From 08f5a8043aae755f2eff7c5ad97c174a2c51d92b Mon Sep 17 00:00:00 2001 From: zxy Date: Sat, 1 Nov 2025 21:18:47 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=BA=86=E4=B8=80=E4=B8=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/zzzzh.uvguix.Ryan | 100 ++++++++++++++++++------------ MDK-ARM/zzzzh/chassis.o | Bin 20768 -> 20768 bytes MDK-ARM/zzzzh/config.o | Bin 5876 -> 5876 bytes MDK-ARM/zzzzh/zzzzh.axf | Bin 527092 -> 527092 bytes MDK-ARM/zzzzh/zzzzh.build_log.htm | 6 +- MDK-ARM/zzzzh/zzzzh.hex | 6 +- MDK-ARM/zzzzh/zzzzh.htm | 2 +- MDK-ARM/zzzzh/zzzzh_zzzzh.dep | 20 +++--- User/module/chassis.c | 1 - User/module/config.c | 24 ++++--- 10 files changed, 85 insertions(+), 74 deletions(-) diff --git a/MDK-ARM/zzzzh.uvguix.Ryan b/MDK-ARM/zzzzh.uvguix.Ryan index a740ea0..5cdc2a9 100644 --- a/MDK-ARM/zzzzh.uvguix.Ryan +++ b/MDK-ARM/zzzzh.uvguix.Ryan @@ -83,25 +83,25 @@ 2 3 - -32000 - -32000 + -1 + -1 -1 -1 - 523 - 192 - 1292 - 1405 + 59 + 248 + 1348 + 941 0 - 1031 - 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 + 1181 + 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 @@ -140,7 +140,7 @@ 0 16 - 0300000066000000BD00000082020000 + 0300000066000000BD0000009D020000 16 @@ -160,7 +160,7 @@ 0 16 - 0300000066000000BD00000082020000 + 0300000066000000BD0000009D020000 16 @@ -440,7 +440,7 @@ 0 16 - 0300000066000000BD00000082020000 + 0300000066000000BD0000009D020000 16 @@ -460,7 +460,7 @@ 0 16 - 0300000066000000BD00000082020000 + 0300000066000000BD0000009D020000 16 @@ -480,7 +480,7 @@ 0 16 - 03000000B6020000FD0500007D030000 + 03000000D1020000FD0500007D030000 16 @@ -520,7 +520,7 @@ 0 16 - 03000000B6020000FD0500007D030000 + 03000000D1020000FD0500007D030000 16 @@ -1120,7 +1120,7 @@ 0 16 - 0300000066000000BD000000F9020000 + 0300000066000000BD0000009D020000 16 @@ -1140,7 +1140,7 @@ 0 16 - 03000000B6020000FD05000006030000 + 03000000D1020000FD0500007D030000 16 @@ -1160,7 +1160,7 @@ 0 16 - 03000000B6020000FD05000006030000 + 03000000D1020000FD0500007D030000 16 @@ -1220,7 +1220,7 @@ 0 16 - 03000000B6020000FD05000006030000 + 03000000D1020000FD0500007D030000 16 @@ -1240,7 +1240,7 @@ 0 16 - 03000000B6020000FD05000006030000 + 03000000D1020000FD0500007D030000 16 @@ -1749,14 +1749,14 @@ 3236 - 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 + 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 59392 File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uild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ebug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ser\module\chassis.c - 0 - 268 - 300 + 81 + 196 + 229 1 0 ..\User\module\config.c - 0 - 77 - 108 + 26 + 63 + 91 1 0 ..\User\module\chassis.h - 1 - 1 - 233 + 23 + 169 + 192 1 0 ..\User\task\test.c - 87 - 30 + 35 + 28 51 1 @@ -1860,9 +1860,9 @@ ..\User\task\init.c - 50 - 14 - 45 + 24 + 12 + 42 1 0 @@ -1879,7 +1879,7 @@ ..\User\task\user_task.h 17 - 25 + 44 45 1 @@ -1906,12 +1906,30 @@ ..\User\task\yaokongqi.c 48 - 37 + 35 68 1 0 + + ..\User\component\pid.h + 20 + 28 + 49 + 1 + + 0 + + + ..\User\component\pid.c + 21 + 55 + 61 + 1 + + 0 + diff --git a/MDK-ARM/zzzzh/chassis.o b/MDK-ARM/zzzzh/chassis.o index 94cab8aa0691eb5c059952ccc1a65e1273a5d8cb..c425950246e637a383b148e70930436e711983e0 100644 GIT binary patch delta 843 zcmY*VO-NKx6u$Qz&w2B-QHq&Ro1vLTpRbr^#9T<&-y*7KLJ^1tfvabmHsN+AGzudy z>h>S$WYH$da*86NRsXb}s1^|snT2K0B1q`m_k2PZ?&W;v`?>d?(u6Ec$lK{y>cZcM z5H*5Vb8=spaX**!3`E7!DlApG>j=1*Kotd6a`N|&wMYzjM~xC8XqkV z6a1DQc8~|hnOR3LuSQ$e9?~-Y)M0}o=L;1h``^z-42f2C7pB_$ar`Q{*hp|fi{}a+ zIs_+;99lf7A53KlMj0k4hYdNz9PLKg&QAT;^HrSPV_ azKNg2#y2eF>0dM4!1yjOUM&wf70i{1k&cqmfQYH2TmP{cR8-GT!%yzhNKGxMfr<@BtqCc^Q% z>xK}Gf|s$XPF{5X2nn&pEi1L7;k-Uvm1CL^QU~cO1XZsx*3+ACoFnwnO}NIPyINT? z!1~iFb3Qu3Y>HbV*2`zBYQCI|c4Xf+Ghx(x?>iU1_u+zqBGwcTqDxs8owLznBj44l z13jGcinnoC#VU5$H4pjlr-I%`ez-Y8#FcJ{w>+;Z3Q8#xW#15V)}k%Po247Soq3aY z`@BzYm1;6PuM>PERV8SLC+_3g=H0&Fi+4JMvDO1gmH*lAC8e5M<0uO^>>ZvxywPd@ z<4aSusn`>}=@cT_uvE0Mjo_YhE_EoPfFyV%OIm}FvVjD;CV1*ROPSfc-9TtS#3uMq z%%M*3T-FH|iWPzvvVvjwRjlJ~xGilAz_O#8BcTb&>NlJlC3x*zF#C)-1{VoFIdf)L zXpwUgFw2I6@Woj%_jJ$5I$AK6BY4b0Bv@jyg-RH=aW6M)jMJd|^fL3q#P^)+>}t7Q zED`*cIqanzTw`WG!C&V_=e|oy#-F;ZapZcTuBHF`*@PxB5bVczx0|_EurWe#ONmzt zIkX5SwG0M$QY%cQ32risQ3l&Gh#5MAvWMWS=PGMC4CS)~-#qCZC3UV?+njzYn4a-( c%Bq|ANo=gMkf;ApvpwTS&-kD=ZcSPL0GB?J5dZ)H diff --git a/MDK-ARM/zzzzh/config.o b/MDK-ARM/zzzzh/config.o index 169e0589304df14a08740da45877288eac98a165..c36a25cceab0cebc129a7ef1485de1fd11c282fe 100644 GIT binary patch delta 32 ocmeyO`$cy`&cq&xi7hIO3>#ObvN2|E=4W5R#Q0+K7ET9V0NOqa@&Et; delta 38 scmeyO`$cy`4hPqDWg8HlSYpD+vTS&1*j;X!LnQ@G1M$Co8D6FI+8+4 zfg$>QeV7=9ErN^+rdqVJA`se5R7BVZIT}S_i$bAu<~bM6q#X-QIKayrdYmYDeB5SLNs&HianWtLp`f}a!;aC=t~s(C&GIfUn^AqCE3Sv zon_f+{>>MRgfNm-LZ6|4-eo?m2LJ*Gar1MFp>)3@zBr? z(`T>f^pS(lfd>h^$ndEmylWd42AA-H-uK)yz&$g?o&n%-miAG8+p(s>vE&k74YS0a z=jZfwaQAgi3{9DeF@s(lF&d z+AyV|oC{o`d`jV(ohK{bL}o`le2|#3mmq#&phe6F!Ke9P5rmIA$s|$e zugnW21EUmrX%VrchaQR&3VK^q6eMCyD-t9qBsyo)3*Y5__k8C&_nf<(vbIxJW;A8G z-#0}Wvy-U~a6Dd4EvBv8JEjmNf|fZ8LZ}+Td`t;ZTF%FGcDw_Iobe2d7(#$^ku;a9 zD3G~A-1&}ZCF?Sm$isvk`clC4&^-b@VkCEjfi((>!S} za2NjU=PoEg7@o?QwmeK1 zwzO1Fp#e?txT0ElvhrR{PAL2h3E8O?egn3a=BbQ(;*XmNKk*C3GlUD`sgU zAw5G8h2M(OIhJaF5clcL7IcRe_G(4A7Cnkmb0npIxNq3S)DOkfd%7WrJFqcT---kW NK@wE9zSWug`X61IvEl## diff --git a/MDK-ARM/zzzzh/zzzzh.build_log.htm b/MDK-ARM/zzzzh/zzzzh.build_log.htm index 8674273..8353851 100644 --- a/MDK-ARM/zzzzh/zzzzh.build_log.htm +++ b/MDK-ARM/zzzzh/zzzzh.build_log.htm @@ -27,10 +27,6 @@ Project File Date: 10/28/2025

Output:

*** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin' Build target 'zzzzh' -compiling test.c... -linking... -Program Size: Code=37444 RO-data=688 RW-data=156 ZI-data=24380 -FromELF: creating hex file... "zzzzh\zzzzh.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -54,7 +50,7 @@ Package Vendor: Keil

Collection of Component Files used:

* Component: ARM::CMSIS:CORE:5.0.1 -Build Time Elapsed: 00:00:02 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/zzzzh/zzzzh.hex b/MDK-ARM/zzzzh/zzzzh.hex index c28f108..8977e80 100644 --- a/MDK-ARM/zzzzh/zzzzh.hex +++ b/MDK-ARM/zzzzh/zzzzh.hex @@ -2386,11 +2386,11 @@ :10950000000000000000000001000000100000004A :10951000000000000024F40000000102010001002E :10952000000002020100010000000302010001002E -:1095300000000402010001006F12833A0AD7233CA5 -:109540000AD7233C000000000000803F0000803F5D +:1095300000000402010001006F12833A0000803F26 +:1095400000000000000000000000803F0000803F9D :10955000000080BF000080BF0000003F0000803F8F :1095600000000000000000000000803F0000803F7D -:10957000000080BFDB0FC94004000000000048422B +:10957000000080BFDB0FC94000000000000048422F :109580000000484201000000000040400000404050 :109590000000004000007A46AAAAAAAA0000000023 :040000050800018965 diff --git a/MDK-ARM/zzzzh/zzzzh.htm b/MDK-ARM/zzzzh/zzzzh.htm index b13caf0..3c3b7f3 100644 --- a/MDK-ARM/zzzzh/zzzzh.htm +++ b/MDK-ARM/zzzzh/zzzzh.htm @@ -3,7 +3,7 @@ Static Call Graph - [zzzzh\zzzzh.axf]

Static Call Graph for image zzzzh\zzzzh.axf

-

#<CALLGRAPH># ARM Linker, 6070001: Last Updated: Tue Oct 28 22:00:46 2025 +

#<CALLGRAPH># ARM Linker, 6070001: Last Updated: Sat Nov 1 21:17:55 2025

Maximum Stack Usage = 288 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

diff --git a/MDK-ARM/zzzzh/zzzzh_zzzzh.dep b/MDK-ARM/zzzzh/zzzzh_zzzzh.dep index 301907e..8320d1c 100644 --- a/MDK-ARM/zzzzh/zzzzh_zzzzh.dep +++ b/MDK-ARM/zzzzh/zzzzh_zzzzh.dep @@ -133,7 +133,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68C65D I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (..\User\task\user_task.h)(0x6900CBEC) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\User\bsp\bsp.h)(0x68EE5C62) @@ -1963,10 +1963,10 @@ I (D:\keil\ARM\ARMCLANG\include\stdbool.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\string.h)(0x588CAFD2) -F (..\User\module\config.c)(0x6900C8BE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/config.o -MD) +F (..\User\module\config.c)(0x69060879)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/config.o -MD) I (..\User\module\config.h)(0x68DCDCE8) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) I (..\User\bsp\can.h)(0x68EE5C62) @@ -2025,7 +2025,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62) I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\device.h)(0x68EE5C63) -F (..\User\module\chassis.c)(0x6900CBEC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD) +F (..\User\module\chassis.c)(0x6901FB4E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) @@ -2083,7 +2083,7 @@ I (D:\keil\ARM\ARMCLANG\include\math.h)(0x58A47FFE) I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\device.h)(0x68EE5C63) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\component\filter.h)(0x68EE5C62) I (..\User\component\mixer.h)(0x68EE5C62) I (..\User\component\pid.h)(0x68EE5C62) @@ -2102,7 +2102,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) @@ -2166,7 +2166,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) @@ -2214,7 +2214,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62) I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\device.h)(0x68EE5C63) -F (..\User\task\test.c)(0x6900CC8C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/test.o -MD) +F (..\User\task\test.c)(0x6901FB4E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/test.o -MD) I (..\User\task\user_task.h)(0x6900CBEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) @@ -2229,7 +2229,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) @@ -2293,7 +2293,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) diff --git a/User/module/chassis.c b/User/module/chassis.c index 37ac26e..082d908 100644 --- a/User/module/chassis.c +++ b/User/module/chassis.c @@ -149,7 +149,6 @@ int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param, */ int8_t Chassis_UpdateFeedback(Chassis_t *c) { - //¸üÐÂËùÓеç»ú·´À¡ for (uint8_t i = 0; i < c->num_wheel; i++) { MOTOR_RM_Update(&(c->param->motor_param[i])); diff --git a/User/module/config.c b/User/module/config.c index de91526..f02f84f 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -19,8 +19,8 @@ /* Exported variables ------------------------------------------------------- */ Config_RobotParam_t robot_config = { - .chassis_param = { - /* ??3508???? */ +.chassis_param = { + /* DJI3508µç»ú*/ .motor_param = { { .can = BSP_CAN_1, @@ -51,14 +51,14 @@ Config_RobotParam_t robot_config = { .gear = true }, }, - .type = CHASSIS_TYPE_OMNI_PLUS, - /* PID ?? */ + .type = CHASSIS_TYPE_MECANUM, + /* PID */ .pid = { - /* ????/??? PID */ + /* µ×Å̵ç»ú PID */ .motor_pid_param = { .k = 0.001f, - .p = 0.01f, - .i = 0.01f, + .p = 1.0f, + .i = 0.0f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, @@ -66,7 +66,7 @@ Config_RobotParam_t robot_config = { .range = -1.0f, }, - /* ?????????? */ + /* ¸úËæ */ .follow_pid_param = { .k = 0.5f, .p = 1.0f, @@ -79,21 +79,19 @@ Config_RobotParam_t robot_config = { }, }, - /* ??/?????? */ .low_pass_cutoff_freq = { .in = 50.0f, .out = 50.0f, }, - /* ???? */ .reverse = { .yaw = true, }, .limit = { - .max_vx = 3.0f, // ????????????? + .max_vx = 3.0f, .max_vy = 3.0f, - .max_wz = 2.0f, // rad/s ??? - .max_current = 16000.0f // ???????????(DJI ?? ±16384) + .max_wz = 2.0f, + .max_current = 16000.0f }, }, };