From 4453a0a33308721b28817df4d5969447c289815f Mon Sep 17 00:00:00 2001 From: Xiaocheng <2544262366@qq.com> Date: Sat, 14 Mar 2026 02:46:00 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E4=BA=86=E8=A3=81=E5=88=A4=E7=B3=BB?= =?UTF-8?q?=E7=BB=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 15 +- Core/Src/usart.c | 2 +- MDK-ARM/lll0121.uvguix.zhaoruihong | 60 +- MDK-ARM/lll0121/atti_esti.d | 58 -- MDK-ARM/lll0121/atti_esti.o | Bin 10472 -> 0 bytes MDK-ARM/lll0121/can_1.d | 48 - MDK-ARM/lll0121/can_1.o | Bin 39468 -> 0 bytes MDK-ARM/lll0121/chassis.d | 56 -- MDK-ARM/lll0121/chassis.o | Bin 25436 -> 0 bytes MDK-ARM/lll0121/chassis_1.d | 57 -- MDK-ARM/lll0121/chassis_1.o | Bin 9328 -> 0 bytes MDK-ARM/lll0121/cmd.d | 5 - MDK-ARM/lll0121/cmd.o | Bin 8412 -> 0 bytes MDK-ARM/lll0121/cmd_1.d | 57 -- MDK-ARM/lll0121/cmd_1.o | Bin 6708 -> 0 bytes MDK-ARM/lll0121/cmsis_os2.d | 53 - MDK-ARM/lll0121/cmsis_os2.o | Bin 84328 -> 0 bytes MDK-ARM/lll0121/config.d | 57 -- MDK-ARM/lll0121/config.o | Bin 6820 -> 0 bytes MDK-ARM/lll0121/croutine.d | 13 - MDK-ARM/lll0121/croutine.o | Bin 584 -> 0 bytes MDK-ARM/lll0121/dma.o | Bin 6120 -> 6160 bytes MDK-ARM/lll0121/event_groups.d | 18 - MDK-ARM/lll0121/event_groups.o | Bin 17736 -> 0 bytes MDK-ARM/lll0121/freertos.d | 57 -- MDK-ARM/lll0121/freertos.o | Bin 5748 -> 0 bytes MDK-ARM/lll0121/freertos_cli.d | 14 - MDK-ARM/lll0121/freertos_cli.o | Bin 10104 -> 0 bytes MDK-ARM/lll0121/gimbal.d | 55 - MDK-ARM/lll0121/gimbal.o | Bin 17920 -> 0 bytes MDK-ARM/lll0121/gimbal_1.d | 58 -- MDK-ARM/lll0121/gimbal_1.o | Bin 9760 -> 0 bytes MDK-ARM/lll0121/heap_4.d | 14 - MDK-ARM/lll0121/heap_4.o | Bin 11824 -> 0 bytes MDK-ARM/lll0121/init.d | 58 -- MDK-ARM/lll0121/init.o | Bin 3340 -> 0 bytes MDK-ARM/lll0121/list.d | 12 - MDK-ARM/lll0121/list.o | Bin 5400 -> 0 bytes MDK-ARM/lll0121/lll0121.axf | Bin 575360 -> 0 bytes MDK-ARM/lll0121/lll0121.build_log.htm | 321 +++++- MDK-ARM/lll0121/lll0121_lll0121.dep | 1321 +++---------------------- MDK-ARM/lll0121/main.d | 47 - MDK-ARM/lll0121/main.o | Bin 6568 -> 0 bytes MDK-ARM/lll0121/mm.d | 10 - MDK-ARM/lll0121/mm.o | Bin 2664 -> 0 bytes MDK-ARM/lll0121/motor_dm.d | 52 - MDK-ARM/lll0121/motor_dm.o | Bin 19708 -> 0 bytes MDK-ARM/lll0121/motor_rm.d | 52 - MDK-ARM/lll0121/motor_rm.o | Bin 18124 -> 0 bytes MDK-ARM/lll0121/port.o | Bin 12164 -> 0 bytes MDK-ARM/lll0121/queue.d | 16 - MDK-ARM/lll0121/queue.o | Bin 43652 -> 0 bytes MDK-ARM/lll0121/rc.d | 58 -- MDK-ARM/lll0121/rc.o | Bin 5344 -> 0 bytes MDK-ARM/lll0121/remote_control.d | 44 +- MDK-ARM/lll0121/remote_control.o | Bin 13356 -> 592 bytes MDK-ARM/lll0121/shoot.d | 54 - MDK-ARM/lll0121/shoot.o | Bin 25324 -> 0 bytes MDK-ARM/lll0121/shoot_1.d | 59 -- MDK-ARM/lll0121/shoot_1.o | Bin 9956 -> 0 bytes MDK-ARM/lll0121/stm32f4xx_it.d | 45 - MDK-ARM/lll0121/stm32f4xx_it.o | Bin 13184 -> 0 bytes MDK-ARM/lll0121/stream_buffer.d | 15 - MDK-ARM/lll0121/stream_buffer.o | Bin 29064 -> 0 bytes MDK-ARM/lll0121/tasks.d | 17 - MDK-ARM/lll0121/tasks.o | Bin 69468 -> 0 bytes MDK-ARM/lll0121/time.d | 44 - MDK-ARM/lll0121/time.o | Bin 5104 -> 0 bytes MDK-ARM/lll0121/timers.d | 16 - MDK-ARM/lll0121/timers.o | Bin 30124 -> 0 bytes MDK-ARM/lll0121/usart.o | Bin 15600 -> 15920 bytes MDK-ARM/lll0121/user_task.d | 57 -- MDK-ARM/lll0121/user_task.o | Bin 11728 -> 0 bytes STM32F407XX_FLASH.ld | 4 +- User/bsp/bsp_config.yaml | 2 +- User/bsp/uart.c | 4 +- User/bsp/uart.h | 2 +- User/device/ET16s.c | 4 + User/device/device.h | 4 +- User/device/dr16.h | 6 +- User/device/referee.c | 842 ++++++++++++++++ User/device/referee.h | 743 ++++++++++++++ User/device/remote_control.h | 41 + User/device/supercap.c | 183 ++++ User/device/supercap.h | 102 ++ User/module/cap.c | 51 + User/module/cap.h | 40 + User/module/chassis.c | 7 +- User/module/cmd.h | 4 +- User/module/cmd_adapter.c | 6 +- User/module/config.c | 23 +- User/task/{Task8.c => Task9.c} | 14 +- User/task/chassis.c | 10 +- User/task/cmd.c | 3 +- User/task/config.yaml | 18 +- User/task/init.c | 24 +- User/task/rc.c | 10 +- User/task/referee.c | 97 ++ User/task/shoot.c | 4 +- User/task/super_cap.c | 73 ++ User/task/user_task.c | 18 +- User/task/user_task.h | 54 +- lll0121.ioc | 6 +- 103 files changed, 2851 insertions(+), 2543 deletions(-) delete mode 100644 MDK-ARM/lll0121/atti_esti.d delete mode 100644 MDK-ARM/lll0121/atti_esti.o delete mode 100644 MDK-ARM/lll0121/can_1.d delete mode 100644 MDK-ARM/lll0121/can_1.o delete mode 100644 MDK-ARM/lll0121/chassis.d delete mode 100644 MDK-ARM/lll0121/chassis.o delete mode 100644 MDK-ARM/lll0121/chassis_1.d delete mode 100644 MDK-ARM/lll0121/chassis_1.o delete mode 100644 MDK-ARM/lll0121/cmd.d delete mode 100644 MDK-ARM/lll0121/cmd.o delete mode 100644 MDK-ARM/lll0121/cmd_1.d delete mode 100644 MDK-ARM/lll0121/cmd_1.o delete mode 100644 MDK-ARM/lll0121/cmsis_os2.d delete mode 100644 MDK-ARM/lll0121/cmsis_os2.o delete mode 100644 MDK-ARM/lll0121/config.d delete mode 100644 MDK-ARM/lll0121/config.o delete mode 100644 MDK-ARM/lll0121/croutine.d delete mode 100644 MDK-ARM/lll0121/croutine.o delete mode 100644 MDK-ARM/lll0121/event_groups.d delete mode 100644 MDK-ARM/lll0121/event_groups.o delete mode 100644 MDK-ARM/lll0121/freertos.d delete mode 100644 MDK-ARM/lll0121/freertos.o delete mode 100644 MDK-ARM/lll0121/freertos_cli.d delete mode 100644 MDK-ARM/lll0121/freertos_cli.o delete mode 100644 MDK-ARM/lll0121/gimbal.d delete mode 100644 MDK-ARM/lll0121/gimbal.o delete mode 100644 MDK-ARM/lll0121/gimbal_1.d delete mode 100644 MDK-ARM/lll0121/gimbal_1.o delete mode 100644 MDK-ARM/lll0121/heap_4.d delete mode 100644 MDK-ARM/lll0121/heap_4.o delete mode 100644 MDK-ARM/lll0121/init.d delete mode 100644 MDK-ARM/lll0121/init.o delete mode 100644 MDK-ARM/lll0121/list.d delete mode 100644 MDK-ARM/lll0121/list.o delete mode 100644 MDK-ARM/lll0121/lll0121.axf delete mode 100644 MDK-ARM/lll0121/main.d delete mode 100644 MDK-ARM/lll0121/main.o delete mode 100644 MDK-ARM/lll0121/mm.d delete mode 100644 MDK-ARM/lll0121/mm.o delete mode 100644 MDK-ARM/lll0121/motor_dm.d delete mode 100644 MDK-ARM/lll0121/motor_dm.o delete mode 100644 MDK-ARM/lll0121/motor_rm.d delete mode 100644 MDK-ARM/lll0121/motor_rm.o delete mode 100644 MDK-ARM/lll0121/port.o delete mode 100644 MDK-ARM/lll0121/queue.d delete mode 100644 MDK-ARM/lll0121/queue.o delete mode 100644 MDK-ARM/lll0121/rc.d delete mode 100644 MDK-ARM/lll0121/rc.o delete mode 100644 MDK-ARM/lll0121/shoot.d delete mode 100644 MDK-ARM/lll0121/shoot.o delete mode 100644 MDK-ARM/lll0121/shoot_1.d delete mode 100644 MDK-ARM/lll0121/shoot_1.o delete mode 100644 MDK-ARM/lll0121/stm32f4xx_it.d delete mode 100644 MDK-ARM/lll0121/stm32f4xx_it.o delete mode 100644 MDK-ARM/lll0121/stream_buffer.d delete mode 100644 MDK-ARM/lll0121/stream_buffer.o delete mode 100644 MDK-ARM/lll0121/tasks.d delete mode 100644 MDK-ARM/lll0121/tasks.o delete mode 100644 MDK-ARM/lll0121/time.d delete mode 100644 MDK-ARM/lll0121/time.o delete mode 100644 MDK-ARM/lll0121/timers.d delete mode 100644 MDK-ARM/lll0121/timers.o delete mode 100644 MDK-ARM/lll0121/user_task.d delete mode 100644 MDK-ARM/lll0121/user_task.o create mode 100644 User/device/referee.c create mode 100644 User/device/referee.h create mode 100644 User/device/supercap.c create mode 100644 User/device/supercap.h create mode 100644 User/module/cap.c create mode 100644 User/module/cap.h rename User/task/{Task8.c => Task9.c} (82%) create mode 100644 User/task/referee.c create mode 100644 User/task/super_cap.c diff --git a/CMakeLists.txt b/CMakeLists.txt index bb14537..ecc39ec 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -71,27 +71,30 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/component/user_math.c # User/device sources + User/device/ET16s.c User/device/ai.c User/device/bmi088.c User/device/dr16.c User/device/motor.c User/device/motor_dm.c User/device/motor_rm.c + User/device/referee.c User/device/remote_control.c - User/device/ET16s.c + User/device/supercap.c # User/module sources + User/module/cap.c User/module/chassis.c User/module/cmd.c - User/module/config.c - User/module/gimbal.c - User/module/shoot.c User/module/cmd_adapter.c User/module/cmd_behavior.c User/module/cmd_example.c + User/module/config.c + User/module/gimbal.c + User/module/shoot.c # User/task sources - User/task/Task8.c + User/task/Task9.c User/task/ai.c User/task/atti_esti.c User/task/chassis.c @@ -99,7 +102,9 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/task/gimbal.c User/task/init.c User/task/rc.c + User/task/referee.c User/task/shoot.c + User/task/super_cap.c User/task/tempCodeRunnerFile.c User/task/user_task.c ) diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 805e7c7..3dd0986 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -226,7 +226,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE; hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; - hdma_usart3_rx.Init.Mode = DMA_NORMAL; + hdma_usart3_rx.Init.Mode = DMA_CIRCULAR; hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW; hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK) diff --git a/MDK-ARM/lll0121.uvguix.zhaoruihong b/MDK-ARM/lll0121.uvguix.zhaoruihong index a476961..d350bc3 100644 --- a/MDK-ARM/lll0121.uvguix.zhaoruihong +++ b/MDK-ARM/lll0121.uvguix.zhaoruihong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Output:

*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin' @@ -34,7 +34,321 @@ 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'. -"lll0121\lll0121.axf" - 0 Error(s), 0 Warning(s). +compiling spi.c... +compiling tim.c... +../Core/Src/stm32f4xx_it.c(23): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling stm32f4xx_it.c... +compiling dma.c... +compiling can.c... +compiling stm32f4xx_hal_msp.c... +compiling stm32f4xx_hal_flash.c... +../Core/Src/freertos.c(21): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling freertos.c... +compiling stm32f4xx_hal_rcc.c... +../Core/Src/main.c(21): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling main.c... +compiling gpio.c... +compiling stm32f4xx_hal_flash_ramfunc.c... +compiling usart.c... +compiling stm32f4xx_hal_flash_ex.c... +compiling stm32f4xx_hal_rcc_ex.c... +compiling stm32f4xx_hal_can.c... +compiling stm32f4xx_hal_gpio.c... +compiling stm32f4xx_hal_dma_ex.c... +compiling stm32f4xx_hal_pwr.c... +compiling stm32f4xx_hal_dma.c... +compiling stm32f4xx_hal_pwr_ex.c... +compiling stm32f4xx_hal_cortex.c... +compiling stm32f4xx_hal.c... +compiling stm32f4xx_hal_exti.c... +compiling stm32f4xx_hal_spi.c... +compiling stm32f4xx_hal_tim_ex.c... +compiling system_stm32f4xx.c... +compiling stm32f4xx_hal_tim.c... +compiling stm32f4xx_hal_uart.c... +../Middlewares/Third_Party/FreeRTOS/Source/croutine.c(28): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling croutine.c... +../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c(37): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling event_groups.c... +../Middlewares/Third_Party/FreeRTOS/Source/list.c(30): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling list.c... +../Middlewares/Third_Party/FreeRTOS/Source/queue.c(36): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling queue.c... +../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c(38): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling stream_buffer.c... +../Middlewares/Third_Party/FreeRTOS/Source/tasks.c(38): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling tasks.c... +../Middlewares/Third_Party/FreeRTOS/Source/timers.c(36): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling timers.c... +../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(43): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling heap_4.c... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(28): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling cmsis_os2.c... +ArmClang: error: no such file or directory: '../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c' +ArmClang: error: no input files +compiling port.c... +../User/bsp/can.c(2): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling can.c... +compiling dwt.c... +compiling gpio.c... +../User/bsp/mm.c(4): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling mm.c... +compiling pwm.c... +compiling spi.c... +../User/bsp/time.c(6): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling time.c... +compiling uart.c... +compiling calc_lib.c... +compiling bmi088.c... +compiling dr16.c... +compiling motor.c... +../User/device/motor_dm.c(7): warning: In file included from... +../User\device/motor_dm.h(10): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling motor_dm.c... +../User/device/motor_rm.c(5): warning: In file included from... +../User/device/motor_rm.h(11): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling motor_rm.c... +compiling remote_control.c... +compiling ahrs.c... +compiling crc8.c... +compiling capacity.c... +compiling crc16.c... +compiling error_detect.c... +compiling filter.c... +../User/component/freertos_cli.c(33): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling freertos_cli.c... +compiling limiter.c... +compiling mixer.c... +compiling pid.c... +compiling ui.c... +compiling user_math.c... +../User/module/chassis.c(36): warning: In file included from... +../User/module/chassis.h(16): warning: In file included from... +../User\device/motor_rm.h(11): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling chassis.c... +../User/module/cmd.c(4): warning: In file included from... +../User\module/cmd.h(7): warning: In file included from... +../User/module/gimbal.h(9): warning: In file included from... +../User\device/motor_dm.h(10): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling cmd.c... +../User/module/config.c(1): warning: In file included from... +../User/module/config.h(12): warning: In file included from... +../User\module/chassis.h(16): warning: In file included from... +../User\device/motor_rm.h(11): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling config.c... +../User/module/gimbal.c(34): warning: In file included from... +../User/module/gimbal.h(9): warning: In file included from... +../User\device/motor_dm.h(10): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling gimbal.c... +../User/module/shoot.c(36): warning: In file included from... +../User/module/shoot.h(14): warning: In file included from... +../User\device/motor_rm.h(11): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling shoot.c... +../User/task/atti_esti.c(7): warning: In file included from... +../User\task/user_task.h(8): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling atti_esti.c... +../User/task/chassis.c(8): warning: In file included from... +../User\device/ai.h(11): warning: In file included from... +../User\module/gimbal.h(9): warning: In file included from... +../User\device/motor_dm.h(10): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling chassis.c... +../User/task/cmd.c(7): warning: In file included from... +../User\task/user_task.h(8): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling cmd.c... +../User/task/gimbal.c(7): warning: In file included from... +../User\task/user_task.h(8): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling gimbal.c... +../User/task/init.c(7): warning: In file included from... +../User\task/user_task.h(8): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling init.c... +../User/task/rc.c(7): warning: In file included from... +../User\task/user_task.h(8): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling rc.c... +../User/task/shoot.c(8): warning: In file included from... +../User\module/cmd.h(7): warning: In file included from... +../User\module/gimbal.h(9): warning: In file included from... +../User\device/motor_dm.h(10): warning: In file included from... +../User\bsp/can.h(13): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling shoot.c... +../User/task/user_task.c(1): warning: In file included from... +../User\task/user_task.h(8): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from... +../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h(52): error: 'portmacro.h' file not found + #include "portmacro.h" + ^~~~~~~~~~~~~ +1 error generated. +compiling user_task.c... +"lll0121\lll0121.axf" - 33 Error(s), 0 Warning(s).

Software Packages used:

@@ -58,7 +372,8 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h -Build Time Elapsed: 00:00:01 +Target not created. +Build Time Elapsed: 00:00:13 diff --git a/MDK-ARM/lll0121/lll0121_lll0121.dep b/MDK-ARM/lll0121/lll0121_lll0121.dep index a26b008..47c5349 100644 --- a/MDK-ARM/lll0121/lll0121_lll0121.dep +++ b/MDK-ARM/lll0121/lll0121_lll0121.dep @@ -37,11 +37,11 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) @@ -91,11 +91,11 @@ F (../Core/Src/freertos.c)(0x68ED3B8B)(-xc -std=c99 --target=arm-arm-none-eabi - I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) @@ -132,29 +132,29 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (..\User\task\user_task.h)(0x69748614) -I (..\User\module\config.h)(0x6931B5B0) -I (..\User\device\bmi088.h)(0x6973AE97) +I (..\User\task\user_task.h)(0x69B30698) +I (..\User\module\config.h)(0x69B3094D) +I (..\User\device\bmi088.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\ahrs.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) +I (..\User\component\ahrs.h)(0x69B3F40A) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (..\User\device\device.h)(0x6973AE97) -I (..\User\module\chassis.h)(0x693AAB7D) +I (..\User\device\device.h)(0x69B3F40A) +I (..\User\module\chassis.h)(0x69B3D1B6) I (..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\pid.h)(0x6973AE97) -I (..\User\device\motor_rm.h)(0x6973AE97) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\bsp\can.h)(0x6973AE96) +I (..\User\component\filter.h)(0x69B3F40A) +I (..\User\component\pid.h)(0x69B3F409) +I (..\User\device\motor_rm.h)(0x69B3F40A) +I (..\User\device\motor.h)(0x69B3F40A) +I (..\User\bsp\can.h)(0x69B3F409) I (..\Core\Inc\can.h)(0x68ED3746) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) -I (..\User\module\cmd.h)(0x6973B373) -I (..\User\module\gimbal.h)(0x6941A80B) -I (..\User\device\motor_dm.h)(0x6973AE97) -I (..\User\module\shoot.h)(0x6942A725) +I (..\User\bsp\bsp.h)(0x69B3F409) +I (..\User\bsp\mm.h)(0x69B3F409) +I (..\User\module\cmd.h)(0x69B3CA20) +I (..\User\module\gimbal.h)(0x69B304D9) +I (..\User\device\motor_dm.h)(0x69B3F40A) +I (..\User\module\shoot.h)(0x69B30503) F (../Core/Src/can.c)(0x69416C62)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/can.o -MD) I (..\Core\Inc\can.h)(0x68ED3746) I (..\Core\Inc\main.h)(0x68ED3748) @@ -190,7 +190,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -F (../Core/Src/dma.c)(0x68EF47C2)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/dma.o -MD) +F (../Core/Src/dma.c)(0x69B3FC0C)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/dma.o -MD) I (..\Core\Inc\dma.h)(0x68ED3746) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) @@ -295,7 +295,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -F (../Core/Src/usart.c)(0x68EFA703)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/usart.o -MD) +F (../Core/Src/usart.c)(0x69B3FC0D)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/usart.o -MD) I (..\Core\Inc\usart.h)(0x68EF47C3) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) @@ -330,54 +330,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -F (../Core/Src/stm32f4xx_it.c)(0x6973AE96)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/stm32f4xx_it.o -MD) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_it.h)(0x68EF47C3) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\User\bsp\uart.h)(0x6973AE96) -I (..\Core\Inc\usart.h)(0x68EF47C3) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\bsp\bsp.h)(0x6973AE96) +F (../Core/Src/stm32f4xx_it.c)(0x69B3FC0D)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/stm32f4xx_it.o -MD) F (../Core/Src/stm32f4xx_hal_msp.c)(0x68ED380C)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/stm32f4xx_hal_msp.o -MD) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) @@ -1043,11 +996,11 @@ F (../Middlewares/Third_Party/FreeRTOS/Source/croutine.c)(0x68D7DF14)(-xc -std=c I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) @@ -1057,11 +1010,11 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) @@ -1072,11 +1025,11 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) F (../Middlewares/Third_Party/FreeRTOS/Source/queue.c)(0x68D7DF14)(-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 -gdwarf-3 -O0 -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 -Wno-covered-switch-default -Wno-unreachable-code-break -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/queue.o -MD) @@ -1085,11 +1038,11 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) @@ -1099,11 +1052,11 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) @@ -1114,11 +1067,11 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) @@ -1129,11 +1082,11 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) @@ -1147,11 +1100,11 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) @@ -1194,29 +1147,29 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -F (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c)(0x68D7DF14)(-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 -gdwarf-3 -O0 -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 -Wno-covered-switch-default -Wno-unreachable-code-break -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/port.o -MD) +F (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c)(0x00000000)(-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 -gdwarf-3 -O0 -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 -Wno-covered-switch-default -Wno-unreachable-code-break -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/port.o -MD) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -F (..\User\bsp\can.c)(0x6973AE96)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/can_1.o -MD) -I (..\User\bsp\can.h)(0x6973AE96) -I (..\Core\Inc\can.h)(0x68ED3746) +F (..\User\bsp\can.c)(0x69B3F409)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/can_1.o -MD) +F (..\User\bsp\dwt.c)(0x69B3F409)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/dwt.o -MD) +I (..\User\bsp\dwt.h)(0x69B3F409) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) @@ -1250,61 +1203,11 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -F (..\User\bsp\dwt.c)(0x6973AE96)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/dwt.o -MD) -I (..\User\bsp\dwt.h)(0x6973AE96) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -F (..\User\bsp\gpio.c)(0x6973AE96)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/gpio_1.o -MD) -I (..\User\bsp\gpio.h)(0x6973AE96) +F (..\User\bsp\gpio.c)(0x69B3F409)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/gpio_1.o -MD) +I (..\User\bsp\gpio.h)(0x69B3F409) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\bsp\bsp.h)(0x6973AE96) +I (..\User\bsp\bsp.h)(0x69B3F409) I (..\Core\Inc\gpio.h)(0x68ED3745) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) @@ -1338,18 +1241,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -F (..\User\bsp\mm.c)(0x6973AE96)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/mm.o -MD) -I (..\User\bsp\mm.h)(0x6973AE96) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -F (..\User\bsp\pwm.c)(0x6973AE96)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/pwm.o -MD) +F (..\User\bsp\mm.c)(0x69B3F409)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/mm.o -MD) +F (..\User\bsp\pwm.c)(0x69B3F409)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/pwm.o -MD) I (..\Core\Inc\tim.h)(0x68ED3746) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) @@ -1384,9 +1277,9 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\pwm.h)(0x6973AE96) -I (..\User\bsp\bsp.h)(0x6973AE96) -F (..\User\bsp\spi.c)(0x6973AE96)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/spi_1.o -MD) +I (..\User\bsp\pwm.h)(0x69B3F409) +I (..\User\bsp\bsp.h)(0x69B3F409) +F (..\User\bsp\spi.c)(0x69B3F409)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/spi_1.o -MD) I (..\Core\Inc\spi.h)(0x68ED3746) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) @@ -1421,56 +1314,11 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\spi.h)(0x6973AE96) +I (..\User\bsp\spi.h)(0x69B3F409) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\bsp\bsp.h)(0x6973AE96) -F (..\User\bsp\time.c)(0x6973AE96)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/time.o -MD) -I (..\User\bsp\time.h)(0x6973AE96) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -F (..\User\bsp\uart.c)(0x6973AE96)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/uart.o -MD) +I (..\User\bsp\bsp.h)(0x69B3F409) +F (..\User\bsp\time.c)(0x69B3F409)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/time.o -MD) +F (..\User\bsp\uart.c)(0x69B3F409)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/uart.o -MD) I (..\Core\Inc\usart.h)(0x68EF47C3) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) @@ -1505,24 +1353,24 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\uart.h)(0x6973AE96) +I (..\User\bsp\uart.h)(0x69B3F409) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\bsp\bsp.h)(0x6973AE96) +I (..\User\bsp\bsp.h)(0x69B3F409) F (..\User\bsp\calc_lib.c)(0x6933E7CE)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/calc_lib.o -MD) I (..\User\bsp\calc_lib.h)(0x6933E7DF) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (..\User\bsp\struct_typedef.h)(0x6933E78F) F (..\User\bsp\struct_typedef.h)(0x6933E78F)() -F (..\User\device\bmi088.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/bmi088.o -MD) -I (..\User\device\bmi088.h)(0x6973AE97) +F (..\User\device\bmi088.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/bmi088.o -MD) +I (..\User\device\bmi088.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\User\component\ahrs.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) +I (..\User\component\ahrs.h)(0x69B3F40A) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\User\device\device.h)(0x6973AE97) +I (..\User\device\device.h)(0x69B3F40A) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) I (..\Core\Inc\gpio.h)(0x68ED3745) I (..\Core\Inc\main.h)(0x68ED3748) @@ -1557,490 +1405,116 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\bsp\time.h)(0x6973AE96) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\gpio.h)(0x6973AE96) -I (..\User\bsp\spi.h)(0x6973AE96) +I (..\User\bsp\time.h)(0x69B3F409) +I (..\User\bsp\bsp.h)(0x69B3F409) +I (..\User\bsp\gpio.h)(0x69B3F409) +I (..\User\bsp\spi.h)(0x69B3F409) I (..\Core\Inc\spi.h)(0x68ED3746) -F (..\User\device\dr16.c)(0x6973AEF2)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/dr16.o -MD) -F (..\User\device\motor.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/motor.o -MD) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\device\device.h)(0x6973AE97) +F (..\User\device\dr16.c)(0x69B40C02)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/dr16.o -MD) +F (..\User\device\motor.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/motor.o -MD) +I (..\User\device\motor.h)(0x69B3F40A) +I (..\User\device\device.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -F (..\User\device\motor_dm.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/motor_dm.o -MD) -I (..\User\device\motor_dm.h)(0x6973AE97) -I (..\User\device\device.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\bsp\can.h)(0x6973AE96) -I (..\Core\Inc\can.h)(0x68ED3746) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (..\User\bsp\time.h)(0x6973AE96) -I (..\User\component\user_math.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -F (..\User\device\motor_rm.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/motor_rm.o -MD) -I (..\User\device\motor_rm.h)(0x6973AE97) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\device\device.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\User\bsp\can.h)(0x6973AE96) -I (..\Core\Inc\can.h)(0x68ED3746) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\bsp\time.h)(0x6973AE96) -I (..\User\component\user_math.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -F (..\User\device\remote_control.c)(0x6942A427)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/remote_control.o -MD) -I (..\User\device\remote_control.h)(0x69339DB1) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\User\module\cmd.h)(0x6973B373) -I (..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\device\device.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\user_math.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\bsp\uart.h)(0x6973AE96) -I (..\Core\Inc\usart.h)(0x68EF47C3) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\calc_lib.h)(0x6933E7DF) -F (..\User\component\ahrs.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/ahrs.o -MD) -I (..\User\component\ahrs.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) +F (..\User\device\motor_dm.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/motor_dm.o -MD) +F (..\User\device\motor_rm.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/motor_rm.o -MD) +F (..\User\device\remote_control.c)(0x69B3FB3B)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/remote_control.o -MD) +F (..\User\component\ahrs.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/ahrs.o -MD) +I (..\User\component\ahrs.h)(0x69B3F40A) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -F (..\User\component\capacity.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/capacity.o -MD) -I (..\User\component\capacity.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) +F (..\User\component\capacity.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/capacity.o -MD) +I (..\User\component\capacity.h)(0x69B3F40A) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -F (..\User\component\crc8.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/crc8.o -MD) -I (..\User\component\crc8.h)(0x6973AE97) +F (..\User\component\crc8.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/crc8.o -MD) +I (..\User\component\crc8.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -F (..\User\component\crc16.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/crc16.o -MD) -I (..\User\component\crc16.h)(0x6973AE97) +F (..\User\component\crc16.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/crc16.o -MD) +I (..\User\component\crc16.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\user_math.h)(0x6973AE97) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -F (..\User\component\error_detect.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/error_detect.o -MD) -I (..\User\component\error_detect.h)(0x6973AE97) +F (..\User\component\error_detect.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/error_detect.o -MD) +I (..\User\component\error_detect.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\bsp\mm.h)(0x6973AE96) -F (..\User\component\filter.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/filter.o -MD) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) +I (..\User\bsp\mm.h)(0x69B3F409) +F (..\User\component\filter.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/filter.o -MD) +I (..\User\component\filter.h)(0x69B3F40A) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -F (..\User\component\freertos_cli.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/freertos_cli.o -MD) -I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\User\component\FreeRTOS_CLI.h)(0x6973AE97) -F (..\User\component\limiter.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/limiter.o -MD) -I (..\User\component\limiter.h)(0x6973AE97) +F (..\User\component\freertos_cli.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/freertos_cli.o -MD) +F (..\User\component\limiter.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/limiter.o -MD) +I (..\User\component\limiter.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -F (..\User\component\mixer.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/mixer.o -MD) -I (..\User\component\mixer.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) +F (..\User\component\mixer.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/mixer.o -MD) +I (..\User\component\mixer.h)(0x69B3F40A) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -F (..\User\component\pid.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/pid.o -MD) -I (..\User\component\pid.h)(0x6973AE97) +F (..\User\component\pid.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/pid.o -MD) +I (..\User\component\pid.h)(0x69B3F409) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) +I (..\User\component\filter.h)(0x69B3F40A) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -F (..\User\component\ui.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/ui.o -MD) -I (..\User\component\ui.h)(0x6973AE97) +F (..\User\component\ui.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/ui.o -MD) +I (..\User\component\ui.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\component\user_math.h)(0x6973AE97) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6035A4A8) -F (..\User\component\user_math.c)(0x6973AE97)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/user_math.o -MD) -I (..\User\component\user_math.h)(0x6973AE97) +F (..\User\component\user_math.c)(0x69B3F40A)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/user_math.o -MD) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -F (..\User\module\chassis.c)(0x69A54F16)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/chassis.o -MD) -I (..\User\module\chassis.h)(0x693AAB7D) -I (..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I 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(..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (..\User\module\cmd.h)(0x6973B373) -I (..\User\bsp\time.h)(0x6973AE96) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8) -F (..\User\module\cmd.c)(0x69676745)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/cmd.o -MD) -I (..\User\module\cmd.h)(0x6973B373) -I (..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\device\device.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -F (..\User\module\config.c)(0x699ED960)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/config.o -MD) -I (..\User\module\config.h)(0x6931B5B0) -I (..\User\device\bmi088.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\User\component\ahrs.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\User\device\device.h)(0x6973AE97) -I (..\User\module\chassis.h)(0x693AAB7D) -I (..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\pid.h)(0x6973AE97) -I (..\User\device\motor_rm.h)(0x6973AE97) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\bsp\can.h)(0x6973AE96) -I (..\Core\Inc\can.h)(0x68ED3746) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I 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(..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\device\motor_dm.h)(0x6973AE97) -I (..\User\device\device.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\bsp\can.h)(0x6973AE96) -I (..\Core\Inc\can.h)(0x68ED3746) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (..\User\component\pid.h)(0x6973AE97) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (..\User\device\motor_rm.h)(0x6973AE97) -I (..\User\component\ahrs.h)(0x6973AE97) -I (..\User\module\cmd.h)(0x6973B373) -I (..\User\bsp\time.h)(0x6973AE96) +F (..\User\module\chassis.c)(0x69B3D026)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/chassis.o -MD) +F (..\User\module\cmd.c)(0x69B3D1D6)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/cmd.o -MD) +F (..\User\module\config.c)(0x69B3CA8B)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/config.o -MD) +F (..\User\module\gimbal.c)(0x69B2A394)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/gimbal.o -MD) F (..\User\module\shoot.c)(0x695AB845)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/shoot.o -MD) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -I (..\User\module\shoot.h)(0x6942A725) +I (..\User\module\shoot.h)(0x69B30503) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) @@ -2074,61 +1548,61 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\component\pid.h)(0x6973AE97) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) +I (..\User\component\pid.h)(0x69B3F409) +I (..\User\component\filter.h)(0x69B3F40A) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\device\motor_rm.h)(0x6973AE97) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\device\device.h)(0x6973AE97) -I (..\User\bsp\can.h)(0x6973AE96) +I (..\User\device\motor_rm.h)(0x69B3F40A) +I (..\User\device\motor.h)(0x69B3F40A) +I (..\User\device\device.h)(0x69B3F40A) +I (..\User\bsp\can.h)(0x69B3F409) I (..\Core\Inc\can.h)(0x68ED3746) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) +I (..\User\bsp\bsp.h)(0x69B3F409) +I (..\User\bsp\mm.h)(0x69B3F409) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (..\User\module\cmd.h)(0x6973B373) +I (..\User\module\cmd.h)(0x69B3CA20) I (..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\bsp\time.h)(0x6973AE96) +I (..\User\bsp\time.h)(0x69B3F409) F (..\User\task\atti_esti.c)(0x6941A9F8)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/atti_esti.o -MD) -I (..\User\task\user_task.h)(0x69748614) +I (..\User\task\user_task.h)(0x69B30698) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) +I (..\Core\Inc\FreeRTOSConfig.h)(0x69B40AEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) +I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x00000000) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\User\module\config.h)(0x6931B5B0) -I (..\User\device\bmi088.h)(0x6973AE97) +I (..\User\module\config.h)(0x69B3094D) +I (..\User\device\bmi088.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\ahrs.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) +I (..\User\component\ahrs.h)(0x69B3F40A) +I (..\User\component\user_math.h)(0x69B3F40A) I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (..\User\device\device.h)(0x6973AE97) -I (..\User\module\chassis.h)(0x693AAB7D) +I (..\User\device\device.h)(0x69B3F40A) +I (..\User\module\chassis.h)(0x69B3D1B6) I (..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\pid.h)(0x6973AE97) -I (..\User\device\motor_rm.h)(0x6973AE97) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\bsp\can.h)(0x6973AE96) +I (..\User\component\filter.h)(0x69B3F40A) +I (..\User\component\pid.h)(0x69B3F409) +I (..\User\device\motor_rm.h)(0x69B3F40A) +I (..\User\device\motor.h)(0x69B3F40A) +I (..\User\bsp\can.h)(0x69B3F409) I (..\Core\Inc\can.h)(0x68ED3746) I (..\Core\Inc\main.h)(0x68ED3748) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) @@ -2161,498 +1635,21 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) +I (..\User\bsp\bsp.h)(0x69B3F409) +I (..\User\bsp\mm.h)(0x69B3F409) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) -I (..\User\module\cmd.h)(0x6973B373) -I (..\User\module\gimbal.h)(0x6941A80B) -I (..\User\device\motor_dm.h)(0x6973AE97) -I (..\User\module\shoot.h)(0x6942A725) -I (..\User\bsp\pwm.h)(0x6973AE96) +I (..\User\module\cmd.h)(0x69B3CA20) +I (..\User\module\gimbal.h)(0x69B304D9) +I (..\User\device\motor_dm.h)(0x69B3F40A) +I (..\User\module\shoot.h)(0x69B30503) +I (..\User\bsp\pwm.h)(0x69B3F409) I (..\Core\Inc\tim.h)(0x68ED3746) -I (..\User\bsp\gpio.h)(0x6973AE96) -I (..\User\bsp\time.h)(0x6973AE96) -F (..\User\task\chassis.c)(0x6964BB25)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/chassis_1.o -MD) -I (..\User\task\user_task.h)(0x69748614) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\User\module\config.h)(0x6931B5B0) -I (..\User\device\bmi088.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\ahrs.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (..\User\device\device.h)(0x6973AE97) -I (..\User\module\chassis.h)(0x693AAB7D) -I (..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\pid.h)(0x6973AE97) -I (..\User\device\motor_rm.h)(0x6973AE97) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\bsp\can.h)(0x6973AE96) -I (..\Core\Inc\can.h)(0x68ED3746) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) -I (..\User\module\cmd.h)(0x6973B373) -I (..\User\module\gimbal.h)(0x6941A80B) -I (..\User\device\motor_dm.h)(0x6973AE97) -I (..\User\module\shoot.h)(0x6942A725) -F (..\User\task\cmd.c)(0x6941A9F8)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/cmd_1.o -MD) -I (..\User\task\user_task.h)(0x69748614) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\User\module\config.h)(0x6931B5B0) -I (..\User\device\bmi088.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\component\ahrs.h)(0x6973AE97) -I (..\User\component\user_math.h)(0x6973AE97) -I (C:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) -I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -I (..\User\device\device.h)(0x6973AE97) -I (..\User\module\chassis.h)(0x693AAB7D) -I (..\User\bsp\struct_typedef.h)(0x6933E78F) -I (..\User\component\filter.h)(0x6973AE97) -I (..\User\component\pid.h)(0x6973AE97) -I (..\User\device\motor_rm.h)(0x6973AE97) -I (..\User\device\motor.h)(0x6973AE97) -I (..\User\bsp\can.h)(0x6973AE96) -I (..\Core\Inc\can.h)(0x68ED3746) -I (..\Core\Inc\main.h)(0x68ED3748) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55) -I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED3747) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68D7DF55) -I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68D7DF55) -I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68D7DF55) -I (..\User\bsp\bsp.h)(0x6973AE96) -I (..\User\bsp\mm.h)(0x6973AE96) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14) -I (..\User\module\cmd.h)(0x6973B373) -I (..\User\module\gimbal.h)(0x6941A80B) -I (..\User\device\motor_dm.h)(0x6973AE97) -I (..\User\module\shoot.h)(0x6942A725) -F (..\User\task\gimbal.c)(0x6964BF14)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/gimbal_1.o -MD) -I (..\User\task\user_task.h)(0x69748614) -I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14) -I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) -I (C:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14) -I (..\Core\Inc\FreeRTOSConfig.h)(0x6933C999) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68D7DF14) -I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68D7DF14) -I (..\User\module\config.h)(0x6931B5B0) -I 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(..\User\task\chassis.c)(0x69AEB373)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/chassis_1.o -MD) +F (..\User\task\cmd.c)(0x69B3FC3E)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/cmd_1.o -MD) +F (..\User\task\gimbal.c)(0x69B28297)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/gimbal_1.o -MD) +F (..\User\task\init.c)(0x69B30728)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/init.o -MD) +F (..\User\task\rc.c)(0x69B40E20)(-xc -std=c99 --target=arm-arm-none-eabi 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../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/shoot_1.o -MD) +F (..\User\task\user_task.c)(0x69B40B9D)(-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 -gdwarf-3 -O0 -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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I ../User -I./RTE/_lll0121 -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -IC:/Users/zhaoruihong/AppData/Local/Arm/Packs/Keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o lll0121/user_task.o -MD) diff --git a/MDK-ARM/lll0121/main.d b/MDK-ARM/lll0121/main.d deleted file mode 100644 index d4c0375..0000000 --- a/MDK-ARM/lll0121/main.d +++ /dev/null @@ -1,47 +0,0 @@ -lll0121/main.o: ..\Core\Src\main.c ..\Core\Inc\main.h \ - ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \ - 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..\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 \ - ..\User\module\shoot.h ..\Core\Inc\main.h diff --git a/MDK-ARM/lll0121/user_task.o b/MDK-ARM/lll0121/user_task.o deleted file mode 100644 index 82d75885c4b49873878bb5404cac35973fd4d577..0000000000000000000000000000000000000000 GIT binary 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mode stack */ _estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */ /* Generate a link error if heap and stack don't fit into RAM */ -_Min_Heap_Size = 0x1000; /* required amount of heap */ -_Min_Stack_Size = 0x2000; /* required amount of stack */ +_Min_Heap_Size = 0x400; /* required amount of heap */ +_Min_Stack_Size = 0x800; /* required amount of stack */ /* Define output sections */ SECTIONS diff --git a/User/bsp/bsp_config.yaml b/User/bsp/bsp_config.yaml index 6bb31db..ff71c4a 100644 --- a/User/bsp/bsp_config.yaml +++ b/User/bsp/bsp_config.yaml @@ -71,7 +71,7 @@ uart: - instance: USART3 name: DR16 - instance: USART6 - name: NUC + name: REF - instance: USART1 name: '1' enabled: true diff --git a/User/bsp/uart.c b/User/bsp/uart.c index 4e62a04..0c53cda 100644 --- a/User/bsp/uart.c +++ b/User/bsp/uart.c @@ -26,7 +26,7 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) { if (huart->Instance == USART3) return BSP_UART_DR16; else if (huart->Instance == USART6) - return BSP_UART_NUC; + return BSP_UART_REF; else if (huart->Instance == USART1) return BSP_UART_1; else @@ -119,7 +119,7 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) { switch (uart) { case BSP_UART_DR16: return &huart3; - case BSP_UART_NUC: + case BSP_UART_REF: return &huart6; case BSP_UART_1: return &huart1; diff --git a/User/bsp/uart.h b/User/bsp/uart.h index 1c880ba..be5c64c 100644 --- a/User/bsp/uart.h +++ b/User/bsp/uart.h @@ -28,7 +28,7 @@ extern "C" { /* UART实体枚举，与设备对应 */ typedef enum { BSP_UART_DR16, - BSP_UART_NUC, + BSP_UART_REF, BSP_UART_1, BSP_UART_NUM, BSP_UART_ERR, diff --git a/User/device/ET16s.c b/User/device/ET16s.c index 8c70dca..a885ce2 100644 --- a/User/device/ET16s.c +++ b/User/device/ET16s.c @@ -2,6 +2,7 @@ #include "device/ET16s.h" #include "device/device.h" #include +#include //#include "error_detect.h" #include "bsp/uart.h" #include "bsp/calc_lib.h" @@ -37,6 +38,7 @@ static osThreadId_t thread_alert; +static bool inited = false; //uint8_t cbuf[FRAME_LEN]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况 //uint8_t cbuf[sizeof(LD_raw_t)]; uint8_t cbuf[25u]; @@ -53,11 +55,13 @@ static void REMOTE_RxCpltCallback(void) { } //遥控器初始化 int8_t REMOTE_Init(void) { + if (inited) return DEVICE_OK; if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; BSP_UART_RegisterCallback(BSP_UART_DR16,BSP_UART_RX_CPLT_CB, REMOTE_RxCpltCallback); memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包 + inited = true; return DEVICE_OK; } diff --git a/User/device/device.h b/User/device/device.h index 18ffc73..96d548f 100644 --- a/User/device/device.h +++ b/User/device/device.h @@ -30,7 +30,9 @@ extern "C" { /* AUTO GENERATED SIGNALS END */ /* USER SIGNALS BEGIN */ - +#define SIGNAL_REFEREE_RAW_REDY (1u << 5) +#define SIGNAL_REFEREE_FAST_REFRESH_UI (1u << 6) +#define SIGNAL_REFEREE_SLOW_REFRESH_UI (1u << 7) /* USER SIGNALS END */ /*设备层通用Header*/ typedef struct { diff --git a/User/device/dr16.h b/User/device/dr16.h index 8c54aac..567d155 100644 --- a/User/device/dr16.h +++ b/User/device/dr16.h @@ -12,11 +12,11 @@ // /* USER INCLUDE BEGIN */ -// // ///* USER INCLUDE END */ +// // // // ///* USER INCLUDE END */ // /* USER DEFINE BEGIN */ -// // ///* USER DEFINE END */ +// // // // ///* USER DEFINE END */ // /* Exported constants ------------------------------------------------------- */ // /* Exported macro ----------------------------------------------------------- */ @@ -110,7 +110,7 @@ // /* USER FUNCTION BEGIN */ -// // ///* USER FUNCTION END */ +// // // // ///* USER FUNCTION END */ // #ifdef __cplusplus // } diff --git a/User/device/referee.c b/User/device/referee.c new file mode 100644 index 0000000..f620342 --- /dev/null +++ b/User/device/referee.c @@ -0,0 +1,842 @@ +/* + 裁判系统抽象。 +*/ + +/* Includes ---------------------------------------------------------------- */ +#include "device.h" + +#include +//#include "bsp\delay.h" +#include "bsp/uart.h" +#include "component/crc16.h" +#include "component/crc8.h" +#include "component/user_math.h" +#include "device/referee.h" +#include "module/cmd.h" + +/* Private define ----------------------------------------------------------- */ +#define REF_HEADER_SOF (0xA5) +#define REF_LEN_RX_BUFF (0xFF) + +#define REF_UI_FAST_REFRESH_FREQ (50) +#define REF_UI_SLOW_REFRESH_FREQ (0.2f) + +#define REF_UI_BOX_UP_OFFSET (4) +#define REF_UI_BOX_BOT_OFFSET (-14) + +#define REF_UI_RIGHT_START_POS (0.85f) + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +static volatile uint32_t drop_message = 0; + +static uint8_t rxbuf[REF_LEN_RX_BUFF]; + +static osThreadId_t thread_alert; +static bool inited = false; + +/* Private function -------------------------------------------------------- */ +static void Referee_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_RAW_REDY); +} + +static void Referee_IdleLineCallback(void) { + HAL_UART_AbortReceive_IT(BSP_UART_GetHandle(BSP_UART_REF)); +} + +static void Referee_AbortRxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_RAW_REDY); +} + +static void RefereeFastRefreshTimerCallback(void *arg) { + (void)arg; + osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_FAST_REFRESH_UI); +} + +static void RefereeSlowRefreshTimerCallback(void *arg) { + (void)arg; + osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_SLOW_REFRESH_UI); +} + +/* Exported functions ------------------------------------------------------- */ +int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui, + const CMD_Screen_t *screen) { + if (ref == NULL) return DEVICE_ERR_NULL; + if (inited) return DEVICE_ERR_INITED; + + if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; + + ui->screen = screen; + + BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_RX_CPLT_CB, + Referee_RxCpltCallback); + BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_ABORT_RX_CPLT_CB, + Referee_AbortRxCpltCallback); + BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_IDLE_LINE_CB, + Referee_IdleLineCallback); + + uint32_t fast_period_ms = (uint32_t)(1000.0f / REF_UI_FAST_REFRESH_FREQ); + uint32_t slow_period_ms = (uint32_t)(1000.0f / REF_UI_SLOW_REFRESH_FREQ); + + ref->ui_fast_timer_id = + osTimerNew(RefereeFastRefreshTimerCallback, osTimerPeriodic, NULL, NULL); + + ref->ui_slow_timer_id = + osTimerNew(RefereeSlowRefreshTimerCallback, osTimerPeriodic, NULL, NULL); + + osTimerStart(ref->ui_fast_timer_id, fast_period_ms); + osTimerStart(ref->ui_slow_timer_id, slow_period_ms); + + __HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_REF), UART_IT_IDLE); + + inited = true; + return 0; +} + +int8_t Referee_Restart(void) { + __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REF)); + __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REF)); + return 0; +} + +int8_t Referee_StartReceiving(Referee_t *ref) { + (void)ref; + + if ( BSP_UART_Receive(BSP_UART_REF, rxbuf, REF_LEN_RX_BUFF,true) + == BSP_OK) + return DEVICE_OK; + return DEVICE_ERR; +} + +bool Referee_CheckTXReady() { + return BSP_UART_GetHandle(BSP_UART_REF)->gState == HAL_UART_STATE_READY; +} + +void Referee_HandleOffline(Referee_t *referee) { + referee->ref_status = REF_STATUS_OFFLINE; +} + +int8_t Referee_Parse(Referee_t *ref) { + REF_SWITCH_STATUS(*ref, REF_STATUS_RUNNING); + uint32_t data_length = + REF_LEN_RX_BUFF - + __HAL_DMA_GET_COUNTER(BSP_UART_GetHandle(BSP_UART_REF)->hdmarx); + + uint8_t index = 0; + uint8_t packet_shift; + uint8_t packet_length; + + while (index < data_length && rxbuf[index] == REF_HEADER_SOF) { + packet_shift = index; + Referee_Header_t *header = (Referee_Header_t *)(rxbuf + index); + index += sizeof(*header); + if (index - packet_shift >= data_length) goto error; + + if (!CRC8_Verify((uint8_t *)header, sizeof(*header))) goto error; + + if (header->sof != REF_HEADER_SOF) goto error; + + Referee_CMDID_t *cmd_id = (Referee_CMDID_t *)(rxbuf + index); + index += sizeof(*cmd_id); + if (index - packet_shift >= data_length) goto error; + + void *target = (rxbuf + index); + void *origin; + size_t size; + + switch (*cmd_id) { + case REF_CMD_ID_GAME_STATUS: + origin = &(ref->game_status); + size = sizeof(ref->game_status); + break; + case REF_CMD_ID_GAME_RESULT: + origin = &(ref->game_result); + size = sizeof(ref->game_result); + break; + case REF_CMD_ID_GAME_ROBOT_HP: + origin = &(ref->game_robot_hp); + size = sizeof(ref->game_robot_hp); + break; + case REF_CMD_ID_WARNING: + origin = &(ref->warning); + size = sizeof(ref->warning); + break; + case REF_CMD_ID_DART_COUNTDOWN: + origin = &(ref->dart_countdown); + size = sizeof(ref->dart_countdown); + break; + case REF_CMD_ID_ROBOT_STATUS: + origin = &(ref->robot_status); + size = sizeof(ref->robot_status); + break; + case REF_CMD_ID_POWER_HEAT_DATA: + origin = &(ref->power_heat); + size = sizeof(ref->power_heat); + break; + case REF_CMD_ID_ROBOT_POS: + origin = &(ref->robot_pos); + size = sizeof(ref->robot_pos); + break; + case REF_CMD_ID_ROBOT_BUFF: + origin = &(ref->robot_buff); + size = sizeof(ref->robot_buff); + break; + case REF_CMD_ID_ROBOT_DMG: + origin = &(ref->robot_danage); + size = sizeof(ref->robot_danage); + break; + case REF_CMD_ID_SHOOT_DATA: + origin = &(ref->shoot_data); + size = sizeof(ref->shoot_data); + break; + case REF_CMD_ID_BULLET_REMAINING: + origin = &(ref->bullet_remain); + size = sizeof(ref->bullet_remain); + break; + case REF_CMD_ID_RFID: + origin = &(ref->rfid); + size = sizeof(ref->rfid); + break; + case REF_CMD_ID_DART_CLIENT: + origin = &(ref->dart_client); + size = sizeof(ref->dart_client); + break; + case REF_CMD_ID_GROUND_ROBOT_POS: + origin = &(ref->ground_robot_pos); + size = sizeof(ref->ground_robot_pos); + break; + case REF_CMD_ID_RADAR_MASK_PROC: + origin = &(ref->radar_mark); + size = sizeof(ref->radar_mark); + break; + case REF_CMD_ID_SENTRY_AUTO_DEC: + origin = &(ref->sentry_info); + size = sizeof(ref->sentry_info); + break; + case REF_CMD_ID_RADAR_AUTO_DEC: + origin = &(ref->radar_info); + size = sizeof(ref->radar_info); + break; + case REF_CMD_ID_INTER_STUDENT: + origin = &(ref->robot_interaction); + size = sizeof(ref->robot_interaction); + break; + case REF_CMD_ID_INTER_STUDENT_CUSTOM: + origin = &(ref->custom_robot); + size = sizeof(ref->custom_robot); + break; + case REF_CMD_ID_CLIENT_MAP: + origin = &(ref->map_command); + size = sizeof(ref->map_command); + break; + case REF_CMD_ID_KEYBOARD_MOUSE: + origin = &(ref->keyboard_mouse_t); + size = sizeof(ref->keyboard_mouse_t); + break; + case REF_CMD_ID_CLIENT_MAP_REC_RADAR: + origin = &(ref->map_robot_data); + size = sizeof(ref->map_robot_data); + break; + case REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_INTERACT: + origin = &(ref->custom_client); + size = sizeof(ref->custom_client); + break; + case REF_CMD_ID_CLIENT_MAP_REC_ROUTE: + origin = &(ref->map_data); + size = sizeof(ref->map_data); + break; + case REF_CMD_ID_CLIENT_MAP_REC_ROBOT: + origin = &(ref->custom_info); + size = sizeof(ref->custom_info); + break; + case REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_REC_ROBOT: + origin = &(ref->robot_custom); + size = sizeof(ref->robot_custom); + break; + case REF_CMD_ID_ROBOT_TO_CUSTOMER_CONTROLLER_CLIENT_REC: + origin = &(ref->robot_custom2); + size = sizeof(ref->robot_custom2); + break; + + case REF_CMD_ID_OPPSITE_ROBOT_POS:/*0xA01*/ + origin = &(ref->robot_custom2); + size = sizeof(ref->robot_custom2); + break; + case REF_CMD_ID_OPPSITE_ROBOT_HP:/*0xA02*/ + origin = &(ref->oppsite_robotHP); + size = sizeof(ref->oppsite_robotHP); + break; + case REF_CMD_ID_OPPSITE_ROBOT_BULLET_REMAINING:/*0xA03*/ + origin = &(ref->oppsite_bullet_remain); + size = sizeof(ref->oppsite_bullet_remain); + break; + case REF_CMD_ID_OPPSITE_ROBOT_STATUs:/*0xA04*/ + origin = &(ref->oppsite_robot_satate); + size = sizeof(ref->oppsite_robot_satate); + break; + case REF_CMD_ID_OPPSITE_ROBOT_BUFF:/*0xA05*/ + origin = &(ref->oppsite_robot_buff); + size = sizeof(ref->oppsite_robot_buff); + break; + case REF_CMD_ID_OPPSITE_ROBOT_INTERF_WAVE_SRCRET_KEY:/*0xA06*/ + origin = &(ref->opsite_DisturbingWave_key); + size = sizeof(ref->opsite_DisturbingWave_key); + break; +// case REF_CMD_ID_CLIENT_MAP: +// origin = &(ref->client_map); +// size = sizeof(ref->client_map); + default: + return DEVICE_ERR; + } + packet_length = sizeof(Referee_Header_t) + sizeof(Referee_CMDID_t) + size + + sizeof(Referee_Tail_t); + index += size; + if (index - packet_shift >= data_length) goto error; + + index += sizeof(Referee_Tail_t); + if (index - packet_shift != packet_length) goto error; + + if (CRC16_Verify((uint8_t *)(rxbuf + packet_shift), packet_length)) + memcpy(origin, target, size); + else + goto error; + } + return DEVICE_OK; + +error: + drop_message++; + return DEVICE_ERR; +} + +int8_t Referee_StartSend(uint8_t *data, uint32_t len) { + if (BSP_UART_Transmit(BSP_UART_REF,data, (size_t)len, true) == BSP_OK) { + return DEVICE_OK; + } else + return DEVICE_ERR; +} + +int8_t Referee_MoveData(void *data, void *tmp, uint32_t len) { + if (len <= 0 || data == NULL || tmp == NULL) return DEVICE_ERR; + memcpy(tmp, (const void *)data, (size_t)len); + memset(data, 0, (size_t)len); + return DEVICE_OK; +} + +int8_t Referee_SetHeader(Referee_Interactive_Header_t *header, + Referee_StudentCMDID_t cmd_id, uint8_t sender_id) { + header->data_cmd_id = cmd_id; + if (sender_id <= REF_BOT_RED_RADER) switch (sender_id) { + case REF_BOT_RED_HERO: + header->sender_ID = REF_BOT_RED_HERO; + header->receiver_ID = REF_CL_RED_HERO; + break; + case REF_BOT_RED_ENGINEER: + header->sender_ID = REF_BOT_RED_ENGINEER; + header->receiver_ID = REF_CL_RED_ENGINEER; + break; + case REF_BOT_RED_INFANTRY_1: + header->sender_ID = REF_BOT_RED_INFANTRY_1; + header->receiver_ID = REF_CL_RED_INFANTRY_1; + break; + case REF_BOT_RED_INFANTRY_2: + header->sender_ID = REF_BOT_RED_INFANTRY_2; + header->receiver_ID = REF_CL_RED_INFANTRY_2; + break; + case REF_BOT_RED_INFANTRY_3: + header->sender_ID = REF_BOT_RED_INFANTRY_3; + header->receiver_ID = REF_CL_RED_INFANTRY_3; + break; + case REF_BOT_RED_DRONE: + header->sender_ID = REF_BOT_RED_DRONE; + header->receiver_ID = REF_CL_RED_DRONE; + break; + case REF_BOT_RED_SENTRY: + header->sender_ID = REF_BOT_RED_SENTRY; + break; + case REF_BOT_RED_RADER: + header->sender_ID = REF_BOT_RED_RADER; + break; + default: + return -1; + } + else + switch (sender_id) { + case REF_BOT_BLU_HERO: + header->sender_ID = REF_BOT_BLU_HERO; + header->receiver_ID = REF_CL_BLU_HERO; + break; + case REF_BOT_BLU_ENGINEER: + header->sender_ID = REF_BOT_BLU_ENGINEER; + header->receiver_ID = REF_CL_BLU_ENGINEER; + break; + case REF_BOT_BLU_INFANTRY_1: + header->sender_ID = REF_BOT_BLU_INFANTRY_1; + header->receiver_ID = REF_CL_BLU_INFANTRY_1; + break; + case REF_BOT_BLU_INFANTRY_2: + header->sender_ID = REF_BOT_BLU_INFANTRY_2; + header->receiver_ID = REF_CL_BLU_INFANTRY_2; + break; + case REF_BOT_BLU_INFANTRY_3: + header->sender_ID = REF_BOT_BLU_INFANTRY_3; + header->receiver_ID = REF_CL_BLU_INFANTRY_3; + break; + case REF_BOT_BLU_DRONE: + header->sender_ID = REF_BOT_BLU_DRONE; + header->receiver_ID = REF_CL_BLU_DRONE; + break; + case REF_BOT_BLU_SENTRY: + header->sender_ID = REF_BOT_BLU_SENTRY; + break; + case REF_BOT_BLU_RADER: + header->sender_ID = REF_BOT_BLU_RADER; + break; + default: + return -1; + } + return 0; +} + +int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref) { + if (!Referee_CheckTXReady()) return 0; + if (ui->character_counter == 0 && ui->grapic_counter == 0 && + ui->del_counter == 0) + return 0; + + static uint8_t send_data[sizeof(Referee_UI_Drawgrapic_7_t)] = {0}; + uint16_t size; + if (ui->del_counter != 0) { + if (ui->del_counter < 0 || ui->del_counter > REF_UI_MAX_STRING_NUM) + return DEVICE_ERR; + Referee_UI_Del_t *address = (Referee_UI_Del_t *)send_data; + address->header.sof = REF_HEADER_SOF; + address->header.data_length = + sizeof(UI_Del_t) + sizeof(Referee_Interactive_Header_t); + address->header.crc8 = + CRC8_Calc((const uint8_t *)&(address->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address->IA_header), REF_STDNT_CMD_ID_UI_DEL, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->del[--ui->del_counter]), &(address->data), + sizeof(UI_Del_t)); + address->crc16 = + CRC16_Calc((const uint8_t *)address, + sizeof(Referee_UI_Del_t) - sizeof(uint16_t), CRC16_INIT); + size = sizeof(Referee_UI_Del_t); + + Referee_StartSend(send_data, size); + return DEVICE_OK; + } else if (ui->grapic_counter != 0) { + switch (ui->grapic_counter) { + case 1: + size = sizeof(Referee_UI_Drawgrapic_1_t); + Referee_UI_Drawgrapic_1_t *address_1 = + (Referee_UI_Drawgrapic_1_t *)send_data; + address_1->header.sof = REF_HEADER_SOF; + address_1->header.data_length = + sizeof(UI_Drawgrapic_1_t) + sizeof(Referee_Interactive_Header_t); + address_1->header.crc8 = + CRC8_Calc((const uint8_t *)&(address_1->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address_1->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address_1->IA_header), REF_STDNT_CMD_ID_UI_DRAW1, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->grapic), &(address_1->data.grapic), + sizeof(UI_Drawgrapic_1_t)); + address_1->crc16 = CRC16_Calc( + (const uint8_t *)address_1, + sizeof(Referee_UI_Drawgrapic_1_t) - sizeof(uint16_t), CRC16_INIT); + break; + case 2: + size = sizeof(Referee_UI_Drawgrapic_2_t); + Referee_UI_Drawgrapic_2_t *address_2 = + (Referee_UI_Drawgrapic_2_t *)send_data; + address_2->header.sof = REF_HEADER_SOF; + address_2->header.data_length = + sizeof(UI_Drawgrapic_2_t) + sizeof(Referee_Interactive_Header_t); + address_2->header.crc8 = + CRC8_Calc((const uint8_t *)&(address_2->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address_2->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address_2->IA_header), REF_STDNT_CMD_ID_UI_DRAW2, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->grapic), &(address_2->data.grapic), + sizeof(UI_Drawgrapic_2_t)); + address_2->crc16 = CRC16_Calc( + (const uint8_t *)address_2, + sizeof(Referee_UI_Drawgrapic_2_t) - sizeof(uint16_t), CRC16_INIT); + break; + case 3: + case 4: + case 5: + size = sizeof(Referee_UI_Drawgrapic_5_t); + Referee_UI_Drawgrapic_5_t *address_5 = + (Referee_UI_Drawgrapic_5_t *)send_data; + address_5->header.sof = REF_HEADER_SOF; + address_5->header.data_length = + sizeof(UI_Drawgrapic_5_t) + sizeof(Referee_Interactive_Header_t); + address_5->header.crc8 = + CRC8_Calc((const uint8_t *)&(address_5->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address_5->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address_5->IA_header), REF_STDNT_CMD_ID_UI_DRAW5, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->grapic), &(address_5->data.grapic), + sizeof(UI_Drawgrapic_5_t)); + address_5->crc16 = CRC16_Calc( + (const uint8_t *)address_5, + sizeof(Referee_UI_Drawgrapic_5_t) - sizeof(uint16_t), CRC16_INIT); + break; + case 6: + case 7: + size = sizeof(Referee_UI_Drawgrapic_7_t); + Referee_UI_Drawgrapic_7_t *address_7 = + (Referee_UI_Drawgrapic_7_t *)send_data; + address_7->header.sof = REF_HEADER_SOF; + address_7->header.data_length = + sizeof(UI_Drawgrapic_7_t) + sizeof(Referee_Interactive_Header_t); + address_7->header.crc8 = + CRC8_Calc((const uint8_t *)&(address_7->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address_7->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address_7->IA_header), REF_STDNT_CMD_ID_UI_DRAW7, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->grapic), &(address_7->data.grapic), + sizeof(UI_Drawgrapic_7_t)); + address_7->crc16 = CRC16_Calc( + (const uint8_t *)address_7, + sizeof(Referee_UI_Drawgrapic_7_t) - sizeof(uint16_t), CRC16_INIT); + break; + default: + return DEVICE_ERR; + } + if (Referee_StartSend(send_data, size) == HAL_OK) { + ui->grapic_counter = 0; + return DEVICE_OK; + } + } else if (ui->character_counter != 0) { + if (ui->character_counter < 0 || + ui->character_counter > REF_UI_MAX_STRING_NUM) + return DEVICE_ERR; + Referee_UI_Drawcharacter_t *address = + (Referee_UI_Drawcharacter_t *)send_data; + address->header.sof = REF_HEADER_SOF; + address->header.data_length = + sizeof(UI_Drawcharacter_t) + sizeof(Referee_Interactive_Header_t); + address->header.crc8 = + CRC8_Calc((const uint8_t *)&(address->header), + sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT); + address->cmd_id = REF_CMD_ID_INTER_STUDENT; + Referee_SetHeader(&(address->IA_header), REF_STDNT_CMD_ID_UI_STR, + ref->robot_status.robot_id); + Referee_MoveData(&(ui->character_data[--ui->character_counter]), + &(address->data.grapic), sizeof(UI_Drawcharacter_t)); + address->crc16 = CRC16_Calc( + (const uint8_t *)address, + sizeof(Referee_UI_Drawcharacter_t) - sizeof(uint16_t), CRC16_INIT); + size = sizeof(Referee_UI_Drawcharacter_t); + + Referee_StartSend(send_data, size); + return DEVICE_OK; + } + return DEVICE_ERR_NULL; +} + +UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui) { + if (ref_ui->grapic_counter >= REF_UI_MAX_GRAPIC_NUM || + ref_ui->grapic_counter < 0) + return NULL; + else + return &(ref_ui->grapic[ref_ui->grapic_counter++]); +} + +UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui) { + if (ref_ui->character_counter >= REF_UI_MAX_STRING_NUM || + ref_ui->character_counter < 0) + return NULL; + else + return &(ref_ui->character_data[ref_ui->character_counter++]); +} + +UI_Del_t *Referee_GetDelAdd(Referee_UI_t *ref_ui) { + if (ref_ui->del_counter >= REF_UI_MAX_DEL_NUM || ref_ui->del_counter < 0) + return NULL; + else + return &(ref_ui->del[ref_ui->del_counter++]); +} + +uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd) { + switch (cmd) { + /* Demo */ + case UI_NOTHING: + /* 字符 */ + UI_DrawCharacter(Referee_GetCharacterAdd(ref_ui), "0", + UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_AUTOAIM, + RED_BLUE, UI_DEFAULT_WIDTH, 100, 100, 200, 200, "Demo"); + /* 直线 */ + UI_DrawLine(Referee_GetGrapicAdd(ref_ui), "2", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_AUTOAIM, RED_BLUE, UI_DEFAULT_WIDTH, 960, 540, + 960, 240); + /* 圆形 */ + UI_DrawCycle(Referee_GetGrapicAdd(ref_ui), "1", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_AUTOAIM, RED_BLUE, UI_DEFAULT_WIDTH, 900, + 500, 10); + /* 删除 */ + UI_DelLayer(Referee_GetDelAdd(ref_ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_AUTOAIM); + break; + case UI_AUTO_AIM_START: + UI_DrawCharacter(Referee_GetCharacterAdd(ref_ui), "1", + UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_AUTOAIM, + RED_BLUE, UI_DEFAULT_WIDTH * 10, 50, UI_DEFAULT_WIDTH, + ref_ui->screen->width * 0.8, + ref_ui->screen->height * 0.5, "AUTO"); + break; + case UI_AUTO_AIM_STOP: + UI_DelLayer(Referee_GetDelAdd(ref_ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_AUTOAIM); + + default: + return -1; + } + return 0; +} + +uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref) { + cap->chassis_power_limit = ref->robot_status.chassis_power_limit; + cap->chassis_pwr_buff = ref->power_heat.chassis_pwr_buff; + cap->chassis_watt = ref->power_heat.chassis_watt; + cap->ref_status = ref->ref_status; + return 0; +} + +uint8_t Referee_PackAI(Referee_ForAI_t *ai, const Referee_t *ref) { + ai->ref_status = ref->ref_status; + return 0; +} + +uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis, + const Referee_t *ref) { + chassis->chassis_power_limit = ref->robot_status.chassis_power_limit; + chassis->chassis_pwr_buff = ref->power_heat.chassis_pwr_buff; + chassis->ref_status = ref->ref_status; + return 0; +} + +uint8_t Referee_PackShoot(Referee_ForShoot_t *shoot, Referee_t *ref) { + memcpy(&(shoot->power_heat), &(ref->power_heat), sizeof(shoot->power_heat)); + memcpy(&(shoot->robot_status), &(ref->robot_status), + sizeof(shoot->robot_status)); + memcpy(&(shoot->shoot_data), &(ref->shoot_data), sizeof(shoot->shoot_data)); + shoot->ref_status = ref->ref_status; + return 0; +} + +uint8_t Referee_UIRefresh(Referee_UI_t *ui) { + static uint8_t fsm = 0; + if (osThreadFlagsGet() & SIGNAL_REFEREE_FAST_REFRESH_UI) { + osThreadFlagsClear(SIGNAL_REFEREE_FAST_REFRESH_UI); + switch (fsm) { + case 0: { + fsm++; + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_CHASSIS); + UI_DrawLine(Referee_GetGrapicAdd(ui), "6", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12, + ui->screen->width * 0.4, ui->screen->height * 0.2, + ui->screen->width * 0.4 + sin(ui->chassis_ui.angle) * 46, + ui->screen->height * 0.2 + cos(ui->chassis_ui.angle) * 46); + float start_pos_h = 0.0f; + switch (ui->chassis_ui.mode) { + case STOP: + start_pos_h = 0.68f; + break; + case CHASSIS_MODE_FOLLOW_GIMBAL: + start_pos_h = 0.66f; + break; + case CHASSIS_MODE_ROTOR: + start_pos_h = 0.64f; + break; + default: + break; + } + if (start_pos_h != 0.0f) + UI_DrawRectangle( + Referee_GetGrapicAdd(ui), "8", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS - 6, + ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 44, + ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET); + break; + } + case 1: + fsm++; UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_CAP); + switch (ui->cap_ui.status) { + case UNREADY: + UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CAP, YELLOW, 0, 360, + UI_DEFAULT_WIDTH * 5, ui->screen->width * 0.6, + ui->screen->height * 0.2, 50, 50); + break; + break; + case READY: + UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CAP, GREEN, 0, + ui->cap_ui.percentage * 360, UI_DEFAULT_WIDTH * 5, + ui->screen->width * 0.6, ui->screen->height * 0.2, 50, + 50); + break; + } + + break; + case 2: { + fsm++; + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_GIMBAL); + float start_pos_h = 0.0f; + switch (ui->gimbal_ui.mode) { + case GIMBAL_MODE_RELAX: + start_pos_h = 0.68f; + break; + case GIMBAL_MODE_RELATIVE: + start_pos_h = 0.66f; + break; + case GIMBAL_MODE_ABSOLUTE: + start_pos_h = 0.64f; + break; + default: + break; + } + UI_DrawRectangle( + Referee_GetGrapicAdd(ui), "a", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_GIMBAL, GREEN, UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 54, + ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 102, + ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET); + break; + } + case 3: { + fsm++; + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_SHOOT); + float start_pos_h = 0.0f; + switch (ui->shoot_ui.fire) { + case SHOOT_STATE_IDLE: + start_pos_h = 0.68f; + break; + case SHOOT_STATE_READY: + start_pos_h = 0.66f; + break; + case SHOOT_STATE_FIRE: + start_pos_h = 0.64f; + break; + default: + break; + } + UI_DrawRectangle( + Referee_GetGrapicAdd(ui), "b", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_SHOOT, GREEN, UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 114, + ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 162, + ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET); + + switch (ui->shoot_ui.mode) { + case SHOOT_MODE_SAFE: + start_pos_h = 0.68f; + break; + case SHOOT_MODE_SINGLE: + start_pos_h = 0.66f; + break; + case SHOOT_MODE_BURST: + start_pos_h = 0.64f; + default: + break; + } + UI_DrawRectangle( + Referee_GetGrapicAdd(ui), "f", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_SHOOT, GREEN, UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 174, + ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 222, + ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET); + break; + } + case 4: + fsm++; + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_CMD); + if (ui->cmd_pc) { + UI_DrawRectangle(Referee_GetGrapicAdd(ui), "c", + UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_CMD, GREEN, + UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 96, + ui->screen->height * 0.4 + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 120, + ui->screen->height * 0.4 + REF_UI_BOX_BOT_OFFSET); + } else { + UI_DrawRectangle(Referee_GetGrapicAdd(ui), "c", + UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_CMD, GREEN, + UI_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS + 56, + ui->screen->height * 0.4 + REF_UI_BOX_UP_OFFSET, + ui->screen->width * REF_UI_RIGHT_START_POS + 80, + ui->screen->height * 0.4 + REF_UI_BOX_BOT_OFFSET); + } + break; + + default: + fsm = 0; + if (ui->del_counter >= REF_UI_MAX_DEL_NUM || + ui->character_counter > REF_UI_MAX_STRING_NUM || + ui->grapic_counter > REF_UI_MAX_GRAPIC_NUM) + BSP_UART_GetHandle(BSP_UART_REF)->gState = HAL_UART_STATE_READY; + } + } + + if (osThreadFlagsGet() & SIGNAL_REFEREE_SLOW_REFRESH_UI) { + osThreadFlagsClear(SIGNAL_REFEREE_SLOW_REFRESH_UI); + UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL, + UI_GRAPIC_LAYER_CONST); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "1", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.7, "CHAS GMBL SHOT FIRE"); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "2", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.68, "FLLW RELX RELX SNGL"); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "3", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.66, "FL35 ABSL SAFE BRST"); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "4", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.64, "ROTR RLTV LOAD CONT"); + UI_DrawLine(Referee_GetGrapicAdd(ui), "5", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 3, + ui->screen->width * 0.4, ui->screen->height * 0.2, + ui->screen->width * 0.4, ui->screen->height * 0.2 + 50); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "d", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80, + UI_CHAR_DEFAULT_WIDTH, + ui->screen->width * REF_UI_RIGHT_START_POS, + ui->screen->height * 0.4, "CTRL RC PC"); + UI_DrawCharacter(Referee_GetCharacterAdd(ui), "e", UI_GRAPIC_OPERATION_ADD, + UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 20, 80, + UI_CHAR_DEFAULT_WIDTH * 2, ui->screen->width * 0.6 - 26, + ui->screen->height * 0.2 + 10, "CAP"); + } + + return 0; +} diff --git a/User/device/referee.h b/User/device/referee.h new file mode 100644 index 0000000..b9ffabd --- /dev/null +++ b/User/device/referee.h @@ -0,0 +1,743 @@ +/* + 裁判系统抽象。 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include +#include "component\ui.h" +#include "component\user_math.h" +//#include "device\can.h" +#include "module\shoot.h" +#include "device\device.h" +#include "module\cmd.h" +#include "module\config.h" +#include "device\supercap.h" + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat)) +#define CHASSIS_POWER_MAX_WITHOUT_REF 50.0f /* 裁判系统离线底盘最大功率 */ + +#define REF_UI_MAX_GRAPIC_NUM (7) +#define REF_UI_MAX_STRING_NUM (7) +#define REF_UI_MAX_DEL_NUM (3) +#define REF_USER_DATA_MAX_LEN 112 +/* Exported types ----------------------------------------------------------- */ +typedef struct __packed { + uint8_t sof; + uint16_t data_length; + uint8_t seq; + uint8_t crc8; +} Referee_Header_t; + +typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t; + +typedef enum { + REF_CMD_ID_GAME_STATUS = 0x0001, + REF_CMD_ID_GAME_RESULT = 0x0002, + REF_CMD_ID_GAME_ROBOT_HP = 0x0003, +// REF_CMD_ID_DART_STATUS = 0x0004, + REF_CMD_ID_FIELD_EVENTS = 0x0101, + REF_CMD_ID_WARNING = 0x0104, + REF_CMD_ID_DART_COUNTDOWN = 0x0105, + REF_CMD_ID_ROBOT_STATUS = 0x0201, + REF_CMD_ID_POWER_HEAT_DATA = 0x0202, + REF_CMD_ID_ROBOT_POS = 0x0203, + REF_CMD_ID_ROBOT_BUFF = 0x0204, + REF_CMD_ID_ROBOT_DMG = 0x0206, + REF_CMD_ID_SHOOT_DATA = 0x0207, + REF_CMD_ID_BULLET_REMAINING = 0x0208, + REF_CMD_ID_RFID = 0x0209, + REF_CMD_ID_DART_CLIENT = 0x020A, + REF_CMD_ID_GROUND_ROBOT_POS = 0x020B, + REF_CMD_ID_RADAR_MASK_PROC = 0x020C, + REF_CMD_ID_SENTRY_AUTO_DEC = 0x020D, + REF_CMD_ID_RADAR_AUTO_DEC = 0x020E, + REF_CMD_ID_INTER_STUDENT = 0x0301, + REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302, + REF_CMD_ID_CLIENT_MAP = 0x0303, + REF_CMD_ID_KEYBOARD_MOUSE = 0x0304, + REF_CMD_ID_CLIENT_MAP_REC_RADAR = 0x0305, + REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_INTERACT = 0x0306, + REF_CMD_ID_CLIENT_MAP_REC_ROUTE = 0x0307, + REF_CMD_ID_CLIENT_MAP_REC_ROBOT = 0x0308, + REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_REC_ROBOT = 0x0309, + REF_CMD_ID_ROBOT_TO_CUSTOMER_CONTROLLER_CLIENT_REC = 0x0310, + + + + REF_CMD_ID_SET_PICTURE_CHANNEL = 0x0F01, + REF_CMD_ID_QUERY_PICTURE_CHANNEL = 0x0F02, + REF_CMD_ID_OPPSITE_ROBOT_POS = 0x0A01, + REF_CMD_ID_OPPSITE_ROBOT_HP = 0x0A02, + REF_CMD_ID_OPPSITE_ROBOT_BULLET_REMAINING = 0x0A03, + REF_CMD_ID_OPPSITE_ROBOT_STATUs = 0x0A04, + REF_CMD_ID_OPPSITE_ROBOT_BUFF= 0x0A05, + REF_CMD_ID_OPPSITE_ROBOT_INTERF_WAVE_SRCRET_KEY= 0x0A06, + +} Referee_CMDID_t; + +typedef struct __packed { + uint8_t game_type : 4; + uint8_t game_progress : 4; + uint16_t stage_remain_time; + uint64_t sync_time_stamp; +} Referee_GameStatus_t; + +typedef struct __packed { + uint8_t winner; +} Referee_GameResult_t; + +typedef struct __packed { +uint16_t ally_1_robot_HP; +uint16_t ally_2_robot_HP; +uint16_t ally_3_robot_HP; +uint16_t ally_4_robot_HP; +uint16_t reserved; +uint16_t ally_7_robot_HP; +uint16_t ally_outpost_HP; +uint16_t ally_base_HP; +} Referee_GameRobotHP_t; + +typedef struct __packed { + uint32_t event_data; +} Referee_Event_t; + +typedef struct __packed { + uint8_t level; + uint8_t offending_robot_id; + uint8_t count; +} Referee_Warning_t; + +typedef struct __packed { + uint8_t dart_remaining_time; + uint16_t dart_info; +} Referee_DartInfo_t; + +typedef struct __packed +{ + uint8_t robot_id; + uint8_t robot_level; + uint16_t current_HP; + uint16_t maximum_HP; + + uint16_t shooter_barrel_cooling_value; + uint16_t shooter_barrel_heat_limit; + uint16_t chassis_power_limit; + uint8_t power_management_gimbal_output : 1; + uint8_t power_management_chassis_output : 1; + uint8_t power_management_shooter_output : 1; +}Referee_RobotStatus_t; + +typedef struct __packed { + uint16_t chassis_volt; + uint16_t chassis_amp; + float chassis_watt; + uint16_t chassis_pwr_buff; + uint16_t shooter_17mm_barrel_heat; + uint16_t shooter_42mm_barrel_heat; +} Referee_PowerHeat_t; + +typedef struct __packed { + float x; + float y; + float angle; +} Referee_RobotPos_t; + +typedef struct { + uint8_t recovery_buff; + uint16_t cooling_buff; + uint8_t defence_buff; + uint8_t vulnerability_buff; + uint16_t attack_buff; + uint8_t remaining_energy; +} Referee_RobotBuff_t; + +typedef struct __packed { + uint8_t armor_id : 4; + uint8_t damage_type : 4; +} Referee_RobotDamage_t; + + +typedef struct __packed { + uint8_t bullet_type; + uint8_t shooter_id; + uint8_t bullet_freq; + float bullet_speed; +} Referee_ShootData_t;/* 0x0207 */ + +typedef struct __packed { + uint16_t bullet_17_remain; + uint16_t bullet_42_remain; + uint16_t coin_remain; + uint16_t fortress_remain; +}Referee_BulletRemain_t; + +typedef struct { + uint32_t rfid_status; + uint8_t rfid_status_2; +}Referee_RFID_t; + +typedef struct __packed { + uint8_t dart_launch_opening_status; + uint8_t reserved; + uint16_t target_change_time; + uint16_t latest_launch_cmd_time; +}Referee_DartClient_t; + +typedef struct { + float hero_x; + float hero_y; + float engineer_x; + float engineer_y; + float standard_3_x; + float standard_3_y; + float standard_4_x; + float standard_4_y; + float reserved_1; + float reserved_2; +} Referee_GroundRobotPos_t; + +typedef struct __packed { + uint16_t mark_progress; +} Referee_RadarMark_t; + +typedef struct __packed { + uint32_t sentry_info; + uint16_t sentry_info_2; +} Referee_SentryInfo_t; + +typedef struct __packed { + uint8_t radar_info; +} Referee_RadarInfo_t; + +typedef struct __packed { + uint16_t data_cmd_id; + uint16_t sender_id; + uint16_t receiver_id; + uint8_t user_data[REF_USER_DATA_MAX_LEN]; +} Referee_RobotInteraction_t; + +typedef struct __packed +{ +uint8_t delete_type; +uint8_t layer; +}Referee_RobotInteractionLayerDelete_t; + +typedef struct __packed { +uint8_t figure_name[3]; +uint32_t operate_type:3; +uint32_t figure_type:3; +uint32_t layer:4; +uint32_t color:4; +uint32_t details_a:9; +uint32_t details_b:9; +uint32_t width:10; +uint32_t start_x:11; +uint32_t start_y:11; +uint32_t details_c:10; +uint32_t details_d:11; +uint32_t details_e:11; +} Referee_InteractionFigure_t; + + + +typedef struct __packed { + Referee_InteractionFigure_t interaction_figure[2]; +} Referee_InteractionFigure2_t; + +typedef struct __packed { + + Referee_InteractionFigure_t interaction_figure[5]; +} Referee_InteractionFigure3_t; + +typedef struct __packed { + Referee_InteractionFigure_t interaction_figure[7]; +} Referee_InteractionFigure4_t; + +typedef struct __packed { +//graphic_data_struct_t grapic_data_struct; +uint8_t data[30]; +}Referee_ExtClientCustomCharacter_t; + +typedef struct __packed { + uint32_t sentry_cmd; +} Referee_SentryCmd_t; + +typedef struct __packed { + uint8_t radar_cmd; + uint8_t password_cmd; +uint8_t password_1; +uint8_t password_2; +uint8_t password_3; +uint8_t password_4; +uint8_t password_5; +uint8_t password_6; +} Referee_RadarCmd_t; + +typedef struct __packed { +float target_position_x; +float target_position_y; +uint8_t cmd_keyboard; +uint8_t target_robot_id; +uint16_t cmd_source; +}Referee_MapCommand_t; + +typedef struct __packed { +uint16_t hero_position_x; +uint16_t hero_position_y; +uint16_t engineer_position_x; +uint16_t engineer_position_y; +uint16_t infantry_3_position_x; +uint16_t infantry_3_position_y; +uint16_t infantry_4_position_x; +uint16_t infantry_4_position_y; +uint16_t infantry_5_position_x; +uint16_t infantry_5_position_y; +uint16_t sentry_position_x; +int16_t sentry_position_y; +} Referee_MapRobotData_t; + +typedef struct +{ +uint8_t intention; +uint16_t start_position_x; +uint16_t start_position_y; +int8_t delta_x[49]; +int8_t delta_y[49]; +uint16_t sender_id; +}Referee_MapData_t; + +typedef struct +{ +uint16_t sender_id; +uint16_t receiver_id; +uint8_t user_data[30]; +}Referee_CustomInfo_t; + +typedef struct +{ +uint8_t data[30]; +}Referee_CustomRobot_t; + +typedef struct +{ +uint8_t data[30]; +}Referee_RobotCustom_t; + +typedef struct +{ +uint8_t data[30]; +}Referee_RobotCustom2_t; + +/* 适配 V1.2.0: 0x0311 新增指令 */ +typedef struct __packed { + uint8_t data[30]; +} Referee_RobotCustom3_t; + +typedef struct __packed { + int16_t mouse_x; + int16_t mouse_y; + int16_t mouse_wheel; + int8_t button_l; + int8_t button_r; + uint16_t keyboard_value; + uint16_t res; +} Referee_KeyboardMouse_t; + +typedef struct +{ +uint16_t key_value; + uint16_t x_position:12; + uint16_t mouse_left:4; + uint16_t y_position:12; + uint16_t mouse_right:4; + uint16_t reserved; +}Referee_CustomClient_t; + +typedef struct __packed { + uint8_t place_holder; +} Referee_InterStudent_Custom_t; + +typedef struct __packed { +uint16_t ally_1_robot_HP; +uint16_t ally_2_robot_HP; +uint16_t ally_3_robot_HP; +uint16_t ally_4_robot_HP; +uint16_t reserved; +uint16_t ally_7_robot_HP; +} Referee_OppisiteGameRobotHP_t; + +typedef struct __packed { + uint16_t hero_bullet; + uint16_t infantry3_bullet; + uint16_t infantry4_bullet; + uint16_t drone_bullet; + uint16_t sentry_bullet; +} Referee_OppsiteBulletRemain_t; + + +typedef struct __packed { + uint16_t remain_coins; + uint16_t total_coins; + uint32_t macro_status; +} Referee_OppsiteRobotState_t; + +typedef struct __packed { + uint8_t data[36]; +} Referee_OppsiteRobotBuff_t; + +typedef struct __packed { + uint8_t data[6]; +} Referee_OppsiteDisturbingWaveKey_t; + + + +typedef struct __packed { + uint8_t f1_status : 1; + uint8_t f1_buff_status : 3; + uint8_t f2_status : 1; + uint8_t f2_buff_status : 3; + uint8_t f3_status : 1; + uint8_t f3_buff_status : 3; + uint8_t f4_status : 1; + uint8_t f4_buff_status : 3; + uint8_t f5_status : 1; + uint8_t f5_buff_status : 3; + uint8_t f6_status : 1; + uint8_t f6_buff_status : 3; + uint16_t red1_bullet_remain; + uint16_t red2_bullet_remain; + uint16_t blue1_bullet_remain; + uint16_t blue2_bullet_remain; +} Referee_ICRAZoneStatus_t; + +typedef struct __packed { + uint8_t copter_pad : 2; + uint8_t energy_mech : 2; + uint8_t virtual_shield : 1; + uint32_t res : 27; +} Referee_FieldEvents_t; + +typedef struct __packed { + uint8_t supply_id; + uint8_t robot_id; + uint8_t supply_step; + uint8_t supply_sum; +} Referee_SupplyAction_t; + +typedef struct __packed { + uint8_t place_holder; /* TODO */ +} Referee_RequestSupply_t; + +typedef struct __packed { + uint8_t countdown; +} Referee_DartCountdown_t; + + +typedef struct __packed { + uint8_t attack_countdown; +} Referee_DroneEnergy_t; + + + + +/*typedef struct __packed { + uint8_t opening; + uint8_t target; + uint8_t target_changable_countdown; + uint8_t dart1_speed; + uint8_t dart2_speed; + uint8_t dart3_speed; + uint8_t dart4_speed; + uint16_t last_dart_launch_time; + uint16_t operator_cmd_launch_time; +} Referee_DartClient_t;*/ + + + + + +typedef struct __packed { + float position_x; + float position_y; + float position_z; + uint8_t commd_keyboard; + uint16_t robot_id; +} Referee_ClientMap_t; + +typedef uint16_t Referee_Tail_t; + +typedef enum { + REF_BOT_RED_HERO = 1, + REF_BOT_RED_ENGINEER = 2, + REF_BOT_RED_INFANTRY_1 = 3, + REF_BOT_RED_INFANTRY_2 = 4, + REF_BOT_RED_INFANTRY_3 = 5, + REF_BOT_RED_DRONE = 6, + REF_BOT_RED_SENTRY = 7, + REF_BOT_RED_RADER = 9, + REF_BOT_RED_OUTPOST=10, + REF_BOT_RED_BASE=11, + REF_BOT_BLU_HERO = 101, + REF_BOT_BLU_ENGINEER = 102, + REF_BOT_BLU_INFANTRY_1 = 103, + REF_BOT_BLU_INFANTRY_2 = 104, + REF_BOT_BLU_INFANTRY_3 = 105, + REF_BOT_BLU_DRONE = 106, + REF_BOT_BLU_SENTRY = 107, + REF_BOT_BLU_RADER = 109, + REF_BOT_BUL_OUTPOST=110, + REF_BOT_BUL_BASE=111, +} Referee_RobotID_t; + +typedef enum { + REF_CL_RED_HERO = 0x0101, + REF_CL_RED_ENGINEER = 0x0102, + REF_CL_RED_INFANTRY_1 = 0x0103, + REF_CL_RED_INFANTRY_2 = 0x0104, + REF_CL_RED_INFANTRY_3 = 0x0105, + REF_CL_RED_DRONE = 0x0106, + REF_CL_BLU_HERO = 0x0165, + REF_CL_BLU_ENGINEER = 0x0166, + REF_CL_BLU_INFANTRY_1 = 0x0167, + REF_CL_BLU_INFANTRY_2 = 0x0168, + REF_CL_BLU_INFANTRY_3 = 0x0169, + REF_CL_BLU_DRONE = 0x016A, + +} Referee_ClientID_t; + +typedef enum { + REF_STDNT_CMD_ID_UI_DEL = 0x0100, + REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101, + REF_STDNT_CMD_ID_UI_DRAW2 = 0x0102, + REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103, + REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104, + REF_STDNT_CMD_ID_UI_STR = 0x0110, + + REF_STDNT_CMD_ID_CUSTOM = 0x0200, +} Referee_StudentCMDID_t; + +typedef struct __packed { + Referee_StudentCMDID_t data_cmd_id; + uint16_t id_sender; + uint16_t id_receiver; + uint8_t *data; +} Referee_InterStudent_t; + + + +typedef struct { + Referee_Status_t ref_status; + Referee_GameStatus_t game_status; + Referee_GameResult_t game_result; + Referee_GameRobotHP_t game_robot_hp; + Referee_Event_t event; + Referee_Warning_t warning; + Referee_DartInfo_t dartinfo; + Referee_RobotStatus_t robot_status; + Referee_PowerHeat_t power_heat; + Referee_RobotPos_t robot_pos; + Referee_RobotBuff_t robot_buff; + Referee_RobotDamage_t robot_danage; + Referee_ShootData_t shoot_data; + Referee_BulletRemain_t bullet_remain; + Referee_RFID_t rfid; + Referee_DartClient_t dart_client; + Referee_GroundRobotPos_t ground_robot_pos; + Referee_RadarMark_t radar_mark; + Referee_SentryInfo_t sentry_info; + Referee_RadarInfo_t radar_info; + Referee_RobotInteraction_t robot_interaction; + Referee_RobotInteractionLayerDelete_t robot_interaction_layer_delete; + Referee_InteractionFigure_t interaction_figure; + Referee_InteractionFigure2_t interaction_figure2; + Referee_InteractionFigure3_t interaction_figure3; + Referee_InteractionFigure4_t interaction_figure4; + Referee_ExtClientCustomCharacter_t ext_client_custom_character; + Referee_SentryCmd_t sentry_cmd; + Referee_RadarCmd_t radar_cmd; + Referee_MapCommand_t map_command; + Referee_MapRobotData_t map_robot_data; + Referee_MapData_t map_data; + Referee_CustomInfo_t custom_info; + Referee_CustomRobot_t custom_robot; + Referee_RobotCustom_t robot_custom; + Referee_RobotCustom2_t robot_custom2; + Referee_KeyboardMouse_t keyboard_mouse_t; + Referee_CustomClient_t custom_client; + Referee_MapRobotData_t map_oppsite_robot_data; + Referee_OppisiteGameRobotHP_t oppsite_robotHP; + Referee_OppsiteBulletRemain_t oppsite_bullet_remain; + Referee_OppsiteRobotState_t oppsite_robot_satate; + Referee_OppsiteRobotBuff_t oppsite_robot_buff; + Referee_OppsiteDisturbingWaveKey_t opsite_DisturbingWave_key; + + + + + + + Referee_ICRAZoneStatus_t icra_zone; + Referee_FieldEvents_t field_event; + Referee_SupplyAction_t supply_action; + Referee_RequestSupply_t request_supply; + Referee_DartCountdown_t dart_countdown; + Referee_DroneEnergy_t drone_energy; + Referee_InterStudent_Custom_t custom; + Referee_ClientMap_t client_map; + osTimerId_t ui_fast_timer_id; + osTimerId_t ui_slow_timer_id; +} Referee_t; + +typedef struct { + Chassis_Mode_t mode; + float angle; +} Referee_ChassisUI_t; + +typedef struct { + float percentage; + SuperCapReadyEnum ready;//超电状态 + SuperCapStateEnum status;//超电是否可用 + uint8_t online;//超电是否离线 + // CAN_CapStatus_t status; +} Referee_CapUI_t; + +typedef struct { + Gimbal_Mode_t mode; +} Referee_GimbalUI_t; + +typedef struct { + Shoot_Mode_t mode; + Shoot_Running_State_t fire; +} Referee_ShootUI_t; + +typedef struct __packed { + /* UI缓冲数据 */ + UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM]; + UI_Drawcharacter_t character_data[REF_UI_MAX_STRING_NUM]; + UI_Del_t del[REF_UI_MAX_DEL_NUM]; + /* 待发送数量 */ + uint8_t grapic_counter; + uint8_t character_counter; + uint8_t del_counter; + /* UI所需信息 */ + Referee_CapUI_t cap_ui; + Referee_ChassisUI_t chassis_ui; + Referee_ShootUI_t shoot_ui; + Referee_GimbalUI_t gimbal_ui; + bool cmd_pc; + /* 屏幕分辨率 */ + const CMD_Screen_t *screen; +} Referee_UI_t; + +typedef struct __packed { + uint16_t data_cmd_id; + uint16_t sender_ID; + uint16_t receiver_ID; +} Referee_Interactive_Header_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawgrapic_1_t data; + uint16_t crc16; +} Referee_UI_Drawgrapic_1_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawgrapic_2_t data; + uint16_t crc16; +} Referee_UI_Drawgrapic_2_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawgrapic_5_t data; + uint16_t crc16; +} Referee_UI_Drawgrapic_5_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawgrapic_7_t data; + uint16_t crc16; +} Referee_UI_Drawgrapic_7_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Drawcharacter_t data; + uint16_t crc16; +} Referee_UI_Drawcharacter_t; + +typedef struct __packed { + Referee_Header_t header; + uint16_t cmd_id; + Referee_Interactive_Header_t IA_header; + UI_Del_t data; + uint16_t crc16; +} Referee_UI_Del_t; + +typedef struct { + Referee_Status_t ref_status; + float chassis_watt; + float chassis_power_limit; + float chassis_pwr_buff; +} Referee_ForCap_t; + +typedef struct { + Referee_Status_t ref_status; +} Referee_ForAI_t; + +typedef struct { + Referee_Status_t ref_status; + float chassis_power_limit; + float chassis_pwr_buff; +} Referee_ForChassis_t; + +typedef struct { + Referee_Status_t ref_status; + Referee_PowerHeat_t power_heat; + Referee_RobotStatus_t robot_status; + Referee_ShootData_t shoot_data; +} Referee_ForShoot_t; + +/* Exported functions prototypes -------------------------------------------- */ +int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui, + const CMD_Screen_t *screen); +int8_t Referee_Restart(void); + +int8_t Referee_StartReceiving(Referee_t *ref); +int8_t Referee_Parse(Referee_t *ref); +void Referee_HandleOffline(Referee_t *referee); +int8_t Referee_SetHeader(Referee_Interactive_Header_t *header, + Referee_StudentCMDID_t cmd_id, uint8_t sender_id); +int8_t Referee_StartSend(uint8_t *data, uint32_t len); +int8_t Referee_MoveData(void *data, void *tmp, uint32_t len); +int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref); +UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui); +UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui); +uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd); +uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref); +uint8_t Referee_PackShoot(Referee_ForShoot_t *ai, Referee_t *ref); +uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis, + const Referee_t *ref); +uint8_t Referee_PackAI(Referee_ForAI_t *shoot, const Referee_t *ref); +uint8_t Referee_UIRefresh(Referee_UI_t *ui); +#ifdef __cplusplus +} +#endif diff --git a/User/device/remote_control.h b/User/device/remote_control.h index 399dd27..9984f43 100644 --- a/User/device/remote_control.h +++ b/User/device/remote_control.h @@ -41,6 +41,47 @@ // } LD_raw_t; +// typedef struct +// { + +// rc_type_t rc_type; + +// struct +// { +// float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ +// float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ +// float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ +// float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */ + +// CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */ +// CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */ + +// } __attribute__((packed)) DJ; +// struct +// { + +// uint8_t head; +// float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */ +// float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */ +// float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */ +// float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */ + +// CMD_SwitchPos_t key_A; +// CMD_SwitchPos_t key_B; +// CMD_SwitchPos_t key_C; +// CMD_SwitchPos_t key_D; +// CMD_SwitchPos_t key_E; +// CMD_SwitchPos_t key_F; +// CMD_SwitchPos_t key_G; +// CMD_SwitchPos_t key_H; + + +// uint8_t end; +// int16_t knob_left; // 左旋钮 +// int16_t knob_right; // 右旋钮 +// } __attribute__((packed)) ET16s; + +// } __attribute__((packed)) CMD_RC_t; // typedef struct // { // float ch[4]; diff --git a/User/device/supercap.c b/User/device/supercap.c new file mode 100644 index 0000000..ef09738 --- /dev/null +++ b/User/device/supercap.c @@ -0,0 +1,183 @@ +#include "device/supercap.h" +#include "device/referee.h" +/* 全局变量 */ +CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData = {0}; + +uint8_t PowerOffset =0; + +uint32_t LastCapTick = 0; //上一次收到超电信号的时间戳 +uint32_t NowCapTick = 0; //现在收到超电信号的时间戳 + +uint32_t chassis_energy_in_gamming =0; + +/* 静态变量 - 用于CAN接收管理 */ +static bool supercap_inited = false; + +/** + * @brief 获取超级电容在线状态，1在线，0离线 + */ +uint8_t get_supercap_online_state(void){ + + NowCapTick = HAL_GetTick(); //更新时间戳 + + uint32_t DeltaCapTick = 0; + DeltaCapTick = NowCapTick - LastCapTick; //计算时间差 + +// if(get_game_progress() == 4){ +// //比赛开始的时候，开始统计消耗的能量 + + chassis_energy_in_gamming += CAN_SuperCapRXData.BatPower * DeltaCapTick *0.001f; + // 因为STM32的系统定时器是1ms的周期，所以*0.001，单位化为秒（S），能量单位才是焦耳（J） +// } + + if(DeltaCapTick > 1000){ + //如果时间差大于1s，说明超电信号丢失，返回超电离线的标志 + return 0; + }else { + //如果时间差小于1s，说明超电信号正常，返回超电在线的标志 + return 1; + } +} + +/** + * @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J） + */ +uint32_t get_chassis_energy_from_supercap(void){ + + return chassis_energy_in_gamming; + +} + +/******************超级电容数据从CAN传到结构体******************/ +int8_t SuperCap_Init(void) +{ + if (supercap_inited) { + return DEVICE_OK; // 已经初始化过 + } + + if (BSP_CAN_RegisterId( BSP_CAN_1 , SUPERCAP_RX_ID, 3) != BSP_OK) { + return DEVICE_ERR; + } + + supercap_inited = true; + return DEVICE_OK; +} + +int8_t SuperCap_Update(void) +{ + if (!supercap_inited) { + return DEVICE_ERR; + } + + BSP_CAN_Message_t rx_msg; + + // 从CAN队列获取数据 + if (BSP_CAN_GetMessage( BSP_CAN_1 , SUPERCAP_RX_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) { + // 处理接收到的数据 + transfer_SuperCap_measure(rx_msg.data); + return DEVICE_OK; + } + + return DEVICE_ERR; // 没有新数据 +} + +void transfer_SuperCap_measure(uint8_t *data) +{ + LastCapTick = HAL_GetTick(); + CAN_SuperCapRXData.SuperCapReady = (SuperCapReadyEnum)data[0]; + CAN_SuperCapRXData.SuperCapState = (SuperCapStateEnum)data[1]; + CAN_SuperCapRXData.SuperCapEnergy = data[2]; + CAN_SuperCapRXData.ChassisPower = data[3] << 1; //左移一位是为了扩大范围，超电发出来的的时候右移了一位 + CAN_SuperCapRXData.BatVoltage = data[4]; + CAN_SuperCapRXData.BatPower = data[5]; +} + +/** + * @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum + * @retval none + */ +SuperCapStateEnum get_supercap_state(void){ + return (SuperCapStateEnum)CAN_SuperCapRXData.SuperCapState; +} + +/** + * @brief 获取超级电容读到的电池电压，单位伏（V） + * @retval none + */ +float get_battery_voltage_from_supercap(void){ + return (float)CAN_SuperCapRXData.BatVoltage * 0.1f; +} + +/** + * @brief 获取超级电容可用能量，范围：0-100% + * @retval none + */ +uint8_t get_supercap_energy(void){ + return CAN_SuperCapRXData.SuperCapEnergy; +} + +/** + * @brief 设置超级电容功率补偿 + * @retval none + */ +void set_supercap_power_offset(uint8_t offset){ + PowerOffset = offset; +} + +/** + * @brief 发送超级电容数据 + * @param[in] Enable: 超级电容使能 + * @param[in] Charge: 超级电容充电，在PLUS版本中无效 + * @param[in] PowerLimit: 裁判系统功率限制 + * @param[in] Chargepower: 超级电容充电功率，在PLUS版本中无效 + * @retval none + */ +int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp) +{ + if (TX_Temp == NULL) return DEVICE_ERR_NULL; + + BSP_CAN_StdDataFrame_t tx_frame; + + tx_frame.id = SUPERCAP_TX_ID; + tx_frame.dlc = 0x08; + + tx_frame.data[0] = TX_Temp-> Enable; + tx_frame.data[1] = TX_Temp-> Charge;//PLUS disabled + tx_frame.data[2] = TX_Temp-> Powerlimit - PowerOffset; + tx_frame.data[3] = TX_Temp-> ChargePower;//PLUS disabled + + tx_frame.data[4] = 0; + tx_frame.data[5] = 0; + tx_frame.data[6] = 0; + tx_frame.data[7] = 0; + + return BSP_CAN_TransmitStdDataFrame( BSP_CAN_1 , &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR; +} + +/** + * @brief 限制功率不超过power_limit + * + * @param power_limit 最大功率 + * @param motor_out 电机输出值 + * @param speed 电机转速 + * @param len 电机数量 + * @return int8_t 0对应没有错误 + */ +int8_t PowerLimit_Output(float power_limit, float *motor_out, uint32_t len) +{ + /* power_limit小于0时不进行限制 */ + if (motor_out == NULL || power_limit < 0) return -1; + + float ChassisPower = CAN_SuperCapRXData.ChassisPower ; + + /* 保持每个电机输出值缩小时比例不变 */ + if (ChassisPower > power_limit) { + for (uint32_t i = 0; i < len; i++) { + motor_out[i] *= power_limit / ChassisPower; + } + } + + return 0; +} + + diff --git a/User/device/supercap.h b/User/device/supercap.h new file mode 100644 index 0000000..2641d3b --- /dev/null +++ b/User/device/supercap.h @@ -0,0 +1,102 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include "bsp\can.h" +#include "device\device.h" +//#include "referee.h" + +#define SUPERCAP_CAN BSP_FDCAN_3 + +#define SUPERCAP_TX_ID 0x001 //C板发给超级电容的ID +#define SUPERCAP_RX_ID 0x100 //超级电容发给C板的ID + + +//超级电容的状态标志位，超级电容运行或者保护的具体状态反馈 +typedef enum +{ + DISCHARGE =0 , //放电状态 + CHARGE =1, //充电状态 + WAIT =2, //待机状态 + SOFTSTART_PROTECTION =3,//处于软起动状态 + OVER_LOAD_PROTECTION = 4, //超电过载保护状态 + BAT_OVER_VOLTAGE_PROTECTION =5, //过压保护状态 + BAT_UNDER_VOLTAGE_PROTECTION =6, //电池欠压保护，电池要没电了，换电池 + CAP_UNDER_VOLTAGE_PROTECTION =7, //超级电容欠压保护，超级电容用完电了，要充一会才能用 + OVER_TEMPERATURE_PROTECTION =8, //过温保护，太热了 + BOOM = 9, //超电爆炸了 +}SuperCapStateEnum; + +//超级电容准备状态，用于判断超级电容是否可以使用 +typedef enum +{ + UNREADY =0 , + READY =1, +}SuperCapReadyEnum; + +// 发送给超级电容的数据 +typedef struct { + FunctionalState Enable ; //超级电容使能。1使能，0失能 + SuperCapStateEnum Charge ; //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的 + uint8_t Powerlimit; //裁判系统功率限制 + uint8_t ChargePower; //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化 +}CAN_SuperCapTXDataTypeDef; + +// 从超级电容接收到的数据 +typedef struct { + uint8_t SuperCapEnergy;//超级电容可用能量：0-100% + uint16_t ChassisPower; //底盘功率，0-512，由于传输的时候为了扩大量程右移了一位，所以接收的时候需要左移还原（丢精度）。 + SuperCapReadyEnum SuperCapReady;//超级电容【可用标志】：1为可用，0为不可用 + SuperCapStateEnum SuperCapState;//超级电容【状态标志】：各个状态对应的状态码查看SuperCapStateEnum枚举。 + uint8_t BatVoltage; //通过超级电容监控电池电压*10， + uint8_t BatPower; +}CAN_SuperCapRXDataTypeDef; + +extern CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData; + +void set_supercap_power_offset(uint8_t offset); + + +// 以下函数是超电控制所需要调用的函数 +int8_t SuperCap_Init(void); +int8_t SuperCap_Update(void); +void transfer_SuperCap_measure( uint8_t *data); +int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp); + + +/** + * @brief 获取超级电容在线状态，1在线，0离线 + */ +uint8_t get_supercap_online_state(void); + + +/** + * @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum + */ +SuperCapStateEnum get_supercap_state(void); + + +/** + * @brief 获取超级电容读到的电池电压，单位伏（V） + */ +float get_battery_voltage_from_supercap(void); + + +/** + * @brief 获取超级电容可用能量，范围：0-100% + */ +uint8_t get_supercap_energy(void); + + +/** + * @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J） + */ +uint32_t get_chassis_energy_from_supercap(void); + +int8_t PowerLimit_Output(float power_limit, float *motor_out, uint32_t len); + +#ifdef __cplusplus +} +#endif /*SUPERCAP_H*/ diff --git a/User/module/cap.c b/User/module/cap.c new file mode 100644 index 0000000..2f67427 --- /dev/null +++ b/User/module/cap.c @@ -0,0 +1,51 @@ +/* + * 电容模组 + */ + +/* Includes ----------------------------------------------------------------- */ +#include "cap.h" + +#include "component\capacity.h" +#include "component\limiter.h" +#include "device\referee.h" + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +#define CAP_CUTOFF_VOLT 12.0f + +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* Private function -------------------------------------------------------- */ + +/** + * @brief 运行电容控制逻辑 + * + * @param cap 电容数据结构体 + * @param referee 裁判系统数据 + * @param cap_out 电容输出结构体 + */ +void Cap_Control(CAN_SuperCapRXDataTypeDef *cap, const Referee_ForCap_t *referee, + float *power_limit) { + if (referee->ref_status != REF_STATUS_RUNNING) { + /* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */ + * power_limit = referee->chassis_power_limit; + } else { + /* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */ + * power_limit = + PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit, + referee->chassis_pwr_buff); + } +} + +/** + * @brief 导出电容数据 + * + * @param cap 电容数据 + * @param ui 结构体 + */ +void Cap_DumpUI(CAN_SuperCapRXDataTypeDef *cap, Referee_CapUI_t *ui) { + ui->percentage = cap->SuperCapEnergy; + ui->status = cap->SuperCapState; + ui->ready = cap->SuperCapReady; + ui->online = get_supercap_online_state(); +} diff --git a/User/module/cap.h b/User/module/cap.h new file mode 100644 index 0000000..3c4b5f2 --- /dev/null +++ b/User/module/cap.h @@ -0,0 +1,40 @@ +/* + * 电容模组 + */ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "device\supercap.h" +#include "device\referee.h" + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +/* Exported functions prototypes -------------------------------------------- */ + +/** + * @brief 运行电容控制逻辑 + * + * @param cap 电容数据结构体 + * @param referee 裁判系统数据 + * @param cap_out 电容输出结构体 + */ +void Cap_Control(CAN_SuperCapRXDataTypeDef *cap, const Referee_ForCap_t *referee, + float *power_limit); + +/** + * @brief 导出电容数据 + * + * @param cap 电容数据 + * @param ui 结构体 + */ +void Cap_DumpUI(CAN_SuperCapRXDataTypeDef *cap, Referee_CapUI_t *ui); + +#ifdef __cplusplus +} +#endif diff --git a/User/module/chassis.c b/User/module/chassis.c index f7616c3..24bcb83 100644 --- a/User/module/chassis.c +++ b/User/module/chassis.c @@ -112,6 +112,7 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq) } c->param = param; c->mode = CHASSIS_MODE_RELAX; // 默认模式为停止锁死底盘 + // c->ctrl_mode = CHASSIS_MODE_RC; c->mech_zero = c->param->mech_zero;/*云台6020的机械中点*/ c->travel = c->param->travel ;/*云台6020的机械行程*/ c->mech_zero_4310 = c->param->mech_zero_4310;/*云台4310的机械中点*/ @@ -461,8 +462,8 @@ if(c->ctrl_mode == CHASSIS_MODE_RC) } break; } - if(c->ctrl_mode == CHASSIS_MODE_DAOHANG) -{ +// if(c->ctrl_mode == CHASSIS_MODE_DAOHANG) +// { for(int i=0;i<4;i++) { @@ -483,7 +484,7 @@ for(int i=0;i<4;i++) } } -} +// } return CHASSIS_OK; } diff --git a/User/module/cmd.h b/User/module/cmd.h index 1ab9a7f..8d6383b 100644 --- a/User/module/cmd.h +++ b/User/module/cmd.h @@ -81,7 +81,9 @@ typedef struct { Chassis_Mode_t sw_left_mid; Chassis_Mode_t sw_left_down; - + Chassis_ctrl_mode_t chassis_ctrl_mode_sw_up; + Chassis_ctrl_mode_t chassis_ctrl_mode_sw_mid; + Chassis_ctrl_mode_t chassis_ctrl_mode_sw_down; /* 右拨杆映射 - 云台/射击模式 */ Gimbal_Mode_t gimbal_sw_up; diff --git a/User/module/cmd_adapter.c b/User/module/cmd_adapter.c index 653cb93..ed0dade 100644 --- a/User/module/cmd_adapter.c +++ b/User/module/cmd_adapter.c @@ -125,8 +125,10 @@ CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD /* ========================================================================== */ #if CMD_RC_DEVICE_TYPE == 3 int8_t CMD_ET16s_Init(void *data) { - ET16s_t *et16s = (ET16s_t *)data; - return REMOTE_Init(); + (void)data; + /* RC DMA/IRQ is owned by Task_rc; avoid re-initializing REMOTE here. + Re-init would overwrite ET16s.c static thread_alert and lose RC flags. */ + return CMD_OK; } int8_t CMD_ET16s_GetInput(void *data, CMD_RawInput_t *output) { diff --git a/User/module/config.c b/User/module/config.c index 2e9edbd..a3b0aff 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -1,18 +1,18 @@ #include "config.h" #include "string.h" -#define DEBUG +// #define DEBUG -#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11) +// #define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11) + +// #ifdef DEBUG +//Config_Param_t config = { + +//#else -#ifdef DEBUG Config_Param_t config = { -#else - -static const Config_Param_t config = { - -#endif +// #endif .chassis = { @@ -384,8 +384,8 @@ static const Config_Param_t config = { }, .rc_mode_map = { .sw_left_up = CHASSIS_MODE_RELAX, - .sw_left_mid = RC, - .sw_left_down = CHASSIS_MODE_FOLLOW_GIMBAL, + .sw_left_mid = CHASSIS_MODE_FOLLOW_GIMBAL, + .sw_left_down = CHASSIS_MODE_ROTOR, .gimbal_sw_up = GIMBAL_MODE_RELAX, .gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE, @@ -400,6 +400,9 @@ static const Config_Param_t config = { .gimmbal_ctrl_mode_sw_down = GIMBAL_MODE_REMOTE, + .chassis_ctrl_mode_sw_up = CHASSIS_MODE_RC, + .chassis_ctrl_mode_sw_mid = CHASSIS_MODE_DAOHANG, + .chassis_ctrl_mode_sw_down = CHASSIS_MODE_RC, }, }, diff --git a/User/task/Task8.c b/User/task/Task9.c similarity index 82% rename from User/task/Task8.c rename to User/task/Task9.c index fb16f8d..6966c5a 100644 --- a/User/task/Task8.c +++ b/User/task/Task9.c @@ -1,5 +1,5 @@ - /* - Task8 Task +/* + Task9 Task */ @@ -19,14 +19,14 @@ /* Private function --------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */ -void Task_Task8(void *argument) { +void Task_Task9(void *argument) { (void)argument; /* 未使用argument，消除警告 */ /* 计算任务运行到指定频率需要等待的tick数 */ - const uint32_t delay_tick = osKernelGetTickFreq() / TASK8_FREQ; + const uint32_t delay_tick = osKernelGetTickFreq() / TASK9_FREQ; - osDelay(TASK8_INIT_DELAY); /* 延时一段时间再开启任务 */ + osDelay(TASK9_INIT_DELAY); /* 延时一段时间再开启任务 */ uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ /* USER CODE INIT BEGIN */ @@ -36,10 +36,6 @@ void Task_Task8(void *argument) { while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ - // osMessageQueueGet(task_runtime.msgq.RC_REMOTE, &remote, NULL, 0); - - - /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ diff --git a/User/task/chassis.c b/User/task/chassis.c index 3b3a57a..ca321f0 100644 --- a/User/task/chassis.c +++ b/User/task/chassis.c @@ -4,12 +4,11 @@ */ /* Includes ----------------------------------------------------------------- */ -#include "cmsis_os2.h" -#include "device/ai.h" #include "task/user_task.h" /* USER INCLUDE BEGIN */ #include "module/chassis.h" #include "module/config.h" +#include "device/ai.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -50,11 +49,16 @@ osMessageQueueGet(task_runtime.msgq.navi.c_cmd, &c_cmd_ai_result, NULL, 0); /*接受cmd任务数据*/ if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK) { - if(cmd_chassis.mode == CHASSIS_MODE_DAOHANG){ + if(cmd_chassis.ctrl_mode == CHASSIS_MODE_DAOHANG){ cmd_chassis.Vx = c_cmd_ai_result.chassis_t.Vx; cmd_chassis.Vy = c_cmd_ai_result.chassis_t.Vy; cmd_chassis.Vw = c_cmd_ai_result.chassis_t.Vw; } + else{ + cmd_chassis.Vx = cmd_chassis.Vx; + cmd_chassis.Vy = cmd_chassis.Vy; + cmd_chassis.Vw = cmd_chassis.Vw; + } Chassis_update(&chassis); Chassis_Control(&chassis, &cmd_chassis,tick); }else diff --git a/User/task/cmd.c b/User/task/cmd.c index 8319230..3891846 100644 --- a/User/task/cmd.c +++ b/User/task/cmd.c @@ -61,7 +61,7 @@ void Task_cmd(void *argument) { while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ - osKernelLock(); /*锁住RTOS内核调度*/ + osKernelLock(); /* 锁住RTOS内核调度 */ /*接受遥控器数据*/ #if CMD_RCTypeTable_Index == 0 osMessageQueueGet(task_runtime.msgq.rc.dr16, &cmd_dr16, NULL, 0); @@ -83,6 +83,7 @@ void Task_cmd(void *argument) { osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0); // ui_cmd=UI_AUTO_AIM_START; // osMessageQueuePut(task_runtime.msgq.referee.ui,&(ui_cmd), 0, 0); + osKernelUnlock(); /* 及时解锁，避免阻塞RC等其他任务调度 */ /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } diff --git a/User/task/config.yaml b/User/task/config.yaml index 1528273..a9b6e52 100644 --- a/User/task/config.yaml +++ b/User/task/config.yaml @@ -51,6 +51,20 @@ description: '' freq_control: true frequency: 500.0 - function: Task_Task8 - name: Task8 + function: Task_referee + name: referee + stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_Task9 + name: Task9 + stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_super_cap + name: super_cap stack: 256 diff --git a/User/task/init.c b/User/task/init.c index 6a85967..b9d23e3 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -12,8 +12,9 @@ #include "module/shoot.h" #include "device/dr16.h" #include "device/et16s.h" -// #include "device/referee.h" + #include "device/referee.h" #include "device/ai.h" + #include "device/supercap.h" /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ @@ -42,8 +43,10 @@ void Task_Init(void *argument) { task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd); task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal); task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot); - task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai); - // task_runtime.thread.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8); + task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai); + task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee); + task_runtime.thread.Task9 = osThreadNew(Task_Task9, NULL, &attr_Task9); + task_runtime.thread.super_cap = osThreadNew(Task_super_cap, NULL, &attr_super_cap); // 创建消息队列 /* USER MESSAGE BEGIN */ @@ -63,6 +66,21 @@ void Task_Init(void *argument) { task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL); task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count = osMessageQueueNew(2u, sizeof(PackageMCU_t),NULL); task_runtime.msgq.navi.c_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL); /* 新增的 ai 消息队列 主要是给底盘发送导航相关的命令*/ + /* 裁判系统 */ + task_runtime.msgq.referee.ai= osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL); + task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL); + task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL); + task_runtime.msgq.referee.shoot= osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL); + task_runtime.msgq.referee.ui= osMessageQueueNew(2u, sizeof(CMD_UI_t), NULL); + /* UI */ + task_runtime.msgq.ui.chassis =osMessageQueueNew(2u, sizeof(Referee_ChassisUI_t), NULL); + task_runtime.msgq.ui.cap =osMessageQueueNew(2u, sizeof(Referee_CapUI_t), NULL); + task_runtime.msgq.ui.gimbal =osMessageQueueNew(2u, sizeof(Referee_GimbalUI_t), NULL); + task_runtime.msgq.ui.shoot =osMessageQueueNew(2u, sizeof(Referee_ShootUI_t), NULL); + task_runtime.msgq.ui.cmd = osMessageQueueNew(2u, sizeof(bool), NULL); + /*超电*/ + task_runtime.msgq.cap.for_chassis = osMessageQueueNew(2u, sizeof(CAN_SuperCapRXDataTypeDef), NULL); + task_runtime.msgq.cap.power_limit = osMessageQueueNew(2u, sizeof(float), NULL); /* USER MESSAGE END */ osKernelUnlock(); // 解锁内核 diff --git a/User/task/rc.c b/User/task/rc.c index 0d352b8..7d458ef 100644 --- a/User/task/rc.c +++ b/User/task/rc.c @@ -19,8 +19,8 @@ /* USER STRUCT BEGIN */ // DR16_t dr16; ET16s_t et16s; +// CMD_RC_t cmd_rc; -int f,i; /* USER STRUCT END */ @@ -38,8 +38,9 @@ void Task_rc(void *argument) { uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ /* USER CODE INIT BEGIN */ // DR16_Init(&dr16); + // et16s.rc_type = Control_loss; REMOTE_Init(); - + /* USER CODE INIT END */ while (1) { @@ -51,17 +52,16 @@ void Task_rc(void *argument) { // } else { // DR16_Offline(&dr16); // } - REMOTE_StartDmaRecv(); + REMOTE_StartDmaRecv(); if (REMOTE_WaitDmaCplt(20)) { ET16S_ParseRC(&et16s); } else { - ET16s_HandleOffline(&et16s); + ET16s_HandleOffline( &et16s ); } osMessageQueueReset(task_runtime.msgq.rc.et16s); osMessageQueuePut(task_runtime.msgq.rc.et16s, &et16s, 0, 0); - /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ diff --git a/User/task/referee.c b/User/task/referee.c new file mode 100644 index 0000000..1580224 --- /dev/null +++ b/User/task/referee.c @@ -0,0 +1,97 @@ +/* + referee Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "device/referee.h" +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ +Referee_t ref; +Referee_UI_t ui; +CMD_UI_t ref_cmd; +Referee_ForCap_t for_cap; +Referee_ForAI_t for_ai; +Referee_ForChassis_t for_chassis; +Referee_ForShoot_t for_shoot; +int hhh; +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* USER PRIVATE CODE BEGIN */ + +/* USER PRIVATE CODE END */ +/* Exported functions ------------------------------------------------------- */ +void Task_referee(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / REFEREE_FREQ; + + osDelay(REFEREE_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + uint32_t last_online_tick = 0; + /* 初始化裁判系统 */ + Referee_Init(&ref, &ui,&Config_GetRobotParam()->cmd_param.screen); + + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + Referee_StartReceiving(&ref); + if(ref.ref_status==0){hhh++;} + if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) != + SIGNAL_REFEREE_RAW_REDY) { + if (osKernelGetTickCount() - last_online_tick > 3000) + Referee_HandleOffline(&ref); + } else { + Referee_Parse(&ref); + last_online_tick = osKernelGetTickCount(); + } + Referee_PackCap(&for_cap, &ref); + Referee_PackAI(&for_ai, &ref); + Referee_PackShoot(&for_shoot, &ref); + Referee_PackChassis(&for_chassis, &ref); + if (osKernelGetTickCount() > delay_tick){ + tick += delay_tick; + /* 裁判系统数据读取 */ + osMessageQueueReset(task_runtime.msgq.referee.cap); + osMessageQueuePut(task_runtime.msgq.referee.cap, &for_cap, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.ai); + osMessageQueuePut(task_runtime.msgq.referee.ai, &for_ai, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.chassis); + osMessageQueuePut(task_runtime.msgq.referee.chassis, &for_chassis, 0, 0); + osMessageQueueReset(task_runtime.msgq.referee.shoot); + osMessageQueuePut(task_runtime.msgq.referee.shoot, &for_shoot, 0, 0); + /* UI数据获取 */ + osMessageQueueGet(task_runtime.msgq.ui.cap, &(ui.cap_ui), NULL, 0); + osMessageQueueGet(task_runtime.msgq.ui.chassis, &(ui.chassis_ui), NULL,0); + osMessageQueueGet(task_runtime.msgq.ui.gimbal, &(ui.gimbal_ui), NULL, 0); + osMessageQueueGet(task_runtime.msgq.ui.shoot, &(ui.shoot_ui), NULL, 0); + osMessageQueueGet(task_runtime.msgq.ui.cmd, &(ui.cmd_pc), NULL, 0); + Referee_UIRefresh(&ui); + + while (osMessageQueueGet(task_runtime.msgq.referee.ui, &ref_cmd, NULL, + 0) == osOK) { + Referee_PraseCmd(&ui, ref_cmd); +// Referee_StartSend(send_data, sizeof(send_data)); + } + Referee_PackUI(&ui, &ref); + } + + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} \ No newline at end of file diff --git a/User/task/shoot.c b/User/task/shoot.c index 839aaa2..0e7bc27 100644 --- a/User/task/shoot.c +++ b/User/task/shoot.c @@ -4,8 +4,6 @@ */ /* Includes ----------------------------------------------------------------- */ -#include "cmsis_os2.h" -#include "module/cmd.h" #include "task/user_task.h" /* USER INCLUDE BEGIN */ #include "module/shoot.h" @@ -37,7 +35,7 @@ void Task_shoot(void *argument) { osDelay(SHOOT_INIT_DELAY); /* 延时一段时间再开启任务 */ uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ -/* USER CODE INIT BEGIN */ + /* USER CODE INIT BEGIN */ Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ); Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); shoot_ai_mcu_package.data.bullet_count = 0; diff --git a/User/task/super_cap.c b/User/task/super_cap.c new file mode 100644 index 0000000..1ea281b --- /dev/null +++ b/User/task/super_cap.c @@ -0,0 +1,73 @@ +/* + super_cap Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ +#include "device/supercap.h" +#include "device/referee.h" +#include "module/cap.h" +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ +float power_limit; +CAN_SuperCapTXDataTypeDef SuperCap_CanTX; +Referee_ForCap_t referee_cap; +Referee_CapUI_t cap_ui; +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* USER PRIVATE CODE BEGIN */ + +/* USER PRIVATE CODE END */ +/* Exported functions ------------------------------------------------------- */ +void Task_super_cap(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / SUPER_CAP_FREQ; + + osDelay(SUPER_CAP_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + SuperCap_Init(); + SuperCap_CanTX.Enable = 1 ; //超级电容使能。1使能，0失能 + SuperCap_CanTX.Charge = 0 ; //此标志位无效，超电的充放电是自动的 + SuperCap_CanTX.Powerlimit = 120 ; //裁判系统功率限制 + SuperCap_CanTX.ChargePower = 1 ; //此参数无效，超电的充电功率随着底盘功率变化 + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + osMessageQueueGet(task_runtime.msgq.referee.cap, &SuperCap_CanTX.Powerlimit , NULL, 0); + SuperCap_Update(); + CAN_TX_SuperCapData(&SuperCap_CanTX); + /* 锁住RTOS内核防止控制过程中断，造成错误 */ + osKernelLock(); + /* 根据裁判系统数据计算输出功率 */ + Cap_Control(&CAN_SuperCapRXData, &referee_cap, &power_limit); + osKernelUnlock(); + + osMessageQueueReset(task_runtime.msgq.cap.for_chassis); + osMessageQueuePut(task_runtime.msgq.cap.for_chassis, &CAN_SuperCapRXData, 0, 0); + osMessageQueueReset(task_runtime.msgq.cap.power_limit); + osMessageQueuePut(task_runtime.msgq.cap.power_limit, &power_limit, 0, 0); + /* 超电UI */ + Cap_DumpUI(&CAN_SuperCapRXData,&cap_ui); + osMessageQueueReset(task_runtime.msgq.ui.cap); + osMessageQueuePut(task_runtime.msgq.ui.cap, &cap_ui, 0, 0); + + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} \ No newline at end of file diff --git a/User/task/user_task.c b/User/task/user_task.c index f790330..55ddce4 100644 --- a/User/task/user_task.c +++ b/User/task/user_task.c @@ -17,7 +17,7 @@ const osThreadAttr_t attr_atti_esti = { const osThreadAttr_t attr_rc = { .name = "rc", .priority = osPriorityNormal, - .stack_size = 1024 * 4, + .stack_size = 512 * 4, }; const osThreadAttr_t attr_chassis = { .name = "chassis", @@ -27,7 +27,7 @@ const osThreadAttr_t attr_chassis = { const osThreadAttr_t attr_cmd = { .name = "cmd", .priority = osPriorityNormal, - .stack_size = 1024 * 4, + .stack_size = 512 * 4, }; const osThreadAttr_t attr_gimbal = { .name = "gimbal", @@ -44,8 +44,18 @@ const osThreadAttr_t attr_ai = { .priority = osPriorityNormal, .stack_size = 256 * 4, }; -const osThreadAttr_t attr_Task8 = { - .name = "Task8", +const osThreadAttr_t attr_referee = { + .name = "referee", + .priority = osPriorityNormal, + .stack_size = 256 * 4, +}; +const osThreadAttr_t attr_Task9 = { + .name = "Task9", + .priority = osPriorityNormal, + .stack_size = 256 * 4, +}; +const osThreadAttr_t attr_super_cap = { + .name = "super_cap", .priority = osPriorityNormal, .stack_size = 256 * 4, }; \ No newline at end of file diff --git a/User/task/user_task.h b/User/task/user_task.h index f68e749..4fdbb11 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -20,7 +20,9 @@ extern "C" { #define GIMBAL_FREQ (500.0) #define SHOOT_FREQ (500.0) #define AI_FREQ (250.0) -#define TASK8_FREQ (500.0) +#define REFEREE_FREQ (500.0) +#define TASK9_FREQ (500.0) +#define SUPER_CAP_FREQ (500.0) /* 任务初始化延时ms */ #define TASK_INIT_DELAY (100u) @@ -31,7 +33,9 @@ extern "C" { #define GIMBAL_INIT_DELAY (0) #define SHOOT_INIT_DELAY (0) #define AI_INIT_DELAY (0) -#define TASK8_INIT_DELAY (0) +#define REFEREE_INIT_DELAY (0) +#define TASK9_INIT_DELAY (0) +#define SUPER_CAP_INIT_DELAY (0) /* Exported defines --------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ @@ -48,7 +52,9 @@ typedef struct { osThreadId_t gimbal; osThreadId_t shoot; osThreadId_t ai; - osThreadId_t Task8; + osThreadId_t referee; + osThreadId_t Task9; + osThreadId_t super_cap; } thread; /* USER MESSAGE BEGIN */ @@ -102,6 +108,28 @@ typedef struct { struct{ osMessageQueueId_t c_cmd; /* 新增的 ai 消息队列 主要是给底盘发送自瞄相关的命令*/ }navi; + struct { + osMessageQueueId_t cap; + osMessageQueueId_t chassis; + osMessageQueueId_t ai; + osMessageQueueId_t shoot; + osMessageQueueId_t ui; + }referee; + struct { + osMessageQueueId_t chassis; + osMessageQueueId_t gimbal; + osMessageQueueId_t shoot; + osMessageQueueId_t cap; + osMessageQueueId_t cmd; + }ui; + struct { + osMessageQueueId_t referee; + + }cmd; + struct { + osMessageQueueId_t for_chassis; + osMessageQueueId_t power_limit; + }cap; } msgq; /* USER MESSAGE END */ @@ -126,7 +154,9 @@ struct{ UBaseType_t gimbal; UBaseType_t shoot; UBaseType_t ai; - UBaseType_t Task8; + UBaseType_t referee; + UBaseType_t Task9; + UBaseType_t super_cap; } stack_water_mark; /* 各任务运行频率 */ @@ -138,7 +168,9 @@ struct{ float gimbal; float shoot; float ai; - float Task8; + float referee; + float Task9; + float super_cap; } freq; /* 任务最近运行时间 */ @@ -150,7 +182,9 @@ struct{ float gimbal; float shoot; float ai; - float Task8; + float referee; + float Task9; + float super_cap; } last_up_time; } Task_Runtime_t; @@ -167,7 +201,9 @@ extern const osThreadAttr_t attr_cmd; extern const osThreadAttr_t attr_gimbal; extern const osThreadAttr_t attr_shoot; extern const osThreadAttr_t attr_ai; -extern const osThreadAttr_t attr_Task8; +extern const osThreadAttr_t attr_referee; +extern const osThreadAttr_t attr_Task9; +extern const osThreadAttr_t attr_super_cap; /* 任务函数声明 */ void Task_Init(void *argument); @@ -178,7 +214,9 @@ void Task_cmd(void *argument); void Task_gimbal(void *argument); void Task_shoot(void *argument); void Task_ai(void *argument); -void Task_Task8(void *argument); +void Task_referee(void *argument); +void Task_Task9(void *argument); +void Task_super_cap(void *argument); #ifdef __cplusplus } diff --git a/lll0121.ioc b/lll0121.ioc index a4a9f6d..670f37e 100644 --- a/lll0121.ioc +++ b/lll0121.ioc @@ -71,7 +71,7 @@ Dma.USART3_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE Dma.USART3_RX.2.Instance=DMA1_Stream1 Dma.USART3_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE Dma.USART3_RX.2.MemInc=DMA_MINC_ENABLE -Dma.USART3_RX.2.Mode=DMA_NORMAL +Dma.USART3_RX.2.Mode=DMA_CIRCULAR Dma.USART3_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART3_RX.2.PeriphInc=DMA_PINC_DISABLE Dma.USART3_RX.2.Priority=DMA_PRIORITY_LOW @@ -299,7 +299,7 @@ ProjectManager.DeviceId=STM32F407IGHx ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3 ProjectManager.FreePins=false ProjectManager.HalAssertFull=false -ProjectManager.HeapSize=0x1000 +ProjectManager.HeapSize=0x400 ProjectManager.KeepUserCode=true ProjectManager.LastFirmware=true ProjectManager.LibraryCopy=1 @@ -311,7 +311,7 @@ ProjectManager.ProjectFileName=lll0121.ioc ProjectManager.ProjectName=lll0121 ProjectManager.ProjectStructure= ProjectManager.RegisterCallBack= -ProjectManager.StackSize=0x2000 +ProjectManager.StackSize=0x800 ProjectManager.TargetToolchain=CMake ProjectManager.ToolChainLocation= ProjectManager.UAScriptAfterPath=

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