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chassis和gimbal

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This commit is contained in:
Xiaocheng 2025-12-02 20:17:08 +08:00
parent 652517afca
commit 41ec0a3f2d
124 changed files with 24525 additions and 16259 deletions
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6
.vscode/settings.json vendored
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@ -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"
}
}

28
.vscode/tasks.json vendored Normal file
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@ -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"
}

2
Core/Inc/FreeRTOSConfig.h
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@ -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

4
Core/Src/main.c
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@ -77,7 +77,9 @@ 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 */

2
Core/Src/tim.c
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@ -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)

17660
MDK-ARM/JLinkLog.txt
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416
MDK-ARM/lll0121.uvguix.zhaoruihong
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61
MDK-ARM/lll0121.uvoptx
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@ -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>

12
MDK-ARM/lll0121.uvprojx
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@ -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>

BIN
MDK-ARM/lll0121/ahrs.o
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4
MDK-ARM/lll0121/atti_esti.d
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@ -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

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MDK-ARM/lll0121/atti_esti.o
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MDK-ARM/lll0121/bmi088.o
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MDK-ARM/lll0121/calc_lib.o
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MDK-ARM/lll0121/can.o
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MDK-ARM/lll0121/can_1.o
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MDK-ARM/lll0121/capacity.o
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MDK-ARM/lll0121/chassis.o
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2
MDK-ARM/lll0121/chassis_1.d
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@ -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

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MDK-ARM/lll0121/chassis_1.o
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MDK-ARM/lll0121/cmd.o
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2
MDK-ARM/lll0121/cmd_1.d
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@ -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

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MDK-ARM/lll0121/cmd_1.o
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BIN
MDK-ARM/lll0121/cmsis_os2.o
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3
MDK-ARM/lll0121/config.d
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@ -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

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MDK-ARM/lll0121/config.o
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MDK-ARM/lll0121/crc16.o
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MDK-ARM/lll0121/crc8.o
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MDK-ARM/lll0121/dma.o
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MDK-ARM/lll0121/dwt.o
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MDK-ARM/lll0121/error_detect.o
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MDK-ARM/lll0121/event_groups.o
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MDK-ARM/lll0121/filter.o
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3
MDK-ARM/lll0121/freertos.d
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@ -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

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MDK-ARM/lll0121/freertos.o
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MDK-ARM/lll0121/freertos_cli.o
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43
MDK-ARM/lll0121/gimbal.d
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@ -1,25 +1,9 @@
lll0121/gimbal.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 \
lll0121/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
..\User\bsp\struct_typedef.h ..\User\device\motor_dm.h \
..\User\device\device.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 \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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

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MDK-ARM/lll0121/gimbal.o
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56
MDK-ARM/lll0121/gimbal_1.d Normal file
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@ -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

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MDK-ARM/lll0121/init.d
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@ -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

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MDK-ARM/lll0121/lll0121.build_log.htm
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@ -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).

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MDK-ARM/lll0121/lll0121.htm
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6
MDK-ARM/lll0121/lll0121.lnp
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@ -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

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4
MDK-ARM/lll0121/rc.d
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@ -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\device\remote_control.h
..\User\module\cmd.h ..\User\module\gimbal.h ..\User\device\motor_dm.h \
..\User\device\dr16.h ..\User\device\remote_control.h

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18
MDK-ARM/lll0121/remote_control.d
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@ -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\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
..\User\bsp\bsp.h ..\User\bsp\calc_lib.h

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57
MDK-ARM/lll0121/shoot.d
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@ -1,56 +1 @@
lll0121/shoot.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
lll0121/shoot.o: ..\User\module\shoot.c

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@ -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

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