我也不知道

.clangd

@@ -0,0 +1,11 @@
+CompileFlags:
+  Add:
+    - '-ferror-limit=0'
+    - '-Wno-implicit-int'
+  CompilationDatabase: build/Debug
+Diagnostics:
+  Suppress:
+    - unused-includes
+    - unknown_typename
+    - unknown_typename_suggest
+    - typename_requires_specqual

.gitignore

@@ -0,0 +1,3 @@
+build
+mx.scratch
+!.settings

.settings/bundles-lock.store.json

@@ -0,0 +1,147 @@
+{
+  "resolved": [
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "13.3.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "13.3.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "13.3.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32-13_3_1-description",
+      "version": "1.0.1+st.1",
+      "platform": "all",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32-13_3_1-description",
+          "version": ">=0.0.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.12.1+st.9",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.12.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.12.1+st.9",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.12.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.12.1+st.9",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.12.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "^19.1.2+st.3"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "^19.1.2+st.3"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "^19.1.2+st.3"
+        }
+      ]
+    }
+  ]
+}

.settings/bundles.store.json

@@ -0,0 +1,20 @@
+{
+  "bundles": [
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3"
+    },
+    {
+      "name": "ninja",
+      "version": "1.12.1+st.9"
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9"
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "^19.1.2+st.3"
+    }
+  ]
+}

.settings/ide.store.json

@@ -0,0 +1,6 @@
+{
+  "device": "STM32F407IGH6",
+  "core": "Cortex-M4",
+  "order": 0,
+  "toolchain": "GCC"
+}

.vscode/c_cpp_properties.json

@@ -0,0 +1,12 @@
+{
+    "configurations": [
+        {
+            "name": "STM32",
+            "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json",
+            "intelliSenseMode": "windows-msvc-x64",
+            "cStandard": "c17",
+            "cppStandard": "gnu++14"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -6,5 +6,18 @@
         "chassis.h": "c",
         "dr16.h": "c",
         "gpio.h": "c"
-    }
+    },
+    "cmake.cmakePath": "cube-cmake",
+    "cmake.configureArgs": [
+        "-DCMAKE_COMMAND=cube-cmake"
+    ],
+    "cmake.preferredGenerators": [
+        "Ninja"
+    ],
+    "stm32cube-ide-clangd.path": "cube",
+    "stm32cube-ide-clangd.arguments": [
+        "starm-clangd",
+        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe",
+        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe"
+    ]
 }

CMakeLists.txt

@@ -0,0 +1,119 @@
+cmake_minimum_required(VERSION 3.22)
+
+#
+# This file is generated only once,
+# and is not re-generated if converter is called multiple times.
+#
+# User is free to modify the file as much as necessary
+#
+
+# Setup compiler settings
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_C_EXTENSIONS ON)
+
+
+# Define the build type
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Debug")
+endif()
+
+# Set the project name
+set(CMAKE_PROJECT_NAME lll0121)
+
+# Enable compile command to ease indexing with e.g. clangd
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+
+# Core project settings
+project(${CMAKE_PROJECT_NAME})
+message("Build type: " ${CMAKE_BUILD_TYPE})
+
+# Enable CMake support for ASM and C languages
+enable_language(C ASM)
+
+# Create an executable object type
+add_executable(${CMAKE_PROJECT_NAME})
+
+# Add STM32CubeMX generated sources
+add_subdirectory(cmake/stm32cubemx)
+
+# Link directories setup
+target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined library search paths
+)
+
+# Add sources to executable
+target_sources(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user sources here
+    # User/bsp sources
+    User/bsp/calc_lib.c
+    User/bsp/can.c
+    User/bsp/dwt.c
+    User/bsp/gpio.c
+    User/bsp/mm.c
+    User/bsp/pwm.c
+    User/bsp/spi.c
+    User/bsp/time.c
+    User/bsp/uart.c
+
+    # User/component sources
+    User/component/ahrs.c
+    User/component/capacity.c
+    User/component/crc16.c
+    User/component/crc8.c
+    User/component/error_detect.c
+    User/component/filter.c
+    User/component/freertos_cli.c
+    User/component/limiter.c
+    User/component/mixer.c
+    User/component/pid.c
+    User/component/ui.c
+    User/component/user_math.c
+
+    # User/device sources
+    User/device/bmi088.c
+    User/device/dr16.c
+    User/device/motor.c
+    User/device/motor_dm.c
+    User/device/motor_rm.c
+    User/device/remote_control.c
+    User/device/ai.c
+
+    # User/module sources
+    User/module/chassis.c
+    User/module/cmd.c
+    User/module/config.c
+    User/module/gimbal.c
+    User/module/shoot.c
+
+    # User/task sources
+    User/task/atti_esti.c
+    User/task/chassis.c
+    User/task/cmd.c
+    User/task/gimbal.c
+    User/task/init.c
+    User/task/rc.c
+    User/task/shoot.c
+    User/task/user_task.c
+)
+
+# Add include paths
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined include paths
+    User
+)
+
+# Add project symbols (macros)
+target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined symbols
+)
+
+# Remove wrong libob.a library dependency when using cpp files
+list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
+
+# Add linked libraries
+target_link_libraries(${CMAKE_PROJECT_NAME}
+    stm32cubemx
+
+    # Add user defined libraries
+)

CMakePresets.json

@@ -0,0 +1,38 @@
+{
+    "version": 3,
+    "configurePresets": [
+        {
+            "name": "default",
+            "hidden": true,
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/build/${presetName}",
+		    "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake",
+            "cacheVariables": {
+            }
+        },
+        {
+            "name": "Debug",
+            "inherits": "default",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug"
+            }
+        },
+        {
+            "name": "Release",
+            "inherits": "default",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        }
+    ],
+    "buildPresets": [
+        {
+            "name": "Debug",
+            "configurePreset": "Debug"
+        },
+        {
+            "name": "Release",
+            "configurePreset": "Release"
+        }
+    ]
+}

Core/Src/can.c

@@ -47,7 +47,7 @@ void MX_CAN1_Init(void)
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
@@ -79,7 +79,7 @@ void MX_CAN2_Init(void)
   hcan2.Init.TimeTriggeredMode = DISABLE;
   hcan2.Init.AutoBusOff = DISABLE;
   hcan2.Init.AutoWakeUp = DISABLE;
-  hcan2.Init.AutoRetransmission = DISABLE;
+  hcan2.Init.AutoRetransmission = ENABLE;
   hcan2.Init.ReceiveFifoLocked = DISABLE;
   hcan2.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan2) != HAL_OK)

Core/Src/main.c

@@ -77,9 +77,7 @@ int main(void)
 
   /* MCU Configuration--------------------------------------------------------*/
 
-
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-
-	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
   HAL_Init();
 
   /* USER CODE BEGIN Init */

Core/Src/syscalls.c

@@ -0,0 +1,244 @@
+/**
+ ******************************************************************************
+ * @file      syscalls.c
+ * @author    Auto-generated by STM32CubeMX
+ * @brief     Minimal System calls file
+ *
+ *            For more information about which c-functions
+ *            need which of these lowlevel functions
+ *            please consult the Newlib or Picolibc libc-manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2020-2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#include <sys/stat.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+#include <signal.h>
+#include <time.h>
+#include <sys/time.h>
+#include <sys/times.h>
+
+
+/* Variables */
+extern int __io_putchar(int ch) __attribute__((weak));
+extern int __io_getchar(void) __attribute__((weak));
+
+
+char *__env[1] = { 0 };
+char **environ = __env;
+
+
+/* Functions */
+void initialise_monitor_handles()
+{
+}
+
+int _getpid(void)
+{
+  return 1;
+}
+
+int _kill(int pid, int sig)
+{
+  (void)pid;
+  (void)sig;
+  errno = EINVAL;
+  return -1;
+}
+
+void _exit (int status)
+{
+  _kill(status, -1);
+  while (1) {}    /* Make sure we hang here */
+}
+
+__attribute__((weak)) int _read(int file, char *ptr, int len)
+{
+  (void)file;
+  int DataIdx;
+
+  for (DataIdx = 0; DataIdx < len; DataIdx++)
+  {
+    *ptr++ = __io_getchar();
+  }
+
+  return len;
+}
+
+__attribute__((weak)) int _write(int file, char *ptr, int len)
+{
+  (void)file;
+  int DataIdx;
+
+  for (DataIdx = 0; DataIdx < len; DataIdx++)
+  {
+    __io_putchar(*ptr++);
+  }
+  return len;
+}
+
+int _close(int file)
+{
+  (void)file;
+  return -1;
+}
+
+
+int _fstat(int file, struct stat *st)
+{
+  (void)file;
+  st->st_mode = S_IFCHR;
+  return 0;
+}
+
+int _isatty(int file)
+{
+  (void)file;
+  return 1;
+}
+
+int _lseek(int file, int ptr, int dir)
+{
+  (void)file;
+  (void)ptr;
+  (void)dir;
+  return 0;
+}
+
+int _open(char *path, int flags, ...)
+{
+  (void)path;
+  (void)flags;
+  /* Pretend like we always fail */
+  return -1;
+}
+
+int _wait(int *status)
+{
+  (void)status;
+  errno = ECHILD;
+  return -1;
+}
+
+int _unlink(char *name)
+{
+  (void)name;
+  errno = ENOENT;
+  return -1;
+}
+
+clock_t _times(struct tms *buf)
+{
+  (void)buf;
+  return -1;
+}
+
+int _stat(const char *file, struct stat *st)
+{
+  (void)file;
+  st->st_mode = S_IFCHR;
+  return 0;
+}
+
+int _link(char *old, char *new)
+{
+  (void)old;
+  (void)new;
+  errno = EMLINK;
+  return -1;
+}
+
+int _fork(void)
+{
+  errno = EAGAIN;
+  return -1;
+}
+
+int _execve(char *name, char **argv, char **env)
+{
+  (void)name;
+  (void)argv;
+  (void)env;
+  errno = ENOMEM;
+  return -1;
+}
+
+// --- Picolibc Specific Section ---
+#if defined(__PICOLIBC__)
+
+/**
+ * @brief Picolibc helper function to output a character to a FILE stream.
+ *        This redirects the output to the low-level __io_putchar function.
+ * @param c Character to write.
+ * @param file FILE stream pointer (ignored).
+ * @retval int The character written.
+ */
+static int starm_putc(char c, FILE *file)
+{
+	(void) file;
+  __io_putchar(c);
+	return c;
+}
+
+/**
+ * @brief Picolibc helper function to input a character from a FILE stream.
+ *        This redirects the input from the low-level __io_getchar function.
+ * @param file FILE stream pointer (ignored).
+ * @retval int The character read, cast to an unsigned char then int.
+ */
+static int starm_getc(FILE *file)
+{
+	unsigned char c;
+	(void) file;
+  c = __io_getchar();
+	return c;
+}
+
+// Define and initialize the standard I/O streams for Picolibc.
+// FDEV_SETUP_STREAM connects the starm_putc and starm_getc helper functions to a FILE structure.
+// _FDEV_SETUP_RW indicates the stream is for reading and writing.
+static FILE __stdio = FDEV_SETUP_STREAM(starm_putc,
+					starm_getc,
+					NULL,
+					_FDEV_SETUP_RW);
+
+// Assign the standard stream pointers (stdin, stdout, stderr) to the initialized stream.
+// Picolibc uses these pointers for standard I/O operations (printf, scanf, etc.).
+FILE *const stdin = &__stdio;
+__strong_reference(stdin, stdout);
+__strong_reference(stdin, stderr);
+
+// Create strong aliases mapping standard C library function names (without underscore)
+// to the implemented system call stubs (with underscore). Picolibc uses these
+// standard names internally, so this linking is required.
+__strong_reference(_read, read);
+__strong_reference(_write, write);
+__strong_reference(_times, times);
+__strong_reference(_execve, execve);
+__strong_reference(_fork, fork);
+__strong_reference(_link, link);
+__strong_reference(_unlink, unlink);
+__strong_reference(_stat, stat);
+__strong_reference(_wait, wait);
+__strong_reference(_open, open);
+__strong_reference(_close, close);
+__strong_reference(_lseek, lseek);
+__strong_reference(_isatty, isatty);
+__strong_reference(_fstat, fstat);
+__strong_reference(_exit, exit);
+__strong_reference(_kill, kill);
+__strong_reference(_getpid, getpid);
+
+#endif //__PICOLIBC__

Core/Src/sysmem.c

@@ -0,0 +1,87 @@
+/**
+ ******************************************************************************
+ * @file      sysmem.c
+ * @author    Generated by STM32CubeMX
+ * @brief     System Memory calls file
+ *
+ *            For more information about which C functions
+ *            need which of these lowlevel functions
+ *            please consult the Newlib or Picolibc libc manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#include <errno.h>
+#include <stdint.h>
+#include <stddef.h>
+
+/**
+ * Pointer to the current high watermark of the heap usage
+ */
+static uint8_t *__sbrk_heap_end = NULL;
+
+/**
+ * @brief _sbrk() allocates memory to the newlib heap and is used by malloc
+ *        and others from the C library
+ *
+ * @verbatim
+ * ############################################################################
+ * #  .data  #  .bss  #       newlib heap       #          MSP stack          #
+ * #         #        #                         # Reserved by _Min_Stack_Size #
+ * ############################################################################
+ * ^-- RAM start      ^-- _end                             _estack, RAM end --^
+ * @endverbatim
+ *
+ * This implementation starts allocating at the '_end' linker symbol
+ * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
+ * The implementation considers '_estack' linker symbol to be RAM end
+ * NOTE: If the MSP stack, at any point during execution, grows larger than the
+ * reserved size, please increase the '_Min_Stack_Size'.
+ *
+ * @param incr Memory size
+ * @return Pointer to allocated memory
+ */
+void *_sbrk(ptrdiff_t incr)
+{
+  extern uint8_t _end; /* Symbol defined in the linker script */
+  extern uint8_t _estack; /* Symbol defined in the linker script */
+  extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
+  const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
+  const uint8_t *max_heap = (uint8_t *)stack_limit;
+  uint8_t *prev_heap_end;
+
+  /* Initialize heap end at first call */
+  if (NULL == __sbrk_heap_end)
+  {
+    __sbrk_heap_end = &_end;
+  }
+
+  /* Protect heap from growing into the reserved MSP stack */
+  if (__sbrk_heap_end + incr > max_heap)
+  {
+    errno = ENOMEM;
+    return (void *)-1;
+  }
+
+  prev_heap_end = __sbrk_heap_end;
+  __sbrk_heap_end += incr;
+
+  return (void *)prev_heap_end;
+}
+
+#if defined(__PICOLIBC__)
+  // Picolibc expects syscalls without the leading underscore.
+  // This creates a strong alias so that
+  // calls to `sbrk()` are resolved to our `_sbrk()` implementation.
+  __strong_reference(_sbrk, sbrk);
+#endif

MDK-ARM/lll0121.uvoptx

@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>3</nTsel>
+        <nTsel>4</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>BIN\CMSIS_AGDI.dll</pMon>
+        <pMon>Segger\JL2CM3.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
         <SetRegEntry>
@@ -898,7 +898,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -918,7 +918,7 @@
       <GroupNumber>7</GroupNumber>
       <FileNumber>52</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\User\device\dr16.c</PathWithFileName>

MDK-ARM/lll0121.uvprojx

@@ -339,7 +339,7 @@
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F407xx</Define>
               <Undefine></Undefine>
-              <IncludePath>../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../User</IncludePath>
+              <IncludePath>../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../User;..\User</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>

MDK-ARM/lll0121/atti_esti.d

@@ -54,5 +54,5 @@ lll0121/atti_esti.o: ..\User\task\atti_esti.c ..\User\task\user_task.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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
-  ..\User\bsp\pwm.h ..\Core\Inc\tim.h ..\User\bsp\gpio.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\bsp\pwm.h \
-  ..\User\bsp\time.h
+  ..\Core\Inc\tim.h ..\User\bsp\gpio.h ..\User\bsp\time.h

MDK-ARM/lll0121/calc_lib.d

@@ -1,2 +1,3 @@
 lll0121/calc_lib.o: ..\User\bsp\calc_lib.c ..\User\bsp\calc_lib.h \
-  ..\User\bsp\struct_typedef.h
+  ..\User\bsp\struct_typedef.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h

MDK-ARM/lll0121/chassis.d

@@ -52,4 +52,5 @@ lll0121/chassis.o: ..\User\module\chassis.c ..\User\module\chassis.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\module\cmd.h ..\User\bsp\time.h
+  ..\User\module\cmd.h ..\User\bsp\time.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h

MDK-ARM/lll0121/chassis_1.d

@@ -53,4 +53,5 @@ lll0121/chassis_1.o: ..\User\task\chassis.c ..\User\task\user_task.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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h
+  ..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h

MDK-ARM/lll0121/cmd_1.d

@@ -1,7 +1,8 @@
-lll0121/cmd_1.o: ..\User\task\cmd.c ..\User\task\user_task.h \
+lll0121/cmd_1.o: ..\User\task\cmd.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 \
@@ -53,4 +54,5 @@ lll0121/cmd_1.o: ..\User\task\cmd.c ..\User\task\user_task.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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h
+  ..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h

MDK-ARM/lll0121/config.d

@@ -53,4 +53,5 @@ lll0121/config.o: ..\User\module\config.c ..\User\module\config.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h \
   C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h

MDK-ARM/lll0121/freertos.d

@@ -54,4 +54,4 @@ lll0121/freertos.o: ..\Core\Src\freertos.c \
   ..\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 ..\User\module\cmd.h ..\User\module\gimbal.h \
-  ..\User\device\motor_dm.h
+  ..\User\device\motor_dm.h ..\User\module\shoot.h

MDK-ARM/lll0121/gimbal_1.d

@@ -53,4 +53,5 @@ lll0121/gimbal_1.o: ..\User\task\gimbal.c ..\User\task\user_task.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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h
+  ..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h

MDK-ARM/lll0121/init.d

@@ -53,4 +53,5 @@ lll0121/init.o: ..\User\task\init.c ..\User\task\user_task.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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h
+  ..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h

MDK-ARM/lll0121/lll0121.build_log.htm

@@ -17,12 +17,12 @@ Library Manager: ArmAr.exe V6.16
 Hex Converter:   FromElf.exe V6.16
 CPU DLL:         SARMCM3.DLL V5.34.0.0
 Dialog DLL:      DCM.DLL V1.17.3.0
-Target DLL:      CMSIS_AGDI.dll V1.32.13.0
+Target DLL:      Segger\JL2CM3.dll V2.99.38.0
 Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
-D:\STM32CubeMX\103\lll0121\MDK-ARM\lll0121.uvprojx
+D:\STM32CubeMX\103\Er(Sentry)\MDK-ARM\lll0121.uvprojx
-Project File Date:  11/30/2025
+Project File Date:  12/06/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -34,11 +34,14 @@ Note: source file '..\User\task\chassis.c' - object file renamed from 'lll0121\c
 Note: source file '..\User\task\cmd.c' - object file renamed from 'lll0121\cmd.o' to 'lll0121\cmd_1.o'.
 Note: source file '..\User\task\gimbal.c' - object file renamed from 'lll0121\gimbal.o' to 'lll0121\gimbal_1.o'.
 Note: source file '..\User\task\shoot.c' - object file renamed from 'lll0121\shoot.o' to 'lll0121\shoot_1.o'.
-compiling chassis.c...
+compiling dr16.c...
-linking...
+../User/task/atti_esti.c(27): error: unknown type name 'IST8310_t'
-Program Size: Code=91080 RO-data=1536 RW-data=568 ZI-data=87648  
+IST8310_t ist8310;
-FromELF: creating hex file...
+^
-"lll0121\lll0121.axf" - 0 Error(s), 0 Warning(s).
+1 error generated.
+compiling atti_esti.c...
+compiling rc.c...
+"lll0121\lll0121.axf" - 1 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -62,6 +65,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
+Target not created.
 Build Time Elapsed:  00:00:01
 </pre>
 </body>

MDK-ARM/lll0121/rc.d

@@ -54,4 +54,5 @@ lll0121/rc.o: ..\User\task\rc.c ..\User\task\user_task.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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
-  ..\User\device\dr16.h ..\User\device\remote_control.h
+  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\device\dr16.h \
+  ..\User\device\remote_control.h

MDK-ARM/lll0121/shoot.d

@@ -1 +1,54 @@
-lll0121/shoot.o: ..\User\module\shoot.c
+lll0121/shoot.o: ..\User\module\shoot.c \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\module\shoot.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.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 \
+  ..\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_can.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_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.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 \
+  ..\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\stdbool.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 \
+  ..\User\module\cmd.h ..\User\bsp\struct_typedef.h ..\User\bsp\time.h

MDK-ARM/lll0121/shoot_1.d

@@ -53,4 +53,5 @@ lll0121/shoot_1.o: ..\User\task\shoot.c ..\User\task\user_task.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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h
+  ..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h