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修改了一下

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zxy 2025-11-01 21:18:47 +08:00
parent 252ddc04df
commit 08f5a8043a
10 changed files with 85 additions and 74 deletions
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100
MDK-ARM/zzzzh.uvguix.Ryan
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MDK-ARM/zzzzh/chassis.o
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MDK-ARM/zzzzh/config.o
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MDK-ARM/zzzzh/zzzzh.axf
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6
MDK-ARM/zzzzh/zzzzh.build_log.htm
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@ -27,10 +27,6 @@ Project File Date: 10/28/2025
<h2>Output:</h2> <h2>Output:</h2>
*** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin' *** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin'
Build target 'zzzzh' 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). "zzzzh\zzzzh.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2> <h2>Software Packages used:</h2>
@ -54,7 +50,7 @@ Package Vendor: Keil
<h2>Collection of Component Files used:</h2> <h2>Collection of Component Files used:</h2>
* Component: ARM::CMSIS:CORE:5.0.1 * Component: ARM::CMSIS:CORE:5.0.1
Build Time Elapsed: 00:00:02 Build Time Elapsed: 00:00:01
</pre> </pre>
</body> </body>
</html> </html>

6
MDK-ARM/zzzzh/zzzzh.hex
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@ -2386,11 +2386,11 @@
:10950000000000000000000001000000100000004A :10950000000000000000000001000000100000004A
:10951000000000000024F40000000102010001002E :10951000000000000024F40000000102010001002E
:10952000000002020100010000000302010001002E :10952000000002020100010000000302010001002E
:1095300000000402010001006F12833A0AD7233CA5 :1095300000000402010001006F12833A0000803F26
:109540000AD7233C000000000000803F0000803F5D :1095400000000000000000000000803F0000803F9D
:10955000000080BF000080BF0000003F0000803F8F :10955000000080BF000080BF0000003F0000803F8F
:1095600000000000000000000000803F0000803F7D :1095600000000000000000000000803F0000803F7D
:10957000000080BFDB0FC94004000000000048422B :10957000000080BFDB0FC94000000000000048422F
:109580000000484201000000000040400000404050 :109580000000484201000000000040400000404050
:109590000000004000007A46AAAAAAAA0000000023 :109590000000004000007A46AAAAAAAA0000000023
:040000050800018965 :040000050800018965

2
MDK-ARM/zzzzh/zzzzh.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [zzzzh\zzzzh.axf]</title></head> <title>Static Call Graph - [zzzzh\zzzzh.axf]</title></head>
<body><HR> <body><HR>
<H1>Static Call Graph for image zzzzh\zzzzh.axf</H1><HR> <H1>Static Call Graph for image zzzzh\zzzzh.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6070001: Last Updated: Tue Oct 28 22:00:46 2025 <BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6070001: Last Updated: Sat Nov 1 21:17:55 2025
<BR><P> <BR><P>
<H3>Maximum Stack Usage = 288 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3> <H3>Maximum Stack Usage = 288 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3> Call chain for Maximum Stack Depth:</H3>

20
MDK-ARM/zzzzh/zzzzh_zzzzh.dep
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@ -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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (..\User\task\user_task.h)(0x6900CBEC) I (..\User\task\user_task.h)(0x6900CBEC)
I (..\User\module\config.h)(0x68DCDCE8) 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 (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\User\bsp\bsp.h)(0x68EE5C62) 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\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\string.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 (..\User\module\config.h)(0x68DCDCE8)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) 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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
I (..\User\bsp\can.h)(0x68EE5C62) 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_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63) 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 (..\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\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.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_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63) 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\filter.h)(0x68EE5C62)
I (..\User\component\mixer.h)(0x68EE5C62) I (..\User\component\mixer.h)(0x68EE5C62)
I (..\User\component\pid.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\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8) 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 (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28) 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\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8) 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 (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28) 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_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63) 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 (..\User\task\user_task.h)(0x6900CBEC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) 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\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\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8) 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 (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28) 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\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8) 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 (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28) I (..\Core\Inc\main.h)(0x68EE5A28)

1
User/module/chassis.c
View File

@ -149,7 +149,6 @@ int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
*/ */
int8_t Chassis_UpdateFeedback(Chassis_t *c) { int8_t Chassis_UpdateFeedback(Chassis_t *c) {
//更新所有电机反馈 //更新所有电机反馈
for (uint8_t i = 0; i < c->num_wheel; i++) { for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Update(&(c->param->motor_param[i])); MOTOR_RM_Update(&(c->param->motor_param[i]));

24
User/module/config.c
View File

@ -19,8 +19,8 @@
/* Exported variables ------------------------------------------------------- */ /* Exported variables ------------------------------------------------------- */
Config_RobotParam_t robot_config = { Config_RobotParam_t robot_config = {
.chassis_param = { .chassis_param = {
/* ??3508???? */ /* DJI3508电机*/
.motor_param = { .motor_param = {
{ {
.can = BSP_CAN_1, .can = BSP_CAN_1,
@ -51,14 +51,14 @@ Config_RobotParam_t robot_config = {
.gear = true .gear = true
}, },
}, },
.type = CHASSIS_TYPE_OMNI_PLUS, .type = CHASSIS_TYPE_MECANUM,
/* PID ?? */ /* PID */
.pid = { .pid = {
/* ????/??? PID */ /* 底盘电机 PID */
.motor_pid_param = { .motor_pid_param = {
.k = 0.001f, .k = 0.001f,
.p = 0.01f, .p = 1.0f,
.i = 0.01f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
.i_limit = 1.0f, .i_limit = 1.0f,
.out_limit = 1.0f, .out_limit = 1.0f,
@ -66,7 +66,7 @@ Config_RobotParam_t robot_config = {
.range = -1.0f, .range = -1.0f,
}, },
/* ?????????? */ /* 跟随 */
.follow_pid_param = { .follow_pid_param = {
.k = 0.5f, .k = 0.5f,
.p = 1.0f, .p = 1.0f,
@ -79,21 +79,19 @@ Config_RobotParam_t robot_config = {
}, },
}, },
/* ??/?????? */
.low_pass_cutoff_freq = { .low_pass_cutoff_freq = {
.in = 50.0f, .in = 50.0f,
.out = 50.0f, .out = 50.0f,
}, },
/* ???? */
.reverse = { .reverse = {
.yaw = true, .yaw = true,
}, },
.limit = { .limit = {
.max_vx = 3.0f, // ????????????? .max_vx = 3.0f,
.max_vy = 3.0f, .max_vy = 3.0f,
.max_wz = 2.0f, // rad/s ??? .max_wz = 2.0f,
.max_current = 16000.0f // ???????????(DJI ?? ±16384) .max_current = 16000.0f
}, },
}, },
}; };