1.0
### uVision Project, (C) Keil Software
*.c
*.s*; *.src; *.a*
*.obj; *.o
*.lib
*.txt; *.h; *.inc; *.md
*.plm
*.cpp
0
0
0
zzzzh
0x4
ARM-ADS
12000000
1
1
0
1
0
1
65535
0
0
0
79
66
8
1
1
1
0
1
1
0
1
0
0
0
0
1
1
1
1
1
1
1
0
0
1
0
1
18
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
1
5
STLink\ST-LINKIII-KEIL_SWO.dll
0
DLGDARM
(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)
0
ARMRTXEVENTFLAGS
-L70 -Z18 -C0 -M0 -T1
0
DLGTARM
(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)
0
ARMDBGFLAGS
-T0
0
CMSIS_AGDI
-X"Any" -UAny -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
0
DLGUARM
(105=-1,-1,-1,-1,0)
0
UL2CM3
UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))
0
ST-LINKIII-KEIL_SWO
-U16004A002933353739303541 -O2254 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
0
1
dr16,0x0A
1
1
bmi088,0x0A
2
1
imu_eulr,0x0A
3
1
imu_temp_pid_param
0
2
dr16,0x0A
1
2
chassis_fb
2
2
cmd_to_chassis
3
2
chassis
4
2
\\zzzzh\../User/task/test.c\chassis.limit
0
0
1
1
0
0
0
0
1
0
0
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
1
0
2
10000000
Application/MDK-ARM
0
0
0
0
1
1
2
0
0
0
startup_stm32f407xx.s
startup_stm32f407xx.s
0
0
Application/User/Core
0
0
0
0
2
2
1
0
0
0
../Core/Src/main.c
main.c
0
0
2
3
1
0
0
0
../Core/Src/gpio.c
gpio.c
0
0
2
4
1
0
0
0
../Core/Src/freertos.c
freertos.c
0
0
2
5
1
0
0
0
../Core/Src/can.c
can.c
0
0
2
6
1
0
0
0
../Core/Src/dma.c
dma.c
0
0
2
7
1
0
0
0
../Core/Src/spi.c
spi.c
0
0
2
8
1
0
0
0
../Core/Src/tim.c
tim.c
0
0
2
9
1
0
0
0
../Core/Src/usart.c
usart.c
0
0
2
10
1
0
0
0
../Core/Src/stm32f4xx_it.c
stm32f4xx_it.c
0
0
2
11
1
0
0
0
../Core/Src/stm32f4xx_hal_msp.c
stm32f4xx_hal_msp.c
0
0
Drivers/STM32F4xx_HAL_Driver
0
0
0
0
3
12
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
stm32f4xx_hal_can.c
0
0
3
13
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
stm32f4xx_hal_rcc.c
0
0
3
14
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
stm32f4xx_hal_rcc_ex.c
0
0
3
15
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c
stm32f4xx_hal_flash.c
0
0
3
16
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c
stm32f4xx_hal_flash_ex.c
0
0
3
17
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
stm32f4xx_hal_flash_ramfunc.c
0
0
3
18
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c
stm32f4xx_hal_gpio.c
0
0
3
19
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c
stm32f4xx_hal_dma_ex.c
0
0
3
20
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c
stm32f4xx_hal_dma.c
0
0
3
21
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c
stm32f4xx_hal_pwr.c
0
0
3
22
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c
stm32f4xx_hal_pwr_ex.c
0
0
3
23
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
stm32f4xx_hal_cortex.c
0
0
3
24
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
stm32f4xx_hal.c
0
0
3
25
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
stm32f4xx_hal_exti.c
0
0
3
26
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c
stm32f4xx_hal_spi.c
0
0
3
27
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
stm32f4xx_hal_tim.c
0
0
3
28
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
stm32f4xx_hal_tim_ex.c
0
0
3
29
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
stm32f4xx_hal_uart.c
0
0
Drivers/CMSIS
0
0
0
0
4
30
1
0
0
0
../Core/Src/system_stm32f4xx.c
system_stm32f4xx.c
0
0
Middlewares/FreeRTOS
0
0
0
0
5
31
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
croutine.c
0
0
5
32
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
event_groups.c
0
0
5
33
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/list.c
list.c
0
0
5
34
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/queue.c
queue.c
0
0
5
35
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
stream_buffer.c
0
0
5
36
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
tasks.c
0
0
5
37
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/timers.c
timers.c
0
0
5
38
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
cmsis_os2.c
0
0
5
39
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
heap_4.c
0
0
5
40
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
port.c
0
0
User/bsp
0
0
0
0
6
41
5
0
0
0
..\User\bsp\bsp.h
bsp.h
0
0
6
42
1
0
0
0
..\User\bsp\can.c
can.c
0
0
6
43
5
0
0
0
..\User\bsp\can.h
can.h
0
0
6
44
1
0
0
0
..\User\bsp\dwt.c
dwt.c
0
0
6
45
5
0
0
0
..\User\bsp\dwt.h
dwt.h
0
0
6
46
1
0
0
0
..\User\bsp\gpio.c
gpio.c
0
0
6
47
5
0
0
0
..\User\bsp\gpio.h
gpio.h
0
0
6
48
1
0
0
0
..\User\bsp\mm.c
mm.c
0
0
6
49
5
0
0
0
..\User\bsp\mm.h
mm.h
0
0
6
50
1
0
0
0
..\User\bsp\pwm.c
pwm.c
0
0
6
51
5
0
0
0
..\User\bsp\pwm.h
pwm.h
0
0
6
52
1
0
0
0
..\User\bsp\time.c
time.c
0
0
6
53
5
0
0
0
..\User\bsp\time.h
time.h
0
0
6
54
1
0
0
0
..\User\bsp\uart.c
uart.c
0
0
6
55
5
0
0
0
..\User\bsp\uart.h
uart.h
0
0
6
56
1
0
0
0
..\User\bsp\spi.c
spi.c
0
0
6
57
5
0
0
0
..\User\bsp\spi.h
spi.h
0
0
User/component
1
0
0
0
7
58
1
0
0
0
..\User\component\filter.c
filter.c
0
0
7
59
5
0
0
0
..\User\component\filter.h
filter.h
0
0
7
60
1
0
0
0
..\User\component\pid.c
pid.c
0
0
7
61
5
0
0
0
..\User\component\pid.h
pid.h
0
0
7
62
1
0
0
0
..\User\component\user_math.c
user_math.c
0
0
7
63
5
0
0
0
..\User\component\user_math.h
user_math.h
0
0
7
64
1
0
0
0
..\User\component\ahrs.c
ahrs.c
0
0
7
65
5
0
0
0
..\User\component\ahrs.h
ahrs.h
0
0
7
66
1
0
0
0
..\User\component\LIGHTBRIDGE2_cmd.c
LIGHTBRIDGE2_cmd.c
0
0
7
67
5
0
0
0
..\User\component\LIGHTBRIDGE2_cmd.h
LIGHTBRIDGE2_cmd.h
0
0
User/device
1
0
0
0
8
68
1
0
0
0
..\User\device\buzzer.c
buzzer.c
0
0
8
69
5
0
0
0
..\User\device\buzzer.h
buzzer.h
0
0
8
70
5
0
0
0
..\User\device\device.h
device.h
0
0
8
71
1
0
0
0
..\User\device\dm_imu.c
dm_imu.c
0
0
8
72
5
0
0
0
..\User\device\dm_imu.h
dm_imu.h
0
0
8
73
1
0
0
0
..\User\device\led.c
led.c
0
0
8
74
5
0
0
0
..\User\device\led.h
led.h
0
0
8
75
1
0
0
0
..\User\device\motor_dm.c
motor_dm.c
0
0
8
76
5
0
0
0
..\User\device\motor_dm.h
motor_dm.h
0
0
8
77
1
0
0
0
..\User\device\motor_rm.c
motor_rm.c
0
0
8
78
5
0
0
0
..\User\device\motor_rm.h
motor_rm.h
0
0
8
79
1
0
0
0
..\User\device\rc_can.c
rc_can.c
0
0
8
80
5
0
0
0
..\User\device\rc_can.h
rc_can.h
0
0
8
81
1
0
0
0
..\User\device\bmi088.c
bmi088.c
0
0
8
82
5
0
0
0
..\User\device\bmi088.h
bmi088.h
0
0
8
83
1
0
0
0
..\User\device\LIGHTBRIDGE2.c
LIGHTBRIDGE2.c
0
0
8
84
5
0
0
0
..\User\device\LIGHTBRIDGE2.h
LIGHTBRIDGE2.h
0
0
User/module
1
0
0
0
9
85
1
0
0
0
..\User\module\config.c
config.c
0
0
9
86
5
0
0
0
..\User\module\config.h
config.h
0
0
9
87
1
0
0
0
..\User\module\shoot_control.c
shoot_control.c
0
0
9
88
5
0
0
0
..\User\module\shoot_control.h
shoot_control.h
0
0
9
89
1
0
0
0
..\User\module\gimbal.c
gimbal.c
0
0
9
90
5
0
0
0
..\User\module\gimbal.h
gimbal.h
0
0
User/task
1
0
0
0
10
91
1
0
0
0
..\User\task\atti_esti.c
atti_esti.c
0
0
10
92
1
0
0
0
..\User\task\init.c
init.c
0
0
10
93
1
0
0
0
..\User\task\user_task.c
user_task.c
0
0
10
94
5
0
0
0
..\User\task\user_task.h
user_task.h
0
0
10
95
1
0
0
0
..\User\task\cmd.c
cmd.c
0
0
10
96
1
0
0
0
..\User\task\rc.c
rc.c
0
0
10
97
1
0
0
0
..\User\task\gimbal_test.c
gimbal_test.c
0
0
10
98
1
0
0
0
..\User\task\shoot_test.c
shoot_test.c
0
0
::CMSIS
0
0
0
1