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舵向单环

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Xiaocheng 2025-10-05 20:17:21 +08:00
parent e5648ad05f
commit 8b8a89be62
48 changed files with 22798 additions and 8116 deletions
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4
.vscode/settings.json vendored
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@ -1,6 +1,8 @@
{
"files.associations": {
"chassis.h": "c",
"buzzer.h": "c"
"buzzer.h": "c",
"math.h": "c",
"ledi.h": "c"
}
}

8
Core/Src/main.c
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@ -149,7 +149,7 @@ void SystemClock_Config(void)
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 6;
RCC_OscInitStruct.PLL.PLLN = 72;
RCC_OscInitStruct.PLL.PLLN = 168;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
@ -163,10 +163,10 @@ void SystemClock_Config(void)
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}

2
Core/Src/stm32f4xx_it.c
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@ -302,7 +302,7 @@ void USART1_IRQHandler(void)
// /* USER CODE END USART3_IRQn 0 */
// HAL_UART_IRQHandler(&huart3);
// /* USER CODE BEGIN USART3_IRQn 1 */
////// BSP_UART_IRQHandler(&huart3);
//////// BSP_UART_IRQHandler(&huart3);
// /* USER CODE END USART3_IRQn 1 */
//}

11436
MDK-ARM/JLinkLog.txt Normal file
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47
MDK-ARM/JLinkSettings.ini Normal file
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@ -0,0 +1,47 @@
[BREAKPOINTS]
ForceImpTypeAny = 0
ShowInfoWin = 1
EnableFlashBP = 2
BPDuringExecution = 0
[CFI]
CFISize = 0x00
CFIAddr = 0x00
[CPU]
MonModeVTableAddr = 0xFFFFFFFF
MonModeDebug = 0
MaxNumAPs = 0
LowPowerHandlingMode = 0
OverrideMemMap = 0
AllowSimulation = 1
ScriptFile=""
[FLASH]
RMWThreshold = 0x400
Loaders=""
EraseType = 0x00
CacheExcludeSize = 0x00
CacheExcludeAddr = 0x00
MinNumBytesFlashDL = 0
SkipProgOnCRCMatch = 1
VerifyDownload = 1
AllowCaching = 1
EnableFlashDL = 2
Override = 0
Device="ARM7"
[GENERAL]
MaxNumTransfers = 0x00
WorkRAMSize = 0x00
WorkRAMAddr = 0x00
RAMUsageLimit = 0x00
[SWO]
SWOLogFile=""
[MEM]
RdOverrideOrMask = 0x00
RdOverrideAndMask = 0xFFFFFFFF
RdOverrideAddr = 0xFFFFFFFF
WrOverrideOrMask = 0x00
WrOverrideAndMask = 0xFFFFFFFF
WrOverrideAddr = 0xFFFFFFFF
[RAM]
VerifyDownload = 0x00
[DYN_MEM_MAP]
NumUserRegion = 0x00

598
MDK-ARM/zzzzh.uvguix.zhaoruihong
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106
MDK-ARM/zzzzh.uvoptx
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@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel>
<nTsel>4</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -114,9 +114,19 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
<pMon>Segger\JL2CM3.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>JL2CM3</Key>
<Name>-U20750713 -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
@ -137,11 +147,6 @@
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>UL2CM3</Key>
@ -153,7 +158,24 @@
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint/>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>357</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134227130</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\bsp\can.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\zzzzh\../User/bsp/can.c\357</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
@ -168,14 +190,76 @@
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>imu_eulr,0x0A</ItemText>
<ItemText>cmd_chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>imu_temp_pid_param</ItemText>
<ItemText>remote_ready,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>ld,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>c_cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>chassis,0x10</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>ld_data,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>ceshi,0x0A</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>chassis_ceshi,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>motor-&gt;param</ItemText>
</Ww>
</WatchWindow1>
<WatchWindow2>
<Ww>
<count>0</count>
<WinNumber>2</WinNumber>
<ItemText>c-&gt;keeping_angle_flag,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>2</WinNumber>
<ItemText>cmd_chassis</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>2</WinNumber>
<ItemText>task_runtime.msgq.cmd_chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>2</WinNumber>
<ItemText>task_runtime</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
@ -994,7 +1078,7 @@
<Group>
<GroupName>User/component</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

2
MDK-ARM/zzzzh.uvprojx
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@ -81,7 +81,7 @@
</BeforeMake>
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>

16
MDK-ARM/zzzzh/chassis.d
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@ -39,4 +39,18 @@ zzzzh/chassis.o: ..\User\module\chassis.c ..\User\module\chassis.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\device\bmi088.h
..\User\bsp\bsp.h ..\User\device\bmi088.h ..\User\device\motor_rm.h \
..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\bsp\time.h

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MDK-ARM/zzzzh/chassis.o
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15
MDK-ARM/zzzzh/config.d
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@ -40,4 +40,17 @@ zzzzh/config.o: ..\User\module\config.c ..\User\module\config.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 C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
..\User\bsp\bsp.h ..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h

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MDK-ARM/zzzzh/config.o
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MDK-ARM/zzzzh/dr16.o
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4
MDK-ARM/zzzzh/freertos.d
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@ -52,4 +52,6 @@ zzzzh/freertos.o: ..\Core\Src\freertos.c \
..\User\module\chassis.h ..\User\bsp\struct_typedef.h \
..\User\component\filter.h ..\User\component\pid.h \
..\User\device\buzzer.h ..\User\bsp\pwm.h ..\Core\Inc\tim.h \
..\Core\Inc\main.h ..\User\bsp\bsp.h
..\Core\Inc\main.h ..\User\bsp\bsp.h ..\User\device\motor_rm.h \
..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\User\bsp\mm.h

8
MDK-ARM/zzzzh/init.d
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@ -49,4 +49,10 @@ zzzzh/init.o: ..\User\task\init.c ..\User\task\user_task.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\device\dr16.h
..\User\bsp\bsp.h ..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\dr16.h ..\User\device\ledi.h ..\Core\Inc\usart.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h

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MDK-ARM/zzzzh/init.o
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8
MDK-ARM/zzzzh/ledi.d
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@ -33,6 +33,8 @@ zzzzh/ledi.o: ..\User\device\ledi.c ..\User\device\ledi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h ..\User\bsp\calc_lib.h \
..\User\bsp\struct_typedef.h ..\User\bsp\uart.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\bsp.h
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\bsp\calc_lib.h ..\User\bsp\struct_typedef.h ..\User\bsp\uart.h \
..\User\bsp\bsp.h ..\User\device\device.h

BIN
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MDK-ARM/zzzzh/main.o
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5
MDK-ARM/zzzzh/task1.d
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@ -49,4 +49,7 @@ zzzzh/task1.o: ..\User\task\Task1.c ..\User\task\user_task.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\bsp.h ..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h

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8
MDK-ARM/zzzzh/task2.d
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@ -49,6 +49,10 @@ zzzzh/task2.o: ..\User\task\Task2.c ..\User\task\user_task.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\device\dr16.h ..\User\device\ledi.h \
..\Core\Inc\usart.h C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\bsp\bsp.h ..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\dr16.h ..\User\device\ledi.h ..\Core\Inc\usart.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h

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8
MDK-ARM/zzzzh/task3.d
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@ -49,4 +49,10 @@ zzzzh/task3.o: ..\User\task\Task3.c ..\User\task\user_task.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\bsp.h ..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\ledi.h ..\Core\Inc\usart.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h

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5
MDK-ARM/zzzzh/task4.d
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@ -49,4 +49,7 @@ zzzzh/task4.o: ..\User\task\Task4.c ..\User\task\user_task.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\bsp.h ..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h

5
MDK-ARM/zzzzh/task5.d
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@ -49,4 +49,7 @@ zzzzh/task5.o: ..\User\task\Task5.c ..\User\task\user_task.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\bsp.h ..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h

5
MDK-ARM/zzzzh/user_task.d
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@ -49,4 +49,7 @@ zzzzh/user_task.o: ..\User\task\user_task.c ..\User\task\user_task.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\bsp.h ..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h

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8
MDK-ARM/zzzzh/zzzzh.build_log.htm
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@ -17,12 +17,12 @@ Library Manager: ArmAr.exe V6.16
Hex Converter: FromElf.exe V6.16
CPU DLL: SARMCM3.DLL V5.34.0.0
Dialog DLL: DCM.DLL V1.17.3.0
Target DLL: CMSIS_AGDI.dll V1.32.13.0
Target DLL: Segger\JL2CM3.dll V2.99.38.0
Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\STM32CubeMX\103\zzzzh\MDK-ARM\zzzzh.uvprojx
Project File Date: 09/28/2025
Project File Date: 10/04/2025
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@ -30,6 +30,10 @@ Build target 'zzzzh'
Note: source file '..\User\bsp\can.c' - object file renamed from 'zzzzh\can.o' to 'zzzzh\can_1.o'.
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'zzzzh\gpio.o' to 'zzzzh\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'zzzzh\spi.o' to 'zzzzh\spi_1.o'.
compiling chassis.c...
linking...
Program Size: Code=81472 RO-data=1364 RW-data=260 ZI-data=23700
FromELF: creating hex file...
"zzzzh\zzzzh.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>

8393
MDK-ARM/zzzzh/zzzzh.hex
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4521
MDK-ARM/zzzzh/zzzzh.htm
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3936
MDK-ARM/zzzzh/zzzzh.map
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458
MDK-ARM/zzzzh/zzzzh_zzzzh.dep
View File

@ -1,7 +1,7 @@
Dependencies for Project 'zzzzh', Target 'zzzzh': (DO NOT MODIFY !)
CompilerVersion: 6160000::V6.16::ARMCLANG
F (startup_stm32f407xx.s)(0x68D54AD5)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c -gdwarf-3 -I ../Core/Inc -I./RTE/_zzzzh -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 -Wa,armasm,--pd,"__UVISION_VERSION SETA 534" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1" -o zzzzh/startup_stm32f407xx.o)
F (../Core/Src/main.c)(0x68D7DF90)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/main.o -MD)
F (../Core/Src/main.c)(0x68E12AC7)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/main.o -MD)
I (..\Core\Inc\main.h)(0x68D394E5)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D394E4)
@ -37,7 +37,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -91,7 +91,7 @@ F (../Core/Src/freertos.c)(0x68D7DF8E)(-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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -132,8 +132,8 @@ 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)(0x68D523AC)
I (..\User\module\config.h)(0x68D538F4)
I (..\User\task\user_task.h)(0x68E0CECE)
I (..\User\module\config.h)(0x68DFF67D)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
@ -141,7 +141,7 @@ I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68D935B6)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
@ -149,6 +149,11 @@ I (..\User\device\buzzer.h)(0x68D3DC69)
I (..\User\bsp\pwm.h)(0x68D3DC73)
I (..\Core\Inc\tim.h)(0x68D394E4)
I (..\User\bsp\bsp.h)(0x68D3DC73)
I (..\User\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
F (../Core/Src/can.c)(0x68D394E3)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/can.o -MD)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\Core\Inc\main.h)(0x68D394E5)
@ -289,7 +294,7 @@ 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)(0x68D394E4)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/usart.o -MD)
F (../Core/Src/usart.c)(0x68E12AC6)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/usart.o -MD)
I (..\Core\Inc\usart.h)(0x68D394E4)
I (..\Core\Inc\main.h)(0x68D394E5)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55)
@ -324,7 +329,7 @@ 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)(0x68D935CC)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/stm32f4xx_it.o -MD)
F (../Core/Src/stm32f4xx_it.c)(0x68E12AF2)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/stm32f4xx_it.o -MD)
I (..\Core\Inc\main.h)(0x68D394E5)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D394E4)
@ -360,7 +365,7 @@ 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)(0x68D7DF8F)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68D7DF14)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1037,7 +1042,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1051,7 +1056,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1066,7 +1071,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1079,7 +1084,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1093,7 +1098,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1108,7 +1113,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1123,7 +1128,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1141,7 +1146,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1188,7 +1193,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1200,7 +1205,7 @@ F (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c)(0x6
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1249,7 +1254,7 @@ I (..\User\bsp\mm.h)(0x68D3DC73)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1337,7 +1342,7 @@ I (..\User\bsp\mm.h)(0x68D3DC73)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1425,7 +1430,7 @@ I (..\User\bsp\bsp.h)(0x68D3DC73)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1595,7 +1600,7 @@ 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)(0x68D3DC73)
F (..\User\device\dr16.c)(0x68D3DC73)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/dr16.o -MD)
F (..\User\device\dr16.c)(0x68DEBCB0)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/dr16.o -MD)
I (..\User\device\dr16.h)(0x68D3DC69)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -1647,8 +1652,8 @@ I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x68D3DC73)
I (..\User\device\device.h)(0x68D3DC74)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
F (..\User\device\ledi.c)(0x68D3B4D5)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/ledi.o -MD)
I (..\User\device\ledi.h)(0x68D3B470)
F (..\User\device\ledi.c)(0x68E10DDA)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/ledi.o -MD)
I (..\User\device\ledi.h)(0x68DF78CA)
I (..\Core\Inc\usart.h)(0x68D394E4)
I (..\Core\Inc\main.h)(0x68D394E5)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55)
@ -1685,11 +1690,13 @@ 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 (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\calc_lib.h)(0x68286FAE)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\bsp\uart.h)(0x68D3DC73)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x68D3DC73)
I (..\User\device\device.h)(0x68D3DC74)
F (..\User\device\motor.c)(0x68D3DC73)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/motor.o -MD)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\device\device.h)(0x68D3DC74)
@ -1740,7 +1747,7 @@ I (..\User\bsp\bsp.h)(0x68D3DC73)
I (..\User\bsp\mm.h)(0x68D3DC73)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1798,7 +1805,7 @@ I (..\User\bsp\bsp.h)(0x68D3DC73)
I (..\User\bsp\mm.h)(0x68D3DC73)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1914,7 +1921,7 @@ 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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -1964,8 +1971,8 @@ 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\config.c)(0x68D5424A)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/config.o -MD)
I (..\User\module\config.h)(0x68D538F4)
F (..\User\module\config.c)(0x68E237E0)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/config.o -MD)
I (..\User\module\config.h)(0x68DFF67D)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -1975,7 +1982,7 @@ 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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68D935B6)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
@ -2014,9 +2021,25 @@ 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)(0x68D3DC73)
I (..\User\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
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)(0x68E12AC5)
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)(0x68AEA745)
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\module\chassis.c)(0x68D935B6)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/chassis.o -MD)
I (..\User\module\chassis.h)(0x68D935B6)
F (..\User\module\chassis.c)(0x68E23C03)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/chassis.o -MD)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\user_math.h)(0x68D3DC73)
@ -2064,13 +2087,14 @@ 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)(0x68D3DC73)
I (..\User\device\bmi088.h)(0x68D3FAF0)
F (..\User\task\init.c)(0x68D52787)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/init.o -MD)
I (..\User\task\user_task.h)(0x68D523AC)
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\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -2078,7 +2102,23 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
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)(0x68D538F4)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68D7DF14)
I (..\User\bsp\time.h)(0x68D3DC73)
F (..\User\task\init.c)(0x68E0D343)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/init.o -MD)
I (..\User\task\user_task.h)(0x68E0CECE)
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)(0x68E12AC5)
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)(0x68AEA745)
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)(0x68DFF67D)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
@ -2086,7 +2126,7 @@ I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68D935B6)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
@ -2125,141 +2165,24 @@ 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)(0x68D3DC73)
I (..\User\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14)
I (..\User\device\dr16.h)(0x68D3DC69)
F (..\User\task\Task1.c)(0x68D935B6)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/task1.o -MD)
I (..\User\task\user_task.h)(0x68D523AC)
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)(0x68D394E3)
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)(0x68AEA745)
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)(0x68D538F4)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68D935B6)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
I (..\User\device\buzzer.h)(0x68D3DC69)
I (..\User\bsp\pwm.h)(0x68D3DC73)
I (..\Core\Inc\tim.h)(0x68D394E4)
I (..\Core\Inc\main.h)(0x68D394E5)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D394E4)
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)(0x68D3DC73)
F (..\User\task\Task2.c)(0x68D9360B)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/task2.o -MD)
I (..\User\task\user_task.h)(0x68D523AC)
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)(0x68D394E3)
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)(0x68AEA745)
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)(0x68D538F4)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68D935B6)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
I (..\User\device\buzzer.h)(0x68D3DC69)
I (..\User\bsp\pwm.h)(0x68D3DC73)
I (..\Core\Inc\tim.h)(0x68D394E4)
I (..\Core\Inc\main.h)(0x68D394E5)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D394E4)
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)(0x68D3DC73)
I (..\User\device\dr16.h)(0x68D3DC69)
I (..\User\device\ledi.h)(0x68D3B470)
I (..\User\device\ledi.h)(0x68DF78CA)
I (..\Core\Inc\usart.h)(0x68D394E4)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
F (..\User\task\Task3.c)(0x68D3979E)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/task3.o -MD)
I (..\User\task\user_task.h)(0x68D523AC)
F (..\User\task\Task1.c)(0x68E0E5C1)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/task1.o -MD)
I (..\User\task\user_task.h)(0x68E0CECE)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -2267,7 +2190,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
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)(0x68D538F4)
I (..\User\module\config.h)(0x68DFF67D)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
@ -2275,7 +2198,7 @@ I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68D935B6)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
@ -2314,13 +2237,162 @@ 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)(0x68D3DC73)
I (..\User\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14)
F (..\User\task\Task2.c)(0x68E23218)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/task2.o -MD)
I (..\User\task\user_task.h)(0x68E0CECE)
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)(0x68E12AC5)
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)(0x68AEA745)
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)(0x68DFF67D)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
I (..\User\device\buzzer.h)(0x68D3DC69)
I (..\User\bsp\pwm.h)(0x68D3DC73)
I (..\Core\Inc\tim.h)(0x68D394E4)
I (..\Core\Inc\main.h)(0x68D394E5)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D394E4)
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)(0x68D3DC73)
I (..\User\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14)
I (..\User\device\dr16.h)(0x68D3DC69)
I (..\User\device\ledi.h)(0x68DF78CA)
I (..\Core\Inc\usart.h)(0x68D394E4)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
F (..\User\task\Task3.c)(0x68E22D67)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/task3.o -MD)
I (..\User\task\user_task.h)(0x68E0CECE)
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)(0x68E12AC5)
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)(0x68AEA745)
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)(0x68DFF67D)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
I (..\User\device\buzzer.h)(0x68D3DC69)
I (..\User\bsp\pwm.h)(0x68D3DC73)
I (..\Core\Inc\tim.h)(0x68D394E4)
I (..\Core\Inc\main.h)(0x68D394E5)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68D7DF55)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D394E4)
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)(0x68D3DC73)
I (..\User\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14)
I (..\User\device\ledi.h)(0x68DF78CA)
I (..\Core\Inc\usart.h)(0x68D394E4)
I (C:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
F (..\User\task\Task4.c)(0x68D3979E)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/task4.o -MD)
I (..\User\task\user_task.h)(0x68D523AC)
I (..\User\task\user_task.h)(0x68E0CECE)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -2328,7 +2400,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
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)(0x68D538F4)
I (..\User\module\config.h)(0x68DFF67D)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
@ -2336,7 +2408,7 @@ I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68D935B6)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
@ -2375,13 +2447,19 @@ 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)(0x68D3DC73)
I (..\User\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14)
F (..\User\task\Task5.c)(0x68D3979E)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/task5.o -MD)
I (..\User\task\user_task.h)(0x68D523AC)
I (..\User\task\user_task.h)(0x68E0CECE)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -2389,7 +2467,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
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)(0x68D538F4)
I (..\User\module\config.h)(0x68DFF67D)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
@ -2397,7 +2475,7 @@ I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68D935B6)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
@ -2436,13 +2514,19 @@ 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)(0x68D3DC73)
F (..\User\task\user_task.c)(0x68D3979E)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/user_task.o -MD)
I (..\User\task\user_task.h)(0x68D523AC)
I (..\User\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14)
F (..\User\task\user_task.c)(0x68E11AF2)(-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 ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -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 zzzzh/user_task.o -MD)
I (..\User\task\user_task.h)(0x68E0CECE)
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)(0x68D394E3)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68E12AC5)
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)
@ -2450,7 +2534,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
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)(0x68D538F4)
I (..\User\module\config.h)(0x68DFF67D)
I (..\User\device\bmi088.h)(0x68D3FAF0)
I (C:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68D3DC73)
@ -2458,7 +2542,7 @@ I (..\User\component\user_math.h)(0x68D3DC73)
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)(0x68D3DC74)
I (..\User\module\chassis.h)(0x68D935B6)
I (..\User\module\chassis.h)(0x68E23267)
I (..\User\bsp\struct_typedef.h)(0x67C19BD3)
I (..\User\component\filter.h)(0x68D3DC73)
I (..\User\component\pid.h)(0x68D3DC73)
@ -2497,3 +2581,9 @@ 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)(0x68D3DC73)
I (..\User\device\motor_rm.h)(0x68D3DC69)
I (..\User\device\motor.h)(0x68D3DC69)
I (..\User\bsp\can.h)(0x68D3DC73)
I (..\Core\Inc\can.h)(0x68D394E3)
I (..\User\bsp\mm.h)(0x68D3DC73)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68D7DF14)

22
User/device/dr16.c
View File

@ -129,28 +129,6 @@ int8_t DR16_ParseData(DR16_t *dr16){
dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
// 解析鼠标数据
dr16->data.mouse.x = dr16->raw_data.x;
dr16->data.mouse.y = dr16->raw_data.y;
dr16->data.mouse.z = dr16->raw_data.z;
dr16->data.mouse.l_click = dr16->raw_data.press_l;
dr16->data.mouse.r_click = dr16->raw_data.press_r;
// 解析键盘按键 - 使用union简化代码
uint16_t key_value = dr16->raw_data.key;
// 解析键盘位映射（W-B键，位0-15）
for (int i = CMD_KEY_W; i <= CMD_KEY_B; i++) {
dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
}
// 解析鼠标点击
dr16->data.keyboard.key[CMD_L_CLICK] = dr16->data.mouse.l_click;
dr16->data.keyboard.key[CMD_R_CLICK] = dr16->data.mouse.r_click;
// 解析第五通道
dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
return DEVICE_OK;
}

239
User/device/ledi.c
View File

@ -16,9 +16,12 @@
@endverbatim
****************************(C) COPYRIGHT 2019 DJI****************************
*/
#include "ledi.h"
#include "bsp/calc_lib.h"
#include "bsp/uart.h"
#include "device.h"
extern UART_HandleTypeDef huart3;
extern DMA_HandleTypeDef hdma_usart3_rx;
@ -28,8 +31,8 @@ void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
LD_t rc_ctrl;
uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
uint8_t remote_ready = 0;//遥控器准备完成
//串口dma双缓冲区初始化
uint8_t remote_ready = 0;//ң¿؆÷׼±¸ͪ³ɠ
//´®¿ڤma˫»º³凸³õʼ»¯
void remote_control_init(void)
@ -46,12 +49,12 @@ void USART3_IRQHandler(void)
//have received data
if(huart3.Instance->SR & UART_FLAG_RXNE)
{
//如果是接收中断则通过读取dr寄存器清零
__HAL_UART_CLEAR_FEFLAG(&huart3);
//ȧ¹ûʇ½ӊՖжϔ򍨹ý¶Áȡdr¼Ĵ憷ǥÁ㍊ __HAL_UART_CLEAR_FEFLAG(&huart3);
}
else if(USART3->SR & UART_FLAG_IDLE)
{
//使用清除pe标志位的函数是因为pe idle等几个中断都是靠先读取sr再读取dr清零的
//ʹӃǥ³ýpe±ꖾλµĺ¯ʽʇҲΪpe idleµȼ¸¸ö֐¶϶¼ʇ¿¿ψ¶Áȡsrԙ¶ÁȡdrǥÁ㵄
__HAL_UART_CLEAR_PEFLAG(&huart3);
if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
@ -78,7 +81,7 @@ void USART3_IRQHandler(void)
{
sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
remote_ready = 1;
}
}
@ -145,6 +148,10 @@ void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
__HAL_DMA_ENABLE(&hdma_usart3_rx);
}
bool REMOTE_WaitDmaCplt(uint32_t timeout) {
return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
SIGNAL_DR16_RAW_REDY);
}
static void sbus_to_rc(volatile const uint8_t *sbus_buf, LD_t *rc_ctrl)
{
@ -154,42 +161,218 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf, LD_t *rc_ctrl)
}
rc_ctrl->ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1
rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2
rc_ctrl->ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3
rc_ctrl->ch[3] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2
rc_ctrl->ch[1] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3
(sbus_buf[5] << 10)) &0x07ff;
rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4
rc_ctrl->ch[2] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4
rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //Channel 6
rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //Channel 11
rc_ctrl->sw[6] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
rc_ctrl->sw[0] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //Channel 6
rc_ctrl->sw[5] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
rc_ctrl->sw[4] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
rc_ctrl->sw[3] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
rc_ctrl->sw[2] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
rc_ctrl->sw[1] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //Channel 11
rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12
// rc_ctrl->sw[2] = map(rc_ctrl->sw[2],306,1694,1694,306);
// rc_ctrl->sw[3] = map(rc_ctrl->sw[3],306,1694,1694,306);
// rc_ctrl->ch[1] = map(rc_ctrl->ch[1],-693,694,-700,700); //x
// rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-694,693,-700,700); //y
// rc_ctrl->ch[2] = map(rc_ctrl->ch[2],200,1800,-700,700); //x
// rc_ctrl->ch[3] = map(rc_ctrl->ch[3],-694,693,-700,700); //y
rc_ctrl->ch[1] = -map_fp32(rc_ctrl->ch[1],252,1639,-1,1); //x
rc_ctrl->ch[0] = map_fp32(rc_ctrl->ch[0],306,1693,-1,1); //y
rc_ctrl->ch[2] = -map_fp32(rc_ctrl->ch[2],74,1422,-1,1);
rc_ctrl->ch[3] = map_fp32(rc_ctrl->ch[3],194,1580,-1,1); //x
//死区(-30,30)
rc_ctrl->ch[1] = map_fp32(rc_ctrl->ch[1],352,1695,-1,1); //lx
rc_ctrl->ch[0] = map_fp32(rc_ctrl->ch[0],352,1695,-1,1); //ly
rc_ctrl->ch[2] = map_fp32(rc_ctrl->ch[2],352,1695,-1,1); //rx
rc_ctrl->ch[3] = map_fp32(rc_ctrl->ch[3],352,1695,-1,1); //ry
//ˀǸ(-30,30)
if(rc_ctrl->ch[0]>-0.01&&rc_ctrl->ch[0]<0.01) rc_ctrl->ch[0]=0;
if(rc_ctrl->ch[1]>-0.01&&rc_ctrl->ch[1]<=0.01) rc_ctrl->ch[1]=0;
if(rc_ctrl->ch[2]>-0.05&&rc_ctrl->ch[2]<=0.05) rc_ctrl->ch[2]=0;
if(rc_ctrl->ch[2]>-0.01&&rc_ctrl->ch[2]<=0.01) rc_ctrl->ch[2]=0;
if(rc_ctrl->ch[3]>-0.01&&rc_ctrl->ch[3]<=0.01) rc_ctrl->ch[3]=0;
//MRobot
remote_ready = 1;
}
int8_t LD_HandleOffline( LD_t *ld) {
if (ld == NULL) return DEVICE_ERR_NULL;
memset(&ld, 0, sizeof(LD_t));
return 0;
}
// #include "ledi.h"
// #include "bsp/calc_lib.h"
// #include "bsp/uart.h"
// extern UART_HandleTypeDef huart3;
// extern DMA_HandleTypeDef hdma_usart3_rx;
// static void sbus_to_rc(volatile const uint8_t *sbus_buf, LD_t *rc_ctrl);
// void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
// LD_t rc_ctrl;
// uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
// uint8_t remote_ready = 0;//遥控器准备完成
// //串口dma双缓冲区初始化
// void remote_control_init(void)
// {
// RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
// }
// static uint16_t this_time_rx_len = 0;
// void USART3_IRQHandler(void)
// {
// //have received data
// if(huart3.Instance->SR & UART_FLAG_RXNE)
// {
// //如果是接收中断则通过读取dr寄存器清零
// __HAL_UART_CLEAR_FEFLAG(&huart3);
// }
// else if(USART3->SR & UART_FLAG_IDLE)
// {
// //使用清除pe标志位的函数是因为pe idle等几个中断都是靠先读取sr再读取dr清零的
// __HAL_UART_CLEAR_PEFLAG(&huart3);
// if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
// {
// //current memory buffer used is memory0
// //disable dma to change dma register
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
// //get received data length, length = set_data_length - remain_length
// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
// //reset set_data_length
// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
// //change memory0 to memory1
// hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
// //enable dma
// __HAL_DMA_ENABLE(&hdma_usart3_rx);
// if(this_time_rx_len ==RC_FRAME_LENGTH)
// {
// sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
// }
// }
// else
// {
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
// this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
// hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
// //change memory1 to memory0
// DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
// __HAL_DMA_ENABLE(&hdma_usart3_rx);
// if(this_time_rx_len ==RC_FRAME_LENGTH)
// {
// sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
// remote_ready = 1;
// }
// }
// }
// }
// //void UART3IdleCallback(void) {
// // USART3_IRQHandler();
// //}
// void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
// {
// //enable the dma transfer for the receiver request
// SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR);
// //enable idle interrupt
// __HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
// //disable dma, to change the dma register
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
// while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN)
// {
// __HAL_DMA_DISABLE(&hdma_usart3_rx);
// }
// hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
// //memory buffer 1
// hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
// //momory buffer 2
// hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
// //data length
// hdma_usart3_rx.Instance->NDTR = dma_buf_num;
// //enable double memory buffer
// SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM);
// //enable dma
// __HAL_DMA_ENABLE(&hdma_usart3_rx);
// }
// static void sbus_to_rc(volatile const uint8_t *sbus_buf, LD_t *rc_ctrl)
// {
// if (sbus_buf == NULL || rc_ctrl == NULL)
// {
// return;
// }
// rc_ctrl->ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1
// rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2
// rc_ctrl->ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3
// (sbus_buf[5] << 10)) &0x07ff;
// rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4
// rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5
// rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //Channel 6
// rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7
// rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8
// rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9
// rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10
// rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //Channel 11
// rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12
// // rc_ctrl->sw[2] = map(rc_ctrl->sw[2],306,1694,1694,306);
// // rc_ctrl->sw[3] = map(rc_ctrl->sw[3],306,1694,1694,306);
// // rc_ctrl->ch[1] = map(rc_ctrl->ch[1],-693,694,-700,700); //x
// // rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-694,693,-700,700); //y
// // rc_ctrl->ch[2] = map(rc_ctrl->ch[2],200,1800,-700,700); //x
// // rc_ctrl->ch[3] = map(rc_ctrl->ch[3],-694,693,-700,700); //y
// rc_ctrl->ch[1] = -map_fp32(rc_ctrl->ch[1],252,1639,-1,1); //x
// rc_ctrl->ch[0] = map_fp32(rc_ctrl->ch[0],306,1693,-1,1); //y
// rc_ctrl->ch[2] = -map_fp32(rc_ctrl->ch[2],74,1422,-1,1);
// rc_ctrl->ch[3] = map_fp32(rc_ctrl->ch[3],194,1580,-1,1); //x
// //死区(-30,30)
// if(rc_ctrl->ch[0]>-0.01&&rc_ctrl->ch[0]<0.01) rc_ctrl->ch[0]=0;
// if(rc_ctrl->ch[1]>-0.01&&rc_ctrl->ch[1]<=0.01) rc_ctrl->ch[1]=0;
// if(rc_ctrl->ch[2]>-0.05&&rc_ctrl->ch[2]<=0.05) rc_ctrl->ch[2]=0;
// if(rc_ctrl->ch[3]>-0.01&&rc_ctrl->ch[3]<=0.01) rc_ctrl->ch[3]=0;
// //MRobot
// remote_ready = 1;
// }

6
User/device/ledi.h
View File

@ -27,8 +27,8 @@ extern "C"{
#include "usart.h"
#include <string.h>
#include <stdlib.h>
#include <cmsis_os2.h>
#include <stdbool.h>
#define SBUS_RX_BUF_NUM 50u
#define RC_FRAME_LENGTH 25u
@ -45,6 +45,8 @@ typedef struct
extern void remote_control_init(void);
static void sbus_to_rc(volatile const uint8_t *sbus_buf, LD_t *ld);
void UART3IdleCallback(void);
bool REMOTE_WaitDmaCplt(uint32_t timeout) ;
#endif
#ifdef __cplusplus

342
User/module/chassis.c
View File

@ -6,55 +6,345 @@
/* Includes ----------------------------------------------------------------- */
#include "chassis.h"
#include "device/motor_rm.h"
#include "bsp/time.h"
#include "bsp/can.h"
#include "math.h"
#include "component/pid.h"
#include "component/filter.h"
/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处(define.h里有快捷方法)，
进debug将四个轮子编码器朝右（左右无所谓，可能会导致5065方向反，在解算里加个负号就行）
查看6020反馈值，将6020反馈值放入motor_offset中*/
/*chassis_t结构体中的内容现在有 move_vec (最终输出速度)
hopemotorout(期望的底盘输出值)舵轮解算出的各个电机的期望输出值 包括四个6020 和四个3508
/*chassis_t结构体中的内容现在有 move_vec (最终输出速度)
hopemotorout(期望的底盘输出值)舵轮解算出的各个电机的期望输出值 包括四个6020 和四个3508
final_out;(经PID计算后的实际发送给电机的实时输出值) 四个6020 四个3508
motorfeedback(电机反馈数据) 四个3508 四个6020
motorfeedback(电机反馈数据) 四个3508 四个6020
pid 各个电机的pid参数
ChassisImu_t pos088; 088的实时姿态
MotorOffset_t motoroffset; //5065校准数据
const Chassis_Param_t *param; //一些固定的参数
fp32 vofa_send[8]; //vofa输出数据
LowPassFilter2p_t filled[9]; //低通滤波器
LowPassFilter2p_t filled[9]; //低通滤波器
float keep_angle[4]; // 保持的 6020 角度
*/
/*底盘初始化*/
int8_t chassis_init(Chassis_t *chassis ,const Chassis_Param_t *param, float target_freq )
int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
{
/*注册电机*/
for(int i=0;i<4;i++){
MOTOR_RM_Register(&);
}
chassis->param =param;
//舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
MotorOffset_t motor_offset = { {271.329506, 330.179474, 208.084482, 29.337082}};
chassis->motoroffset = motor_offset;
/*对3508的速度环和6020的角速度以及位置环pid进行初始化*/
for(int i=0;i<4;i++)
if (c == NULL || param == NULL || target_freq <= 0.0f)
{
return CHASSIS_ERR; // 参数错误
}
c->param = param;
c->mode = STOP; // 默认模式为停止锁死底盘
/*初始化can*/
BSP_CAN_Init();
/*注册3508电机*/
for (int i = 0; i < 4; i++)
{
MOTOR_RM_Register(&(c->param->motor_3508_param[i]));
}
/*注册6020电机*/
for (int i = 0; i < 4; i++)
{
MOTOR_RM_Register(&(c->param->motor_6020_param[i]));
}
// 舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
MotorOffset_t motor_offset = {{6.28088474/M_PI*180.0f, 2.08161187/M_PI*180.0f, 2.09618473/M_PI*180.0f, 5.25465155/M_PI*180.0f}};
c->motoroffset = motor_offset;
/*对3508的速度环和6020的角速度以及位置环pid进行初始化*/
for (int i = 0; i < 4; i++)
{
PID_Init(&c->pid.chassis_3508VPID[i], KPID_MODE_NO_D, target_freq, &c->param->M3508v_param);
}
for (int i = 0; i < 4; i++)
{
PID_Init(&c->pid.chassis_6020OmegaPid[i], KPID_MODE_NO_D, target_freq, &c->param->C6020Omega_param);
PID_Init(&c->pid.chassis_6020anglePid[i], KPID_MODE_NO_D, target_freq, &c->param->C6020Angle_param);
}
/*对遥控器的xyw进行低通滤波*/
LowPassFilter2p_Init(&c->filled[0], target_freq, 20.0f); // vx
LowPassFilter2p_Init(&c->filled[1], target_freq, 20.0f); // vy
LowPassFilter2p_Init(&c->filled[2], target_freq, 20.0f); // vw
// c->set_point.yaw = 0.0f;
return CHASSIS_OK;
}
static int8_t Chassis_SetMode(Chassis_t *c, Chassis_CMD_t *c_cmd)
{
if (c == NULL)
return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
for (int i = 0; i < 4; i++)
{
PID_Reset(&c->pid.chassis_3508VPID[i]);
PID_Reset(&c->pid.chassis_6020OmegaPid[i]);
PID_Reset(&c->pid.chassis_6020anglePid[i]);
}
c->mode = c_cmd->mode;
return CHASSIS_OK;
}
// 底盘解算
void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd)
{
// RC模式下松开遥控器防止6020回到默认位置导致侧翻
if (c->mode == RC && fabs(c->move_vec.Vx) < 100 && fabs(c->move_vec.Vy) < 100 && fabs(c->move_vec.Vw) < 100)
{
// 如果之前不处于保持模式，则记录当前角度
if (!c->keeping_angle_flag)
{
PID_Init(&chassis->pid.chassis_3508VPID[i], KPID_MODE_NO_D,target_freq,&chassis->param->M3508_param);
PID_Init(&chassis->pid.chassis_6020OmegaPid[i], KPID_MODE_NO_D,target_freq,&chassis->param->C6020Omega_param);
PID_Init(&chassis->pid.chassis_6020anglePid[i], KPID_MODE_NO_D,target_freq,&chassis->param->C6020Angle_param);
c->keeping_angle_flag = 1; // 进入保持模式
}
/*对遥控器的xyw进行低通滤波*/
LowPassFilter2p_Init(&chassis->filled[0], target_freq, 20.0f); // vx
LowPassFilter2p_Init(&chassis->filled[1], target_freq, 20.0f); // vy
LowPassFilter2p_Init(&chassis->filled[2], target_freq, 20.0f); // vw
chassis->set_point.yaw=0.0f;
// 使用保持的角度，而不是实时反馈值,速度为0
for (uint8_t i = 0; i < 4; i++)
{
c->hopemotorout.rotor6020_jiesuan_1[i] = c->keep_angle[i];
c->hopemotorout.rotor3508_jiesuan_1[i] = 0;
}
}
else
{
// 如果有速度输入，则退出保持模式
c->keeping_angle_flag = 0;
// 让保持角度实时等于进入保持阈值前的最后一次角度值
for (uint8_t i = 0; i < 4; i++)
{
c->keep_angle[i] = c->hopemotorout.rotor6020_jiesuan_1[i];
}
switch (c->mode)
{
case RC:
// const double radians = atan(1.0f * 330 / 330);
c->hopemotorout.rotor3508_jiesuan_1[0] = -sqrt((c->move_vec.Vx + c->move_vec.Vw * sin(radians)) * (c->move_vec.Vx + c->move_vec.Vw * sin(radians))
+ (c->move_vec.Vy + c->move_vec.Vw * cos(radians)) * (c->move_vec.Vy + c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor3508_jiesuan_1[1] = sqrt((c->move_vec.Vx - c->move_vec.Vw * sin(radians)) * (c->move_vec.Vx - c->move_vec.Vw * sin(radians))
+ (c->move_vec.Vy + c->move_vec.Vw * cos(radians)) * (c->move_vec.Vy + c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor3508_jiesuan_1[2] = -sqrt((c->move_vec.Vx + c->move_vec.Vw * sin(radians)) * (c->move_vec.Vx + c->move_vec.Vw * sin(radians))
+ (c->move_vec.Vy - c->move_vec.Vw * cos(radians)) * (c->move_vec.Vy - c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor3508_jiesuan_1[3] = sqrt((c->move_vec.Vx - c->move_vec.Vw * sin(radians)) * (c->move_vec.Vx - c->move_vec.Vw * sin(radians))
+ (c->move_vec.Vy - c->move_vec.Vw * cos(radians)) * (c->move_vec.Vy - c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor6020_jiesuan_1[0] = atan2((c->move_vec.Vy + c->move_vec.Vw * cos(radians)),
(c->move_vec.Vx + c->move_vec.Vw * sin(radians))) *
(180.0f / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[1] = atan2((c->move_vec.Vy + c->move_vec.Vw * cos(radians)),
(c->move_vec.Vx - c->move_vec.Vw * sin(radians))) *
(180.0f / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[2] = atan2((c->move_vec.Vy - c->move_vec.Vw * cos(radians)),
(c->move_vec.Vx + c->move_vec.Vw * sin(radians))) *
(180.0f / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[3] = atan2((c->move_vec.Vy - c->move_vec.Vw * cos(radians)),
(c->move_vec.Vx - c->move_vec.Vw * sin(radians))) *
(180.0f / M_PI);
break;
case STOP:
for (int i = 0; i < 4; i++)
{
c->hopemotorout.rotor3508_jiesuan_1[i] = 0.0f;
}
// c->hopemotorout.rotor6020_jiesuan_1[0] = 6.26554489/M_PI*180.0f;
// c->hopemotorout.rotor6020_jiesuan_1[1] = 2.1099906/M_PI*180.0f;
// c->hopemotorout.rotor6020_jiesuan_1[2] = 2.08391285/M_PI*180.0f;
// c->hopemotorout.rotor6020_jiesuan_1[3] = 5.26845694/M_PI*180.0f;
c->hopemotorout.rotor6020_jiesuan_1[0] = -45/M_PI*180.0f;
c->hopemotorout.rotor6020_jiesuan_1[1] = 45/M_PI*180.0f;
c->hopemotorout.rotor6020_jiesuan_1[2] = -45/M_PI*180.0f;
c->hopemotorout.rotor6020_jiesuan_1[3] = 45/M_PI*180.0f;
break;
case LOCK:
for (int i = 0; i < 4; i++)
{
c->hopemotorout.rotor3508_jiesuan_1[i] = 0.0f;
}
c->hopemotorout.rotor6020_jiesuan_1[0] = 315;
c->hopemotorout.rotor6020_jiesuan_1[1] = 45;
c->hopemotorout.rotor6020_jiesuan_1[2] = 45;
c->hopemotorout.rotor6020_jiesuan_1[3] = 315;
break;
}
}
// 角度归化到0°——360°
for (uint8_t i = 0; i < 4; i++)
{
if (c->hopemotorout.rotor6020_jiesuan_1[i] < 0)
{
c->hopemotorout.rotor6020_jiesuan_1[i] += 360;
}
}
float angle_error[4]; // 角度误差
for (uint8_t i = 0; i < 4; i++)
{
angle_error[i] = c->hopemotorout.rotor6020_jiesuan_1[i] - c->motorfeedback.rotor_angle6020[i];
// 误差角度归化到-180°——+180°
while (angle_error[i] > 180)
angle_error[i] -= 360;
while (angle_error[i] < -180)
angle_error[i] += 360;
/*这里发现如果下面的c->motorfeedback.rotor_angle6020[i]+angle_error[i]变为
c->hopemotorout.rotor6020_jiesuan_1[i]会导致6020出现故障*/
if (angle_error[i] > 90 && angle_error[i] <= 180)
{
c->hopemotorout.rotor3508_jiesuan_2[i] = -c->hopemotorout.rotor3508_jiesuan_1[i];
c->hopemotorout.rotor6020_jiesuan_2[i] = c->motorfeedback.rotor_angle6020[i] + angle_error[i] - 180;
}
else if (angle_error[i] < -90 && angle_error[i] >= -180)
{
c->hopemotorout.rotor3508_jiesuan_2[i] = -c->hopemotorout.rotor3508_jiesuan_1[i];
c->hopemotorout.rotor6020_jiesuan_2[i] = c->motorfeedback.rotor_angle6020[i] + angle_error[i] + 180;
}
else
{
c->hopemotorout.rotor3508_jiesuan_2[i] = c->hopemotorout.rotor3508_jiesuan_1[i];
c->hopemotorout.rotor6020_jiesuan_2[i] = c->motorfeedback.rotor_angle6020[i] + angle_error[i];
}
}
}
int8_t Chassis_update(Chassis_t *c)
{
if (c == NULL) {
return CHASSIS_ERR_NULL; // 参数错误
}
/*更新所有电机数据*/
MOTOR_RM_UpdateAll();
/*更新电机反馈*/
for(int i=0;i<4;i++){
c->motorfeedback.rotor_angle6020[i] = ( MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor))/M_PI*180.0f);
c->motorfeedback.rotor_rpm6020[i] = MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor));
c->motorfeedback.rotor_rpm3508[i] = MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor));
// c->motorfeedback.rotor_angle6020[i] = MOTOR_GetRotorAbsAngle(&(MOTOR_RM_GetMotor(&c->param->motor_6020_param[i])->motor));
c->motorfeedback.rotor_angle6020[i] = fmod(c->motorfeedback.rotor_angle6020[i] - c->motoroffset.MOTOR_OFFSET[i], 360.0);
}
return CHASSIS_OK;
}
// 防止侧翻
/*具体开始上车实验之后在进行编写修改，先暂时不使用*/
void ChassisrolPrevent(Chassis_t *c)
{
}
int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd)
{
float chassis6020_detangle[4]; // 6020解算出的角度
if (c == NULL || c_cmd == NULL)
{
return CHASSIS_ERR_NULL; // 参数错误
}
c->dt = (BSP_TIME_Get_us() - c->last_wakeup) / 1000000.0f; /* 计算两次调用的时间间隔，单位秒 */
c->last_wakeup = BSP_TIME_Get_us();
/*设置底盘模式*/
if (Chassis_SetMode(c, c_cmd) != CHASSIS_OK)
{
return CHASSIS_ERR_MODE; /* 设置模式失败 */
}
/*根据底盘模式进行不同的控制*/
switch (c->mode)
{
case STOP:
// 停止模式
c->move_vec.Vx = 0.0f;
c->move_vec.Vy = 0.0f;
c->move_vec.Vw = 0.0f;
break;
case RC:
// 遥控模式
// c->move_vec.Vx = c_cmd->Vx * c_cmd->throttle * 1000.0f;
// c->move_vec.Vy = c_cmd->Vy * c_cmd->throttle * 1000.0f;
c->move_vec.Vx = c_cmd->Vx * 1000.0f;
c->move_vec.Vy = c_cmd->Vy * 1000.0f;
c->move_vec.Vw = c_cmd->Vw * 1000.0f;
break;
default:
return CHASSIS_ERR_MODE; /* 未知模式 */
}
/*给输出的Vx，Vy，Vw进行滤波*/
c->move_vec.Vx = LowPassFilter2p_Apply(&c->filled[0], c->move_vec.Vx);
c->move_vec.Vy = LowPassFilter2p_Apply(&c->filled[1], c->move_vec.Vy);
c->move_vec.Vw = LowPassFilter2p_Apply(&c->filled[2], c->move_vec.Vw);
Chassis_speed_calculate(c, c_cmd);
for (int i = 0; i < 4; i++)
{
c->hopemotorout.motor6020_target[i] = c->hopemotorout.rotor6020_jiesuan_2[i];
chassis6020_detangle[i] = PID_Calc(&(c->pid.chassis_6020anglePid[i]), c->hopemotorout.motor6020_target[i],
c->motorfeedback.rotor_angle6020[i], 0.0f, c->dt);
c->final_out.final_6020out[i] = chassis6020_detangle[i] ; //单环控制就用这个
// c->final_out.final_6020out[i] = PID_Calc(&(c->pid.chassis_6020OmegaPid[i]), chassis6020_detangle[i],
// c->motorfeedback.rotor_rpm6020[i], 0.0f, c->dt);
c->out.rotor6020_out[i] = c->final_out.final_6020out[i];
c->hopemotorout.motor3508_target[i] = c->hopemotorout.rotor3508_jiesuan_2[i];
c->final_out.final_3508out[i] = PID_Calc(&(c->pid.chassis_3508VPID[i]), c->hopemotorout.motor3508_target[i],
c->motorfeedback.rotor_rpm3508[i], 0.0f, c->dt);
c->out.rotor3508_out[i] = c->final_out.final_3508out[i];
}
return CHASSIS_OK;
}
/*电机输出设定和发送*/
void Chassis_Setoutput(Chassis_t * c)
{
for (int i = 0; i < 4; i++)
{
MOTOR_RM_SetOutput(&(c->param->motor_3508_param[i]), c->out.rotor3508_out[i]);
MOTOR_RM_SetOutput(&(c->param->motor_6020_param[i]), c->out.rotor6020_out[i]);
}
MOTOR_RM_Ctrl(&(c->param->motor_3508_param[0]));
MOTOR_RM_Ctrl(&(c->param->motor_6020_param[0]));
/*最后这里的数据处理发送和PID计算还未处理写，后面更改，现在注释部分是王志城的代码*/
// #ifdef calibration
// #else
// for (uint8_t i = 0 ; i <4 ; i++){
// c->hopemotorout.motor6020_target[i]=c->hopemotorout.rotor6020_jiesuan_2[i];
// chassis6020_detangle[i] = PID_calc(&(c->pid.chassis_6020anglePid[i]),c->motorfeedback.rotor_angle6020[i],
// c->hopemotorout.motor6020_target[i]);
// c->final_out.final_6020out[i] = PID_calc(&(c->pid.chassis_6020OmegaPid[i]),c->motorfeedback.rotor_rpm6020[i],
// chassis6020_detangle[i]);
// out->chassis6020.as_array[i] = c->final_out.final_6020out[i];
// c->hopemotorout.motor5065_target[i]=c->hopemotorout.rotor5065_jiesuan_2[i];
// c->final_out.final_5065out[i]=c->hopemotorout.motor5065_target[i];
// out->chassis5065.erpm[i] = c->final_out.final_5065out[i];
// }
// #endif
}

207
User/module/chassis.h
View File

@ -27,7 +27,7 @@ extern "C"
#define M6020_MOTOR_RPM_TO_VECTOR 0.003664f
// 纵向/横向
#define radians atan(1.0 * 422 / 440) // 角度制
#define radians atan(1.0f * 330 /330) // 角度制
// 四个舵轮的安装误差
typedef struct
@ -55,9 +55,30 @@ extern "C"
/*底盘模式*/
typedef enum
{
STOP, // 底盘锁死
STOP, // 底盘平行
RC, // 遥控模式
} Chassis_mode;
LOCK, //底盘锁死
} Chassis_mode_t;
// typedef struct
// {
// Chassis_mode_t mode; // 底盘模式
// } Chassis_CMD__t;
typedef struct
{
int cmd_power_on_safe; // 上电安全标志
Chassis_mode_t mode;
// 遥控器输出值
fp32 Vx;
fp32 Vy;
fp32 Vw;
fp32 throttle;
} Chassis_CMD_t;
typedef struct
{
@ -78,23 +99,27 @@ extern "C"
typedef struct
{
Chassis_Type_e chassis_type; /* */
Chassis_Motortype_e motor_type; /**/
//Chassis_Type_e chassis_type; /* */
//Chassis_Motortype_e motor_type; /**/
/*该部分决定PID的参数整定在config中修改*/
KPID_t C6020Omega_param;
KPID_t C6020Angle_param;
KPID_t M3508v_param;
KPID_t Chassis_AngleAdjust_param;
KPID_t RadarAngle_param;
KPID_t RadarSpeed_param;
// KPID_t SickVx_param;
// KPID_t SickVy_param;
// KPID_t SickVw_param;
KPID_Params_t C6020Omega_param;
KPID_Params_t C6020Angle_param;
KPID_Params_t M3508v_param;
KPID_t M3508_param;
KPID_t C6020pitAngle_param;
KPID_t C6020pitOmega_param;
// KPID_Params_t Chassis_AngleAdjust_param;
// KPID_Params_t RadarAngle_param;
// KPID_Params_t RadarSpeed_param;
// KPID_Params_t SickVx_param;
// KPID_Params_t SickVy_param;
// KPID_Params_t SickVw_param;
// KPID_Params_t M3508_param;
// KPID_Params_t C6020pitAngle_param;
// KPID_Params_t C6020pitOmega_param;
MOTOR_RM_Param_t motor_3508_param[4]; // 四个3508电机
MOTOR_RM_Param_t motor_6020_param[4]; // 四个6020电机
} Chassis_Param_t;
@ -108,96 +133,160 @@ extern "C"
typedef struct
{
float rotor3508_out[4];
float rotor6020_out[4];
} Chassis_out_t;
Chassis_mode mode;
// CMD_Chassis_navi_pos pos;
typedef struct
{
uint64_t last_wakeup;
float dt;
Chassis_mode_t mode;
ChassisMove_Vec move_vec; // 最终输入速度
fp32 radar_angle; // 雷达纠正角度输出值(锁框)
fp32 radar_yaw; // 雷达纠正角度输出值(锁车)
// /*sick跑点数据*/
// fp32 sick[3];
// fp32 sick_set[3];
// ChassisMove_Vec move_sick; //sick跑点速度
// uint8_t radar_reset_flag; //雷达校准标志位
/*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
struct
{
fp32 rotor5065_jiesuan_1[4];
fp32 rotor5065_jiesuan_2[4];
fp32 rotor3508_jiesuan_1[4];
fp32 rotor3508_jiesuan_2[4];
fp32 rotor6020_jiesuan_1[4];
fp32 rotor6020_jiesuan_2[4];
fp32 rotor6020_elur_yaw;
// fp32 rotor6020_elur_yaw;
fp32 motor6020_target[4];
fp32 motor5065_target[4];
fp32 motor3508_target[4];
} hopemotorout;
/*经PID计算后的实际发送给电机的实时输出值*/
struct
{
fp32 final_6020out[4];
fp32 final_5065out[4];
fp32 final_3508out[4];
fp32 final_pitchout;
// fp32 final_pitchout;
} final_out;
/*电机反馈数据*/
struct
{
fp32 rotor_rpm3508[4];
fp32 rotor_current3508[4];
fp32 rotor_rpm6020[4];
fp32 rotor_angle6020[4];
fp32 rotor_current6020[4];
fp32 rotor_temp6020[4];
fp32 rotor_rpm5065[4];
fp32 torque_current5065[4];
fp32 rotor_5065pos[4];
} motorfeedback;
/*pid*/
struct
{
KPID_t chassis_6020anglePid[4];
KPID_t chassis_6020OmegaPid[4];
KPID_t Chassis_AngleAdjust;
KPID_t chassis_RadarspeedPID[2];
// KPID_t chassis_SickVx;
// KPID_t chassis_SickVy;
// KPID_t chassis_SickVw;
KPID_t chassis_3508VPID[4];
KPID_t chassis_pitAngle6020;
KPID_t chassis_pitOmega6020;
} pid;
fp32 chassis_yaw; // 码盘世界坐标系下底盘角度
uint8_t keeping_angle_flag; // 是否处于保持角度模式
AHRS_Eulr_t set_point; // 底盘纠正目标角
fp32 angle_current; // 当前角度
fp32 angle_piancha; // 偏差角度
fp32 yaw_out; // 角度pid输出值
// AHRS_Eulr_t set_point; // 底盘纠正目标角
// fp32 angle_current; // 当前角度
// fp32 angle_piancha; // 偏差角度
// fp32 yaw_out; // 角度pid输出值
ChassisImu_t pos088; // 088的实时姿态
MotorOffset_t motoroffset; // 5065校准数据
Chassis_Param_t *param; // 一些固定的参数
fp32 vofa_send[8]; // vofa输出数据
LowPassFilter2p_t filled[9]; // 低通滤波器
LowPassFilter2p_t filled[3]; // 低通滤波器
float keep_angle[4]; // 保持的 6020 角度
// BUZZER_t buzzer_radar_angle; // 用于雷达角度纠正的蜂鸣器控制
// BUZZER_t buzzer_nuc_flag; // 用于nuc校准成功的蜂鸣器控制
Chassis_out_t out;
} Chassis_t;
// typedef struct
// {
// uint64_t last_wakeup;
// float dt;
// Chassis_mode_t mode;
// // CMD_Chassis_navi_pos pos;
// ChassisMove_Vec move_vec; // 最终输入速度
// /*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
// struct
// {
// fp32 rotor3508_jiesuan_1[4];
// fp32 rotor3508_jiesuan_2[4];
// fp32 rotor6020_jiesuan_1[4];
// fp32 rotor6020_jiesuan_2[4];
// fp32 rotor6020_elur_yaw;
// fp32 motor6020_target[4];
// fp32 motor3508_target[4];
// } hopemotorout;
// /*经PID计算后的实际发送给电机的实时输出值*/
// struct
// {
// fp32 final_6020out[4];
// // fp32 final_5065out[4];
// fp32 final_3508out[4];
// fp32 final_pitchout;
// } final_out;
// /*电机反馈数据*/
// struct
// {
// fp32 rotor_rpm3508[4];
// fp32 rotor_current3508[4];
// fp32 rotor_rpm6020[4];
// fp32 rotor_angle6020[4];
// fp32 rotor_current6020[4];
// fp32 rotor_temp6020[4];
// } motorfeedback;
// /*pid*/
// struct
// {
// KPID_t chassis_6020anglePid[4];
// KPID_t chassis_6020OmegaPid[4];
// // KPID_t Chassis_AngleAdjust;
// // KPID_t chassis_RadarspeedPID[2];
// // KPID_t chassis_SickVx;
// // KPID_t chassis_SickVy;
// // KPID_t chassis_SickVw;
// KPID_t chassis_3508VPID[4];
// // KPID_t chassis_pitAngle6020;
// // KPID_t chassis_pitOmega6020;
// } pid;
// // fp32 chassis_yaw; // 码盘世界坐标系下底盘角度
// uint8_t keeping_angle_flag; // 是否处于保持角度模式
// AHRS_Eulr_t set_point; // 底盘纠正目标角
// fp32 angle_current; // 当前角度
// fp32 angle_piancha; // 偏差角度
// fp32 yaw_out; // 角度pid输出值
// ChassisImu_t pos088; // 088的实时姿态
// MotorOffset_t motoroffset; // 5065校准数据
// Chassis_Param_t *param; // 一些固定的参数
// fp32 vofa_send[8]; // vofa输出数据
// LowPassFilter2p_t filled[9]; // 低通滤波器
// float keep_angle[4]; // 保持的 6020 角度
// // BUZZER_t buzzer_radar_angle; // 用于雷达角度纠正的蜂鸣器控制
// // BUZZER_t buzzer_nuc_flag; // 用于nuc校准成功的蜂鸣器控制
// } Chassis_t;
int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq);
int8_t Chassis_update(Chassis_t *c);
int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd);
void Chassis_Setoutput(Chassis_t *c);
#ifdef __cplusplus
}
#endif

58
User/module/config.c
View File

@ -6,8 +6,7 @@
#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
#ifdef DEBUG
Config_Param_t param_chassis ={
Config_Param_t config_chassis ={
#else
@ -17,7 +16,60 @@ static const Config_Param_t param_chassis ={
.chassis={
.motor_3508_param[0]={BSP_CAN_1,0x201,MOTOR_M3508,false,false},
.motor_3508_param[1]={BSP_CAN_1,0x202,MOTOR_M3508,false,false},
.motor_3508_param[2]={BSP_CAN_1,0x203,MOTOR_M3508,false,false},
.motor_3508_param[3]={BSP_CAN_1,0x204,MOTOR_M3508,false,false},
.motor_6020_param[0]={BSP_CAN_1,0x205,MOTOR_GM6020,false,false},
.motor_6020_param[1]={BSP_CAN_1,0x206,MOTOR_GM6020,false,false},
.motor_6020_param[2]={BSP_CAN_1,0x207,MOTOR_GM6020,false,false},
.motor_6020_param[3]={BSP_CAN_1,0x208,MOTOR_GM6020,false,false},
.C6020Omega_param={
.k=0.2f,
.p=0.1f,
.i=0.0f,
.d=0.0f,
.i_limit=0.0f,
.out_limit=100.0f,
.d_cutoff_freq= -1.0f,
.range=-1.0f
},
.C6020Angle_param={
.k=0.25f,
.p=0.15f,
.i=0.0f,
.d=0.0f,
.i_limit=0.0f,
.out_limit=10000.0f,
.d_cutoff_freq= -1.0f,
.range=M_2PI
},
.M3508v_param={
.k=1.0f,
.p=1.0f,
.i=0.0f,
.d=0.0f,
.i_limit=0.0f,
.out_limit=10000.0f,
.d_cutoff_freq= -1.0f,
.range=-1.0f
},
}
};
};
/**
* @brief 获取机器人配置参数
* @return 机器人配置参数指针
*/
Config_Param_t* Config_GetRobotParam(void) {
return &config_chassis;
}

4
User/module/config.h
View File

@ -19,14 +19,14 @@ AHRS_Eulr_t mech_zero[4];
}Config_Param_t;
typedef struct{
const Config_Param_t *chassis_config;
Config_Param_t *chassis_config;
BMI088_Cali_t cali_088;
}Config_t;
Config_Param_t* Config_GetRobotParam(void);
#ifdef __cplusplus

132
User/task/Task2.c
View File

@ -8,6 +8,7 @@
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "device/ledi.h"
#include "module/chassis.h"
/* USER INCLUDE END */
@ -16,53 +17,134 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
#ifdef DEBUG
extern uint8_t remote_ready;
extern LD_t rc_ctrl;
#ifdef DEBUG
DR16_t dr16;
// CMD_RC_t cmd_rc;
LD_t LD;
#else
static DR16_t dr16;
static CMD_RC_t cmd_rc;
static LD_t LD;
#endif
Chassis_CMD_t cmd_chassis;
LD_t ld;
#else
static DR16_t dr16;
static CMD_RC_t cmd_rc;
static LD_t LD;
#endif
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_Task2(void *argument) {
void Task_Task2(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() / TASK2_FREQ;
osDelay(TASK2_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 */
DR16_Init(&dr16);
/* USER CODE INIT BEGIN */
// DR16_Init(&dr16);
remote_control_init();
/* USER CODE INIT END */
while (1) {
while (1)
{
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
/*开启dma接收遥控器数据*/
DR16_StartDmaRecv(&dr16);
/*上传DR16数据到消息队列*/
if(DR16_WaitDmaCplt(30)){
DR16_ParseData(&dr16);
} else {
DR16_Offline(&dr16);
}
if(remote_ready)
{
remote_ready =0;
}
memcpy(&ld, &rc_ctrl, sizeof(LD_t));
// osMessageQueueReset(task_runtime.msgq.dr16_data);
if( osMessageQueuePut(task_runtime.msgq.dr16_data,&ld, 0, 0) ==osOK ){
}
switch (ld.sw[0])
{
case 352:
cmd_chassis.mode = STOP ;
cmd_chassis.cmd_power_on_safe = 1;
break;
case 1024:
cmd_chassis.mode = RC ;
cmd_chassis.cmd_power_on_safe =2;
break;
case 1695:
cmd_chassis.mode = LOCK;
cmd_chassis.cmd_power_on_safe =3;
break;
default:
cmd_chassis.cmd_power_on_safe=4;
cmd_chassis.mode = STOP ;
break;
}
cmd_chassis.Vx = ld.ch[3] * 1.0f;
cmd_chassis.Vy = ld.ch[2] * 1.0f;
cmd_chassis.Vw = ld.ch[0] * 1.0f;
// osMessageQueueReset(task_runtime.msgq.cmd_chassis);
if (osMessageQueuePut(task_runtime.msgq.cmd_chassis, &cmd_chassis, 0, 0) == osOK){
}
// /*开启dma接收遥控器数据*/
// DR16_StartDmaRecv(&dr16);
// /*上传DR16数据到消息队列*/
// if (DR16_WaitDmaCplt(20))
// {
// DR16_ParseData(&dr16);
// osMessageQueueReset(task_runtime.msgq.dr16_data);
// osMessageQueuePut(task_runtime.msgq.dr16_data, &dr16, 0, 0);
// switch (dr16.data.sw_l)
// {
// case CMD_SW_UP:
// cmd_chassis.mode = RC;
// cmd_chassis.cmd_power_on_safe=1;
// break;
// case CMD_SW_MID:
// default:
// cmd_chassis.mode = STOP;
// cmd_chassis.cmd_power_on_safe=0;
// break;
// }
// cmd_chassis.Vx = dr16.data.ch_r_x * 1.0f;
// cmd_chassis.Vy = dr16.data.ch_r_y * 1.0f;
// cmd_chassis.Vw = dr16.data.ch_l_x * 1.0f;
// // cmd_chassis.throttle = dr16.data.ch_l_y * 1.0f;
// //dji遥控器不太适合用作油门，先不给，后续如果改用ld遥控器可以使用油门
// osMessageQueuePut(task_runtime.msgq.cmd_chassis, &cmd_chassis, 0, 0);
// }
// else
// {
// DR16_Offline(&dr16);
// 超时处理，发送安全命令
// cmd_chassis.mode = STOP;
// cmd_chassis.cmd_power_on_safe=2;
// cmd_chassis.Vx = 0.0f;
// cmd_chassis.Vy = 0.0f;
// cmd_chassis.Vw = 0.0f;
// cmd_chassis.throttle = 0.0f;
// osMessageQueuePut(task_runtime.msgq.cmd_chassis, &cmd_chassis, 0, 0);
// }
osMessageQueueReset(task_runtime.msgq.dr16_data);
osMessageQueuePut(task_runtime.msgq.dr16_data, &dr16, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

54
User/task/Task3.c
View File

@ -1,12 +1,14 @@
/*
Task3 Task
底盘任务
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "module/chassis.h"
#include "module/config.h"
#include "device/ledi.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -14,15 +16,18 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Chassis_CMD_t c_cmd;
Chassis_t chassis;
LD_t ld_data;
int chassis_ceshi =0;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_Task3(void *argument) {
void Task_Task3(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() / TASK3_FREQ;
@ -30,15 +35,44 @@ void Task_Task3(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
chassis_init(&chassis, &Config_GetRobotParam()->chassis, TASK3_FREQ);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
while (1)
{
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
if (osMessageQueueGet(task_runtime.msgq.imu.eulr, &chassis.pos088.imu_eulr, NULL, 0)==osOK)
chassis_ceshi =1;
if(osMessageQueueGet(task_runtime.msgq.imu.gyro, &chassis.pos088.bmi088.gyro, NULL, 0) ==osOK )
chassis_ceshi =2 ;
if( osMessageQueueGet(task_runtime.msgq.dr16_data,&ld_data,NULL,0)==osOK)
chassis_ceshi =3;
// osMessageQueueGet(task_runtime.msgq.cmd_chassis, &c_cmd, NULL, 0) ;
// 成功接收到命令，更新底盘命令
if (osMessageQueueGet(task_runtime.msgq.cmd_chassis, &c_cmd, NULL, 0) == osOK)
{
chassis_ceshi =5;
Chassis_update(&chassis);
Chassis_Control(&chassis, &c_cmd);
}
else
{
// 如果没有收到命令，可以执行一个安全停止的逻辑
// 或者什么都不做，让底盘保持上一帧的状态（取决于你的设计）
// 一个安全的选择是让底盘停止
chassis_ceshi=6;
Chassis_CMD_t safe_cmd = {.mode = STOP, .Vx = 0, .Vy = 0, .Vw = 0};
Chassis_Control(&chassis, &safe_cmd);
}
Chassis_Setoutput(&chassis);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

13
User/task/init.c
View File

@ -8,6 +8,7 @@
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "device/ledi.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -30,19 +31,19 @@ void Task_Init(void *argument) {
osKernelLock(); /* 锁定内核，防止任务切换 */
/* 创建任务线程 */
task_runtime.thread.Task1 = osThreadNew(Task_Task1, NULL, &attr_Task1);
task_runtime.thread.Task1 = osThreadNew(Task_Task1, NULL, &attr_Task1);
task_runtime.thread.Task2 = osThreadNew(Task_Task2, NULL, &attr_Task2);
task_runtime.thread.Task3 = osThreadNew(Task_Task3, NULL, &attr_Task3);
task_runtime.thread.Task4 = osThreadNew(Task_Task4, NULL, &attr_Task4);
task_runtime.thread.Task5 = osThreadNew(Task_Task5, NULL, &attr_Task5);
task_runtime.thread.Task3 = osThreadNew(Task_Task3, NULL, &attr_Task3);
task_runtime.thread.Task4 = osThreadNew(Task_Task4, NULL, &attr_Task4);
task_runtime.thread.Task5 = osThreadNew(Task_Task5, NULL, &attr_Task5);
// 创建消息队列
/* USER MESSAGE BEGIN */
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
task_runtime.msgq.dr16_data = osMessageQueueNew(2u, sizeof(DR16_Data_t), NULL);
task_runtime.msgq.dr16_data = osMessageQueueNew(2u, sizeof(LD_t), NULL);
task_runtime.msgq.imu.eulr = osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
task_runtime.msgq.imu.gyro = osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL);
task_runtime.msgq.cmd_chassis= osMessageQueueNew(2u,sizeof(Chassis_CMD_t),NULL);
/* USER MESSAGE END */

2
User/task/user_task.c
View File

@ -22,7 +22,7 @@ const osThreadAttr_t attr_Task2 = {
const osThreadAttr_t attr_Task3 = {
.name = "Task3",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
.stack_size = 512 * 4,
};
const osThreadAttr_t attr_Task4 = {
.name = "Task4",

174
User/task/user_task.h
View File

@ -1,7 +1,8 @@
#pragma once
#ifdef __cplusplus
extern "C" {
extern "C"
{
#endif
/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
@ -28,91 +29,116 @@ extern "C" {
#define TASK4_INIT_DELAY (0)
#define TASK5_INIT_DELAY (0)
/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
/* 任务运行时结构体 */
typedef struct {
/* 各任务，也可以叫做线程 */
struct {
osThreadId_t Task1;
osThreadId_t Task2;
osThreadId_t Task3;
osThreadId_t Task4;
osThreadId_t Task5;
} thread;
/* 任务运行时结构体 */
typedef struct
{
/* 各任务，也可以叫做线程 */
struct
{
osThreadId_t Task1;
osThreadId_t Task2;
osThreadId_t Task3;
osThreadId_t Task4;
osThreadId_t Task5;
} thread;
/* USER MESSAGE BEGIN */
struct {
osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
osMessageQueueId_t dr16_data; /* dr16遥控器数据 */
struct{
osMessageQueueId_t gyro;
osMessageQueueId_t eulr;
}imu;
} msgq;
/* USER MESSAGE END */
/* USER MESSAGE BEGIN */
struct
{
osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
osMessageQueueId_t dr16_data; /* dr16遥控器数据 */
osMessageQueueId_t cmd_chassis; /*发送给底盘遥控器数据*/
/* 机器人状态 */
struct {
float battery; /* 电池电量百分比 */
float vbat; /* 电池电压 */
float cpu_temp; /* CPU温度 */
} status;
struct
{
osMessageQueueId_t accl; /* IMU读取 */
osMessageQueueId_t gyro; /* IMU读取 */
osMessageQueueId_t eulr; /* 姿态解算得到的欧拉规1<E8A784>7 */
} imu;
struct
{
osMessageQueueId_t chassis6020;
osMessageQueueId_t chassis5065;
osMessageQueueId_t chassis3508;
osMessageQueueId_t pitch6020;
} output;
struct
{
osMessageQueueId_t chassisfed6020;
osMessageQueueId_t chassisfed3508;
osMessageQueueId_t pitchfed6020;
} feedback;
/* USER CONFIG BEGIN */
} msgq;
/* USER MESSAGE END */
Config_t config;
/* USER CONFIG END */
/* 机器人状态 */
struct
{
float battery; /* 电池电量百分比 */
float vbat; /* 电池电压 */
float cpu_temp; /* CPU温度 */
} status;
/* 各任务的stack使用 */
struct {
UBaseType_t Task1;
UBaseType_t Task2;
UBaseType_t Task3;
UBaseType_t Task4;
UBaseType_t Task5;
} stack_water_mark;
/* USER CONFIG BEGIN */
/* 各任务运行频率 */
struct {
float Task1;
float Task2;
float Task3;
float Task4;
float Task5;
} freq;
Config_t config;
/* USER CONFIG END */
/* 任务最近运行时间 */
struct {
float Task1;
float Task2;
float Task3;
float Task4;
float Task5;
} last_up_time;
/* 各任务的stack使用 */
struct
{
UBaseType_t Task1;
UBaseType_t Task2;
UBaseType_t Task3;
UBaseType_t Task4;
UBaseType_t Task5;
} stack_water_mark;
} Task_Runtime_t;
/* 各任务运行频率 */
struct
{
float Task1;
float Task2;
float Task3;
float Task4;
float Task5;
} freq;
/* 任务运行时结构体 */
extern Task_Runtime_t task_runtime;
/* 任务最近运行时间 */
struct
{
float Task1;
float Task2;
float Task3;
float Task4;
float Task5;
} last_up_time;
/* 初始化任务句柄 */
extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_Task1;
extern const osThreadAttr_t attr_Task2;
extern const osThreadAttr_t attr_Task3;
extern const osThreadAttr_t attr_Task4;
extern const osThreadAttr_t attr_Task5;
} Task_Runtime_t;
/* 任务函数声明 */
void Task_Init(void *argument);
void Task_Task1(void *argument);
void Task_Task2(void *argument);
void Task_Task3(void *argument);
void Task_Task4(void *argument);
void Task_Task5(void *argument);
/* 任务运行时结构体 */
extern Task_Runtime_t task_runtime;
/* 初始化任务句柄 */
extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_Task1;
extern const osThreadAttr_t attr_Task2;
extern const osThreadAttr_t attr_Task3;
extern const osThreadAttr_t attr_Task4;
extern const osThreadAttr_t attr_Task5;
/* 任务函数声明 */
void Task_Init(void *argument);
void Task_Task1(void *argument);
void Task_Task2(void *argument);
void Task_Task3(void *argument);
void Task_Task4(void *argument);
void Task_Task5(void *argument);
#ifdef __cplusplus
}

55
zzzzh.ioc
View File

@ -1,19 +1,19 @@
#MicroXplorer Configuration settings - do not modify
CAD.formats=
CAD.pinconfig=
CAD.formats=[]
CAD.pinconfig=Dual
CAD.provider=
CAN1.BS1=CAN_BS1_6TQ
CAN1.BS2=CAN_BS2_7TQ
CAN1.CalculateBaudRate=857142
CAN1.CalculateTimeBit=1166
CAN1.CalculateTimeQuantum=83.33333333333334
CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2,Prescaler
CAN1.Prescaler=3
CAN2.BS1=CAN_BS1_7TQ
CAN2.BS2=CAN_BS2_6TQ
CAN2.CalculateBaudRate=857142
CAN2.CalculateTimeBit=1166
CAN2.CalculateTimeQuantum=83.33333333333334
CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeBit=1000
CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2
CAN2.Prescaler=3
Dma.Request0=USART3_RX
@ -299,37 +299,38 @@ ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_CAN2_Init-CAN2-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_SPI1_Init-SPI1-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM7_Init-TIM7-false-HAL-true,12-MX_TIM10_Init-TIM10-false-HAL-true
RCC.48MHZClocksFreq_Value=36000000
RCC.AHBFreq_Value=72000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2
RCC.APB1Freq_Value=36000000
RCC.APB1TimFreq_Value=72000000
RCC.APB2Freq_Value=72000000
RCC.APB2TimFreq_Value=72000000
RCC.CortexFreq_Value=72000000
RCC.EthernetFreq_Value=72000000
RCC.FCLKCortexFreq_Value=72000000
RCC.48MHZClocksFreq_Value=84000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=42000000
RCC.APB1TimFreq_Value=84000000
RCC.APB2CLKDivider=RCC_HCLK_DIV2
RCC.APB2Freq_Value=84000000
RCC.APB2TimFreq_Value=168000000
RCC.CortexFreq_Value=168000000
RCC.EthernetFreq_Value=168000000
RCC.FCLKCortexFreq_Value=168000000
RCC.FamilyName=M
RCC.HCLKFreq_Value=72000000
RCC.HCLKFreq_Value=168000000
RCC.HSE_VALUE=12000000
RCC.HSI_VALUE=16000000
RCC.I2SClocksFreq_Value=192000000
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
RCC.LSE_VALUE=32768
RCC.LSI_VALUE=32000
RCC.MCO2PinFreq_Value=72000000
RCC.PLLCLKFreq_Value=72000000
RCC.MCO2PinFreq_Value=168000000
RCC.PLLCLKFreq_Value=168000000
RCC.PLLM=6
RCC.PLLN=72
RCC.PLLQCLKFreq_Value=36000000
RCC.PLLN=168
RCC.PLLQCLKFreq_Value=84000000
RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
RCC.RTCFreq_Value=32000
RCC.RTCHSEDivFreq_Value=6000000
RCC.SYSCLKFreq_VALUE=72000000
RCC.SYSCLKFreq_VALUE=168000000
RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.VCOI2SOutputFreq_Value=384000000
RCC.VCOInputFreq_Value=2000000
RCC.VCOOutputFreq_Value=144000000
RCC.VCOOutputFreq_Value=336000000
RCC.VcooutputI2S=192000000
SH.GPXTI0.0=GPIO_EXTI0
SH.GPXTI0.ConfNb=1
@ -344,7 +345,7 @@ SH.S_TIM4_CH3.ConfNb=1
SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
SPI1.CLKPhase=SPI_PHASE_2EDGE
SPI1.CLKPolarity=SPI_POLARITY_LOW
SPI1.CalculateBaudRate=4.5 MBits/s
SPI1.CalculateBaudRate=5.25 MBits/s
SPI1.Direction=SPI_DIRECTION_2LINES
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPhase,CLKPolarity
SPI1.Mode=SPI_MODE_MASTER