s->setpoint.fric_rpm[0];
|
||||
|
||||
// switch (s->mode) {
|
||||
// case SHOOT_MODE_RELAX:
|
||||
// MOTOR_RM_SetOutput(s->param->fric_motor_param[0], 0.0f);
|
||||
// MOTOR_RM_SetOutput(s->param->fric_motor_param[1], 0.0f);
|
||||
// MOTOR_RM_SetOutput(s->param->trig_motor_param, 0.0f);
|
||||
// break;
|
||||
// case SHOOT_MODE_SAFE:
|
||||
// /*摩擦轮速度环到0，拨弹位置环到设定位置*/
|
||||
// s->setpoint.fric_rpm[0] = 0.0f;
|
||||
// s->setpoint.fric_rpm[1] = 0.0f;
|
||||
|
||||
|
||||
|
||||
// break;
|
||||
|
||||
// case SHOOT_MODE_LOADED:
|
||||
// // TODO: 实现上膛模式的控制逻辑
|
||||
// break;
|
||||
// }
|
||||
// return SHOOT_OK;
|
||||
// }
|
||||
|
||||
// /**
|
||||
// * \brief 射击输出值
|
||||
// *
|
||||
// * \param s 包含射击数据的结构体
|
||||
// */
|
||||
// void Shoot_Output(Shoot_t *s) {
|
||||
// if (s == NULL) return;
|
||||
// MOTOR_RM_Ctrl(s->param->fric_motor_param[0]);
|
||||
// }
|
||||
|
||||
|
||||
|
||||
@ -1,176 +1,189 @@
|
||||
// /*
|
||||
// * 射击模组
|
||||
// */
|
||||
/*
|
||||
* far蛇模组
|
||||
*/
|
||||
|
||||
// #pragma once
|
||||
#pragma once
|
||||
|
||||
// #ifdef __cplusplus
|
||||
// extern "C" {
|
||||
// #endif
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
// /* Includes ----------------------------------------------------------------- */
|
||||
// #include <cmsis_os2.h>
|
||||
|
||||
// #include "component/filter.h"
|
||||
// #include "component/pid.h"
|
||||
// #include "device/motor_rm.h"
|
||||
// #include "device/motor.h"
|
||||
|
||||
// /* Exported constants ------------------------------------------------------- */
|
||||
// #define SHOOT_OK (0) /* 运行正常 */
|
||||
// #define SHOOT_ERR (-1) /* 运行时发现了其他错误 */
|
||||
// #define SHOOT_ERR_NULL (-2) /* 运行时发现NULL指针 */
|
||||
// #define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ShootMode_t */
|
||||
|
||||
// /* Exported macro ----------------------------------------------------------- */
|
||||
// /* Exported types ----------------------------------------------------------- */
|
||||
|
||||
// typedef enum {
|
||||
// SHOOT_MODE_RELAX = 0, /* 放松模式，电机不工作 */
|
||||
// SHOOT_MODE_SAFE = 1, /* 安全模式，电机工作但不允许射击 */
|
||||
// SHOOT_MODE_LOADED = 2 /* 上膛模式，电机工作并允许射击 */
|
||||
// }Shoot_Mode_t;
|
||||
|
||||
// typedef struct {
|
||||
// Shoot_Mode_t mode; /*射击模式*/
|
||||
// float bullet_speed; /*弹丸射速*/
|
||||
// uint32_t bullet_num; /*要发射的弹丸数*/
|
||||
// }Shoot_CMD_t;
|
||||
|
||||
// /* 射击参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
|
||||
// typedef struct {
|
||||
// MOTOR_RM_Param_t fric_motor_param[2]; /* 摩擦轮电机参数 */
|
||||
// MOTOR_RM_Param_t trig_motor_param; /* 拨弹电机参数 */
|
||||
#include "main.h"
|
||||
#include <stdbool.h>
|
||||
#include "component/pid.h"
|
||||
#include "device/motor_rm.h"
|
||||
|
||||
|
||||
// KPID_Params_t fric_pid_param; /* 摩擦轮电机控制PID的参数 */
|
||||
// KPID_Params_t trig_pid_param; /* 扳机电机控制PID的参数 */
|
||||
// /* 低通滤波器截止频率 */
|
||||
// struct {
|
||||
// /* 输入 */
|
||||
// struct {
|
||||
// float fric; /* 摩擦轮电机 */
|
||||
// float trig; /* 扳机电机 */
|
||||
// } in;
|
||||
/* Exported constants ------------------------------------------------------- */
|
||||
#define SHOOT_OK (0) /* 运行正常 */
|
||||
#define SHOOT_ERR (-1) /* 运行时发现了其他错误 */
|
||||
#define SHOOT_ERR_NULL (-2) /* 运行时发现NULL指针 */
|
||||
#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */
|
||||
#define SHOOT_ERR_TYPE (-4) /* 运行时配置了错误的Chassis_Type_t */
|
||||
|
||||
// /* 输出 */
|
||||
// struct {
|
||||
// float fric; /* 摩擦轮电机 */
|
||||
// float trig; /* 扳机电机 */
|
||||
// } out;
|
||||
// } low_pass_cutoff_freq;
|
||||
#define SHOOT_FRIC_NUM (2) /* 摩擦轮数量 */
|
||||
#define MAX_FRIC_RPM 7000.0f
|
||||
#define MAX_TRIG_RPM 1000.0f
|
||||
/* Exported macro ----------------------------------------------------------- */
|
||||
/* Exported types ----------------------------------------------------------- */
|
||||
|
||||
// float num_trig_tooth; /* 拨弹盘中一圈能存储几颗弹丸 */
|
||||
// float fric_radius; /* 摩擦轮半径，单位：米 */
|
||||
// float cover_open_duty; /* 弹舱盖打开时舵机PWM占空比 */
|
||||
// float cover_close_duty; /* 弹舱盖关闭时舵机PWM占空比 */
|
||||
// float bullet_speed; /* 弹丸初速度 */
|
||||
// uint32_t min_shoot_delay; /* 通过设置最小射击间隔来设置最大射频 */
|
||||
// } Shoot_Params_t;
|
||||
typedef enum {
|
||||
SHOOT_STATE_IDLE = 0, // 熄火
|
||||
SHOOT_STATE_READY, // 准备射击
|
||||
SHOOT_STATE_FIRE // 射击
|
||||
} Shoot_State_t;
|
||||
|
||||
typedef enum {
|
||||
SHOOT_MODE_SAFE = 0, // 安全模式
|
||||
SHOOT_MODE_SINGLE, // 单发模式
|
||||
SHOOT_MODE_BURST, // 多发模式
|
||||
SHOOT_MODE_CONTINUE // 连发模式
|
||||
} Shoot_Mode_t;
|
||||
typedef struct {
|
||||
bool online;
|
||||
|
||||
bool ready; /* 准备射击 */
|
||||
bool firecmd; /* 射击指令 */
|
||||
|
||||
bool last_firecmd;
|
||||
|
||||
} Shoot_CMD_t;
|
||||
|
||||
typedef struct {
|
||||
MOTOR_Feedback_t fric[SHOOT_FRIC_NUM]; /* 摩擦轮电机反馈 */
|
||||
MOTOR_RM_t *trig; /* 拨弹电机反馈 */
|
||||
|
||||
float fil_fric_rpm[SHOOT_FRIC_NUM]; /* 滤波后的摩擦轮转速 */
|
||||
float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
|
||||
|
||||
float fric_rpm[SHOOT_FRIC_NUM]; /* 归一化摩擦轮转速 */
|
||||
float fric_avgrpm; /* 归一化摩擦轮平均转速*/
|
||||
float trig_rpm; /* 归一化拨弹电机转速*/
|
||||
|
||||
}Shoot_Feedback_t;
|
||||
|
||||
typedef struct {
|
||||
float out_follow[SHOOT_FRIC_NUM];
|
||||
float out_err[SHOOT_FRIC_NUM];
|
||||
float out_fric[SHOOT_FRIC_NUM];
|
||||
float lpfout_fric[SHOOT_FRIC_NUM];
|
||||
|
||||
|
||||
float out_trig;
|
||||
float lpfout_trig;
|
||||
}Shoot_Output_t;
|
||||
|
||||
|
||||
// typedef struct {
|
||||
// uint32_t last_shoot; /* 上次射击时间 单位：ms */
|
||||
// bool last_fire; /* 上次开火状态 */
|
||||
// bool first_fire; /* 第一次收到开火指令 */
|
||||
// uint32_t shooted; /* 已经发射的弹丸 */
|
||||
// uint32_t to_shoot; /* 计划发射的弹丸 */
|
||||
// float bullet_speed; /* 弹丸初速度 */
|
||||
// uint32_t period_ms; /* 弹丸击发延迟 */
|
||||
// } Shoot_FireCtrl_t;
|
||||
/* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
|
||||
typedef struct {
|
||||
float trig_step_angle; /* 每次拨弹电机转动的角度 */
|
||||
|
||||
// /*
|
||||
// * 运行的主结构体，所有这个文件里的函数都在操作这个结构体。
|
||||
// * 包含了初始化参数，中间变量，输出变量。
|
||||
// */
|
||||
// typedef struct {
|
||||
// uint64_t lask_wakeup;
|
||||
// float dt;
|
||||
MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM];
|
||||
MOTOR_RM_Param_t trig_motor_param;
|
||||
|
||||
|
||||
KPID_Params_t fric_follow; /* 摩擦轮电机PID控制参数，用于跟随目标速度 */
|
||||
KPID_Params_t fric_err; /* 摩擦轮电机PID控制参数，用于消除转速误差 */
|
||||
KPID_Params_t trig; /* 拨弹电机PID控制参数 */
|
||||
|
||||
|
||||
/* 低通滤波器截止频率 */
|
||||
struct {
|
||||
struct{
|
||||
float in; /* 反馈值滤波器 */
|
||||
float out; /* 输出值滤波器 */
|
||||
}fric;
|
||||
struct{
|
||||
float in; /* 反馈值滤波器 */
|
||||
float out; /* 输出值滤波器 */
|
||||
}trig;
|
||||
} filter;
|
||||
} Shoot_Params_t;
|
||||
|
||||
/*
|
||||
* 运行的主结构体，所有这个文件里的函数都在操作这个结构体
|
||||
* 包含了初始化参数，中间变量，输出变量
|
||||
*/
|
||||
typedef struct {
|
||||
bool online;
|
||||
|
||||
uint64_t lask_wakeup;
|
||||
float dt;
|
||||
|
||||
Shoot_Params_t *param; /* */
|
||||
/* 模块通用 */
|
||||
Shoot_State_t running_state; /* 运行状态机 */
|
||||
Shoot_Mode_t mode;
|
||||
/* 反馈信息 */
|
||||
Shoot_Feedback_t feedback;
|
||||
/* 控制信息*/
|
||||
Shoot_Output_t output;
|
||||
/* 目标控制量 */
|
||||
struct {
|
||||
float target_rpm; /* 目标摩擦轮转速 */
|
||||
float target_angle; /* 目标拨弹位置 */
|
||||
}target_variable;
|
||||
|
||||
/* 反馈控制用的PID */
|
||||
struct {
|
||||
KPID_t fric_follow[SHOOT_FRIC_NUM]; /* */
|
||||
KPID_t fric_err[SHOOT_FRIC_NUM]; /* */
|
||||
KPID_t trig;
|
||||
} pid;
|
||||
|
||||
/* 滤波器 */
|
||||
struct {
|
||||
struct{
|
||||
LowPassFilter2p_t in[SHOOT_FRIC_NUM]; /* 反馈值滤波器 */
|
||||
LowPassFilter2p_t out[SHOOT_FRIC_NUM]; /* 输出值滤波器 */
|
||||
}fric;
|
||||
struct{
|
||||
LowPassFilter2p_t in; /* 反馈值滤波器 */
|
||||
LowPassFilter2p_t out; /* 输出值滤波器 */
|
||||
}trig;
|
||||
} filter;
|
||||
|
||||
float errtosee; /*调试用*/
|
||||
|
||||
} Shoot_t;
|
||||
|
||||
/* Exported functions prototypes -------------------------------------------- */
|
||||
|
||||
/**
|
||||
* \brief 初始化发射
|
||||
*
|
||||
* \param c 包含发射数据的结构体
|
||||
* \param param 包含发射参数的结构体指针
|
||||
* \param target_freq 任务预期的运行频率
|
||||
*
|
||||
* \return 函数运行结果
|
||||
*/
|
||||
int8_t Shoot_Init(Shoot_t *c, Shoot_Params_t *param, float target_freq);
|
||||
|
||||
/**
|
||||
* \brief 更新反馈
|
||||
*
|
||||
* \param c 包含发射数据的结构体
|
||||
*
|
||||
* \return 函数运行结果
|
||||
*/
|
||||
int8_t Chassis_UpdateFeedback(Shoot_t *c);
|
||||
|
||||
/**
|
||||
* \brief 初始化发射
|
||||
*
|
||||
* \param c 包含发射数据的结构体
|
||||
* \param cmd 包含发射命令的结构体
|
||||
*
|
||||
* \return 函数运行结果
|
||||
*/
|
||||
int8_t Shoot_Control(Shoot_t *c, const Shoot_CMD_t *cmd);
|
||||
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
// const Shoot_Params_t *param; /* 射击的参数，用Shoot_Init设定 */
|
||||
// Shoot_FireCtrl_t fire_ctrl;
|
||||
// /* 模块通用 */
|
||||
// Shoot_Mode_t mode; /* 当前模式 */
|
||||
|
||||
// /* 反馈信息 */
|
||||
// struct {
|
||||
// MOTOR_Feedback_t fric[2]; /* 摩擦轮电机反馈 */
|
||||
// MOTOR_Feedback_t trig; /* 拨弹电机反馈 */
|
||||
// } feedback;
|
||||
|
||||
// /* PID计算的目标值 */
|
||||
// struct {
|
||||
// float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */
|
||||
// float trig_angle; /* 拨弹电机角度，单位：弧度 */
|
||||
// } setpoint;
|
||||
|
||||
// /* 反馈控制用的PID */
|
||||
// struct {
|
||||
// KPID_t fric[2]; /* 控制摩擦轮 */
|
||||
// KPID_t trig; /* 控制拨弹电机 */
|
||||
// } pid;
|
||||
|
||||
// /* 过滤器 */
|
||||
// struct {
|
||||
// /* 反馈值滤波器 */
|
||||
// struct {
|
||||
// LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
|
||||
// LowPassFilter2p_t trig; /* 过滤拨弹电机 */
|
||||
// } in;
|
||||
|
||||
// /* 输出值滤波器 */
|
||||
// struct {
|
||||
// LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
|
||||
// LowPassFilter2p_t trig; /* 过滤拨弹电机 */
|
||||
// } out;
|
||||
// } filter;
|
||||
|
||||
// } Shoot_t;
|
||||
|
||||
// /* Exported functions prototypes -------------------------------------------- */
|
||||
|
||||
// /**
|
||||
// * \brief 初始化射击
|
||||
// *
|
||||
// * \param s 包含射击数据的结构体
|
||||
// * \param param 包含射击参数的结构体指针
|
||||
// * \param target_freq 任务预期的运行频率
|
||||
// *
|
||||
// * \return 函数运行结果
|
||||
// */
|
||||
// int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq);
|
||||
|
||||
// /**
|
||||
// * \brief 更新射击的反馈信息
|
||||
// *
|
||||
// * \param s 包含射击数据的结构体
|
||||
// * \param can CAN设备结构体
|
||||
// *
|
||||
// * \return 函数运行结果
|
||||
// */
|
||||
// int8_t Shoot_UpdateFeedback(Shoot_t *s);
|
||||
|
||||
// /**
|
||||
// * \brief 运行射击控制逻辑
|
||||
// *
|
||||
// * \param s 包含射击数据的结构体
|
||||
// * \param s_cmd 射击控制指令
|
||||
// * \param s_ref 裁判系统数据
|
||||
// * \param dt_sec 两次调用的时间间隔
|
||||
// *
|
||||
// * \return 函数运行结果
|
||||
// */
|
||||
// int8_t Shoot_Control(Shoot_t *s,Shoot_CMD_t *s_cmd);
|
||||
|
||||
// /**
|
||||
// * \brief 射击输出值
|
||||
// *
|
||||
// * \param s 包含射击数据的结构体
|
||||
// * \param out CAN设备射击输出结构体
|
||||
// */
|
||||
// void Shoot_Output(Shoot_t *s);
|
||||
|
||||
|
||||
// #ifdef __cplusplus
|
||||
// }
|
||||
// #endif
|
||||
|
||||
@ -4,9 +4,11 @@
|
||||
*/
|
||||
|
||||
/* Includes ----------------------------------------------------------------- */
|
||||
#include "cmsis_os2.h"
|
||||
#include "task/user_task.h"
|
||||
/* USER INCLUDE BEGIN */
|
||||
|
||||
#include "module/shoot.h"
|
||||
#include "module/config.h"
|
||||
/* USER INCLUDE END */
|
||||
|
||||
/* Private typedef ---------------------------------------------------------- */
|
||||
@ -14,7 +16,8 @@
|
||||
/* Private macro ------------------------------------------------------------ */
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
/* USER STRUCT BEGIN */
|
||||
|
||||
Shoot_t shoot;
|
||||
Shoot_CMD_t shoot_cmd;
|
||||
/* USER STRUCT END */
|
||||
|
||||
/* Private function --------------------------------------------------------- */
|
||||
@ -30,13 +33,15 @@ void Task_ctrl_shoot(void *argument) {
|
||||
|
||||
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
||||
/* USER CODE INIT BEGIN */
|
||||
|
||||
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,CTRL_SHOOT_FREQ);
|
||||
/* USER CODE INIT END */
|
||||
|
||||
while (1) {
|
||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||
/* USER CODE BEGIN */
|
||||
|
||||
osMessageQueueGet(task_runtime.msgq.shoot.shoot_cmd, &shoot_cmd, NULL, 0);
|
||||
Chassis_UpdateFeedback(&shoot);
|
||||
Shoot_Control(&shoot,&shoot_cmd);
|
||||
/* USER CODE END */
|
||||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||
}
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
#include "task/user_task.h"
|
||||
|
||||
/* USER INCLUDE BEGIN */
|
||||
|
||||
#include "module/shoot.h"
|
||||
/* USER INCLUDE END */
|
||||
|
||||
/* Private typedef ---------------------------------------------------------- */
|
||||
@ -40,6 +40,7 @@ void Task_Init(void *argument) {
|
||||
// 创建消息队列
|
||||
/* USER MESSAGE BEGIN */
|
||||
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
|
||||
task_runtime.msgq.shoot.shoot_cmd=osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
|
||||
/* USER MESSAGE END */
|
||||
|
||||
osKernelUnlock(); // 解锁内核
|
||||
|
||||
@ -4,9 +4,12 @@
|
||||
*/
|
||||
|
||||
/* Includes ----------------------------------------------------------------- */
|
||||
#include "cmsis_os2.h"
|
||||
#include "task/user_task.h"
|
||||
/* USER INCLUDE BEGIN */
|
||||
#include "device/dr16.h"
|
||||
#include "module/shoot.h"
|
||||
#include <stdbool.h>
|
||||
/* USER INCLUDE END */
|
||||
|
||||
/* Private typedef ---------------------------------------------------------- */
|
||||
@ -15,6 +18,7 @@
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
/* USER STRUCT BEGIN */
|
||||
DR16_t dr16;
|
||||
Shoot_CMD_t for_shoot;
|
||||
/* USER STRUCT END */
|
||||
|
||||
/* Private function --------------------------------------------------------- */
|
||||
@ -37,6 +41,27 @@ void Task_rc(void *argument) {
|
||||
} else {
|
||||
DR16_Offline(&dr16);
|
||||
}
|
||||
for_shoot.online = dr16.header.online;
|
||||
switch (dr16.data.sw_r) {
|
||||
case CMD_SW_UP:
|
||||
for_shoot.ready = false;
|
||||
for_shoot.firecmd = false;
|
||||
break;
|
||||
case CMD_SW_MID:
|
||||
for_shoot.ready = true;
|
||||
for_shoot.firecmd = false;
|
||||
break;
|
||||
case CMD_SW_DOWN:
|
||||
for_shoot.ready = true;
|
||||
for_shoot.firecmd = true;
|
||||
break;
|
||||
default:
|
||||
for_shoot.ready = false;
|
||||
for_shoot.firecmd = false;
|
||||
break;
|
||||
}
|
||||
osMessageQueueReset(task_runtime.msgq.shoot.shoot_cmd);
|
||||
osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd, &for_shoot, 0, 0);
|
||||
/* USER CODE END */
|
||||
}
|
||||
|
||||
|
||||
@ -46,6 +46,9 @@ typedef struct {
|
||||
/* USER MESSAGE BEGIN */
|
||||
struct {
|
||||
osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
|
||||
struct {
|
||||
osMessageQueueId_t shoot_cmd; /* 发射命令队列 */
|
||||
}shoot;
|
||||
} msgq;
|
||||
/* USER MESSAGE END */
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user