1.0
### uVision Project, (C) Keil Software
*.c
*.s*; *.src; *.a*
*.obj; *.o
*.lib
*.txt; *.h; *.inc; *.md
*.plm
*.cpp
0
0
0
temp_control
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
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
0
DLGUARM
(105=-1,-1,-1,-1,0)
0
UL2CM3
UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM))
0
ST-LINKIII-KEIL_SWO
-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
0
1
rc_ctrl,0x0A
1
1
GM6020_data
2
1
GM6020_pos_loop_control
3
1
rx_header
4
1
motor_set_speed,0x0A
5
1
chassis_can_send_data,0x10
6
1
motor_data,0x0A
7
1
motor_pid,0x0A
8
1
chassis_can_send_data
9
1
PID
10
1
motor_pid,0x0A
11
1
v,0x0A
12
1
mul,0x0A
13
1
bmi088
14
1
rx_header,0x10
15
1
motor6020_param,0x10
16
1
gm6020_angle_pid
17
1
msg
18
1
my_motor
0
2
dr16,0x0A
1
2
\\temp_control\../User/task/chassis_control.c\dr16.header.online
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
System Viewer\USART3
35905
1
0
2
10000000
Application/MDK-ARM
1
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/i2c.c
i2c.c
0
0
2
8
1
0
0
0
../Core/Src/spi.c
spi.c
0
0
2
9
1
0
0
0
../Core/Src/tim.c
tim.c
0
0
2
10
1
0
0
0
../Core/Src/usart.c
usart.c
0
0
2
11
1
0
0
0
../Core/Src/stm32f4xx_it.c
stm32f4xx_it.c
0
0
2
12
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
13
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
stm32f4xx_hal_can.c
0
0
3
14
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
stm32f4xx_hal_rcc.c
0
0
3
15
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
stm32f4xx_hal_rcc_ex.c
0
0
3
16
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c
stm32f4xx_hal_flash.c
0
0
3
17
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c
stm32f4xx_hal_flash_ex.c
0
0
3
18
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
stm32f4xx_hal_flash_ramfunc.c
0
0
3
19
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c
stm32f4xx_hal_gpio.c
0
0
3
20
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c
stm32f4xx_hal_dma_ex.c
0
0
3
21
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c
stm32f4xx_hal_dma.c
0
0
3
22
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c
stm32f4xx_hal_pwr.c
0
0
3
23
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c
stm32f4xx_hal_pwr_ex.c
0
0
3
24
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
stm32f4xx_hal_cortex.c
0
0
3
25
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
stm32f4xx_hal.c
0
0
3
26
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
stm32f4xx_hal_exti.c
0
0
3
27
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
stm32f4xx_hal_i2c.c
0
0
3
28
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c
stm32f4xx_hal_i2c_ex.c
0
0
3
29
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c
stm32f4xx_hal_spi.c
0
0
3
30
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
stm32f4xx_hal_tim.c
0
0
3
31
1
0
0
0
../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
stm32f4xx_hal_tim_ex.c
0
0
3
32
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
33
1
0
0
0
../Core/Src/system_stm32f4xx.c
system_stm32f4xx.c
0
0
Middlewares/FreeRTOS
0
0
0
0
5
34
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
croutine.c
0
0
5
35
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
event_groups.c
0
0
5
36
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/list.c
list.c
0
0
5
37
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/queue.c
queue.c
0
0
5
38
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
stream_buffer.c
0
0
5
39
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
tasks.c
0
0
5
40
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/timers.c
timers.c
0
0
5
41
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
cmsis_os2.c
0
0
5
42
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
heap_4.c
0
0
5
43
1
0
0
0
../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
port.c
0
0
User/bsp
1
0
0
0
6
44
5
0
0
0
..\User\bsp\bsp.h
bsp.h
0
0
6
45
1
0
0
0
..\User\bsp\can.c
can.c
0
0
6
46
5
0
0
0
..\User\bsp\can.h
can.h
0
0
6
47
1
0
0
0
..\User\bsp\mm.c
mm.c
0
0
6
48
5
0
0
0
..\User\bsp\mm.h
mm.h
0
0
6
49
1
0
0
0
..\User\bsp\time.c
time.c
0
0
6
50
5
0
0
0
..\User\bsp\time.h
time.h
0
0
6
51
1
0
0
0
..\User\bsp\uart.c
uart.c
0
0
6
52
5
0
0
0
..\User\bsp\uart.h
uart.h
0
0
User/componet
0
0
0
0
7
53
5
0
0
0
..\User\component\user_math.h
user_math.h
0
0
7
54
1
0
0
0
..\User\component\user_math.c
user_math.c
0
0
7
55
5
0
0
0
..\User\component\pid.h
pid.h
0
0
7
56
1
0
0
0
..\User\component\pid.c
pid.c
0
0
7
57
5
0
0
0
..\User\component\mixer.h
mixer.h
0
0
7
58
1
0
0
0
..\User\component\mixer.c
mixer.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\filter.c
filter.c
0
0
7
61
5
0
0
0
..\User\component\cmd.h
cmd.h
0
0
7
62
1
0
0
0
..\User\component\cmd.c
cmd.c
0
0
7
63
5
0
0
0
..\User\component\ahrs.h
ahrs.h
0
0
7
64
1
0
0
0
..\User\component\ahrs.c
ahrs.c
0
0
User/device
1
0
0
0
8
65
5
0
0
0
..\User\device\device.h
device.h
0
0
8
66
1
0
0
0
..\User\device\dr16.c
dr16.c
0
0
8
67
5
0
0
0
..\User\device\dr16.h
dr16.h
0
0
8
68
1
0
0
0
..\User\device\motor.c
motor.c
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0
8
69
5
0
0
0
..\User\device\motor.h
motor.h
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0
8
70
1
0
0
0
..\User\device\motor_rm.c
motor_rm.c
0
0
8
71
5
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0
0
..\User\device\motor_rm.h
motor_rm.h
0
0
User/module
0
0
0
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9
72
1
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0
0
..\User\module\chassis.c
chassis.c
0
0
9
73
5
0
0
0
..\User\module\chassis.h
chassis.h
0
0
User/task
0
0
0
0
10
74
5
0
0
0
..\User\task\user_task.h
user_task.h
0
0
10
75
1
0
0
0
..\User\task\user_task.c
user_task.c
0
0
10
76
1
0
0
0
..\User\task\init.c
init.c
0
0
10
77
1
0
0
0
..\User\task\chassis_control.c
chassis_control.c
0
0
::CMSIS
0
0
0
1