chassis和gimbal

.vscode/settings.json

@@ -1,6 +1,10 @@
 {
     "files.associations": {
         "bmi088.h": "c",
-        "config.h": "c"
+        "config.h": "c",
+        "cmd.h": "c",
+        "chassis.h": "c",
+        "dr16.h": "c",
+        "gpio.h": "c"
     }
 }

.vscode/tasks.json

@@ -0,0 +1,28 @@
+{
+    "tasks": [
+        {
+            "type": "cppbuild",
+            "label": "C/C++: gcc.exe 生成活动文件",
+            "command": "C:\\Program Files (x86)\\Dev-Cpp\\MinGW64\\bin\\gcc.exe",
+            "args": [
+                "-fdiagnostics-color=always",
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}\\${fileBasenameNoExtension}.exe"
+            ],
+            "options": {
+                "cwd": "${fileDirname}"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "detail": "调试器生成的任务。"
+        }
+    ],
+    "version": "2.0.0"
+}

Core/Inc/FreeRTOSConfig.h

@@ -69,7 +69,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)15360)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0x10000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0

Core/Src/main.c

@@ -77,6 +77,8 @@ int main(void)
 
   /* MCU Configuration--------------------------------------------------------*/
 
+
+
 	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
   HAL_Init();
 

Core/Src/tim.c

@@ -42,7 +42,7 @@ void MX_TIM10_Init(void)
   htim10.Instance = TIM10;
   htim10.Init.Prescaler = 0;
   htim10.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim10.Init.Period = 65535;
+  htim10.Init.Period = 4999;
   htim10.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim10.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim10) != HAL_OK)

MDK-ARM/lll0121.uvoptx

@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>4</nTsel>
+        <nTsel>3</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,13 +114,18 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>Segger\JL2CM3.dll</pMon>
+        <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O718 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>狼??</Name>
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -183,12 +188,12 @@
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>chassis,0x0A</ItemText>
+          <ItemText>cmd</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd</ItemText>
+          <ItemText>gimbal</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
@@ -765,7 +770,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -893,7 +898,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1125,7 +1130,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1165,6 +1170,30 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>9</GroupNumber>
+      <FileNumber>72</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\module\gimbal.c</PathWithFileName>
+      <FilenameWithoutPath>gimbal.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>9</GroupNumber>
+      <FileNumber>73</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\module\shoot.c</PathWithFileName>
+      <FilenameWithoutPath>shoot.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -1175,7 +1204,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>72</FileNumber>
+      <FileNumber>74</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1187,7 +1216,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>73</FileNumber>
+      <FileNumber>75</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1199,7 +1228,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>74</FileNumber>
+      <FileNumber>76</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1211,7 +1240,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>75</FileNumber>
+      <FileNumber>77</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1223,7 +1252,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>76</FileNumber>
+      <FileNumber>78</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1235,7 +1264,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>77</FileNumber>
+      <FileNumber>79</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1247,7 +1276,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>78</FileNumber>
+      <FileNumber>80</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1259,7 +1288,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>79</FileNumber>
+      <FileNumber>81</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

MDK-ARM/lll0121.uvprojx

@@ -313,7 +313,7 @@
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
-            <Optim>2</Optim>
+            <Optim>1</Optim>
             <oTime>0</oTime>
             <SplitLS>0</SplitLS>
             <OneElfS>1</OneElfS>
@@ -1408,6 +1408,16 @@
               <FileType>1</FileType>
               <FilePath>..\User\module\config.c</FilePath>
             </File>
+            <File>
+              <FileName>gimbal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\module\gimbal.c</FilePath>
+            </File>
+            <File>
+              <FileName>shoot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\module\shoot.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

MDK-ARM/lll0121/atti_esti.d

@@ -53,4 +53,6 @@ lll0121/atti_esti.o: ..\User\task\atti_esti.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\bsp\pwm.h ..\Core\Inc\tim.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\bsp\time.h

MDK-ARM/lll0121/chassis_1.d

@@ -53,4 +53,4 @@ 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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h

MDK-ARM/lll0121/cmd_1.d

@@ -53,4 +53,4 @@ 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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h

MDK-ARM/lll0121/config.d

@@ -52,4 +52,5 @@ lll0121/config.o: ..\User\module\config.c ..\User\module\config.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 C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
+  ..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h

MDK-ARM/lll0121/freertos.d

@@ -53,4 +53,5 @@ lll0121/freertos.o: ..\Core\Src\freertos.c \
   ..\User\component\filter.h ..\User\component\pid.h \
   ..\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\bsp\mm.h ..\User\module\cmd.h ..\User\module\gimbal.h \
+  ..\User\device\motor_dm.h

MDK-ARM/lll0121/gimbal.d

@@ -1,25 +1,9 @@
-lll0121/gimbal.o: ..\User\task\gimbal.c ..\User\task\user_task.h \
+lll0121/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\bsp\struct_typedef.h ..\User\device\motor_dm.h \
-  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  ..\User\device\device.h \
-  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.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 \
-  ..\User\module\config.h ..\User\device\bmi088.h \
   C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h ..\User\device\motor.h \
-  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  ..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
-  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
-  ..\User\module\chassis.h ..\User\bsp\struct_typedef.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
-  ..\Core\Inc\can.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 \
@@ -33,6 +17,7 @@ lll0121/gimbal.o: ..\User\task\gimbal.c ..\User\task\user_task.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 \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.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 \
@@ -52,5 +37,19 @@ lll0121/gimbal.o: ..\User\task\gimbal.c ..\User\task\user_task.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.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\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\math.h \
+  ..\User\device\motor_rm.h ..\User\component\ahrs.h \
+  ..\User\module\cmd.h ..\User\bsp\time.h

MDK-ARM/lll0121/gimbal_1.d

@@ -0,0 +1,56 @@
+lll0121/gimbal_1.o: ..\User\task\gimbal.c ..\User\task\user_task.h \
+  ..\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 \
+  ..\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 \
+  ..\User\module\config.h ..\User\device\bmi088.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\component\ahrs.h ..\User\component\user_math.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
+  ..\User\module\chassis.h ..\User\bsp\struct_typedef.h \
+  ..\User\component\filter.h ..\User\component\pid.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\Core\Inc\can.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 \
+  ..\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\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

MDK-ARM/lll0121/init.d

@@ -53,4 +53,4 @@ 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\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.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:      Segger\JL2CM3.dll V2.99.38.0
+Target DLL:      CMSIS_AGDI.dll V1.32.13.0
 Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\STM32CubeMX\103\lll0121\MDK-ARM\lll0121.uvprojx
-Project File Date:  10/15/2025
+Project File Date:  11/30/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -32,9 +32,11 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'lll0121\gpio.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'lll0121\spi.o' to 'lll0121\spi_1.o'.
 Note: source file '..\User\task\chassis.c' - object file renamed from 'lll0121\chassis.o' to 'lll0121\chassis_1.o'.
 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...
 linking...
-Program Size: Code=50560 RO-data=1068 RW-data=260 ZI-data=36668  
+Program Size: Code=91080 RO-data=1536 RW-data=568 ZI-data=87648  
 FromELF: creating hex file...
 "lll0121\lll0121.axf" - 0 Error(s), 0 Warning(s).
 

MDK-ARM/lll0121/lll0121.lnp

@@ -69,13 +69,15 @@
 "lll0121\chassis.o"
 "lll0121\cmd.o"
 "lll0121\config.o"
+"lll0121\gimbal.o"
+"lll0121\shoot.o"
 "lll0121\atti_esti.o"
 "lll0121\chassis_1.o"
 "lll0121\cmd_1.o"
-"lll0121\gimbal.o"
+"lll0121\gimbal_1.o"
 "lll0121\init.o"
 "lll0121\rc.o"
-"lll0121\shoot.o"
+"lll0121\shoot_1.o"
 "lll0121\user_task.o"
 --strict --scatter "lll0121\lll0121.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols

MDK-ARM/lll0121/rc.d

@@ -53,5 +53,5 @@ lll0121/rc.o: ..\User\task\rc.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\device\dr16.h \
+  ..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
-  ..\User\device\remote_control.h
+  ..\User\device\dr16.h ..\User\device\remote_control.h

MDK-ARM/lll0121/remote_control.d

@@ -40,20 +40,4 @@ lll0121/remote_control.o: ..\User\device\remote_control.c \
   ..\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\bsp\bsp.h ..\User\bsp\calc_lib.h ..\User\module\chassis.h \
+  ..\User\bsp\bsp.h ..\User\bsp\calc_lib.h
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\component\ahrs.h ..\User\device\bmi088.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.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

MDK-ARM/lll0121/shoot.d

@@ -1,56 +1 @@
-lll0121/shoot.o: ..\User\task\shoot.c ..\User\task\user_task.h \
+lll0121/shoot.o: ..\User\module\shoot.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 \
-  ..\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 \
-  ..\User\module\config.h ..\User\device\bmi088.h \
-  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
-  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
-  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
-  ..\User\module\chassis.h ..\User\bsp\struct_typedef.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
-  ..\Core\Inc\can.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 \
-  ..\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\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

MDK-ARM/lll0121/shoot_1.d

@@ -0,0 +1,56 @@
+lll0121/shoot_1.o: ..\User\task\shoot.c ..\User\task\user_task.h \
+  ..\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 \
+  ..\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 \
+  ..\User\module\config.h ..\User\device\bmi088.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\component\ahrs.h ..\User\component\user_math.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
+  ..\User\module\chassis.h ..\User\bsp\struct_typedef.h \
+  ..\User\component\filter.h ..\User\component\pid.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\Core\Inc\can.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 \
+  ..\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\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