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Cmake,10°阶跃0.9s

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This commit is contained in:
yxming66 2025-10-28 22:24:27 +08:00
parent 0028ba16b7
commit eea6c1f030
68 changed files with 324338 additions and 13525 deletions
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11
.clangd Normal file
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@ -0,0 +1,11 @@
CompileFlags:
Add:
- '-ferror-limit=0'
- '-Wno-implicit-int'
CompilationDatabase: build/Debug
Diagnostics:
Suppress:
- unused-includes
- unknown_typename
- unknown_typename_suggest
- typename_requires_specqual

3
.gitignore vendored Normal file
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@ -0,0 +1,3 @@
build
mx.scratch
!.settings

7
.mxproject
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File diff suppressed because one or more lines are too long

147
.settings/bundles-lock.store.json Normal file
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@ -0,0 +1,147 @@
{
"resolved": [
{
"name": "cmake",
"version": "4.0.1+st.3",
"platform": "darwin",
"selected_by": [
{
"name": "cmake",
"version": "4.0.1+st.3"
}
]
},
{
"name": "cmake",
"version": "4.0.1+st.3",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "cmake",
"version": "4.0.1+st.3"
}
]
},
{
"name": "cmake",
"version": "4.0.1+st.3",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "cmake",
"version": "4.0.1+st.3"
}
]
},
{
"name": "gnu-tools-for-stm32",
"version": "13.3.1+st.9",
"platform": "darwin",
"selected_by": [
{
"name": "gnu-tools-for-stm32",
"version": "13.3.1+st.9"
}
]
},
{
"name": "gnu-tools-for-stm32",
"version": "13.3.1+st.9",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "gnu-tools-for-stm32",
"version": "13.3.1+st.9"
}
]
},
{
"name": "gnu-tools-for-stm32",
"version": "13.3.1+st.9",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "gnu-tools-for-stm32",
"version": "13.3.1+st.9"
}
]
},
{
"name": "gnu-tools-for-stm32-13_3_1-description",
"version": "1.0.1+st.1",
"platform": "all",
"selected_by": [
{
"name": "gnu-tools-for-stm32-13_3_1-description",
"version": ">=0.0.1"
}
]
},
{
"name": "ninja",
"version": "1.13.1+st.1",
"platform": "darwin",
"selected_by": [
{
"name": "ninja",
"version": "1.13.1+st.1"
}
]
},
{
"name": "ninja",
"version": "1.13.1+st.1",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "ninja",
"version": "1.13.1+st.1"
}
]
},
{
"name": "ninja",
"version": "1.13.1+st.1",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "ninja",
"version": "1.13.1+st.1"
}
]
},
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3",
"platform": "darwin",
"selected_by": [
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3"
}
]
},
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3",
"platform": "x86_64-linux",
"selected_by": [
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3"
}
]
},
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3",
"platform": "x86_64-windows",
"selected_by": [
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3"
}
]
}
]
}

20
.settings/bundles.store.json Normal file
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@ -0,0 +1,20 @@
{
"bundles": [
{
"name": "cmake",
"version": "4.0.1+st.3"
},
{
"name": "ninja",
"version": "1.13.1+st.1"
},
{
"name": "gnu-tools-for-stm32",
"version": "13.3.1+st.9"
},
{
"name": "st-arm-clangd",
"version": "19.1.2+st.3"
}
]
}

6
.settings/ide.store.json Normal file
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@ -0,0 +1,6 @@
{
"device": "STM32F407IGH6",
"core": "Cortex-M4",
"order": 0,
"toolchain": "GCC"
}

8
.vscode/c_cpp_properties.json vendored Normal file
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@ -0,0 +1,8 @@
{
"configurations": [
{
"name": "STM32",
"compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json"
}
]
}

18
.vscode/settings.json vendored
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@ -2,6 +2,20 @@
"files.associations": {
"fixed_height.h": "c",
"ahrs.h": "c",
"xm_quadctrl.h": "c"
}
"xm_quadctrl.h": "c",
"at9s_pro.h": "c"
},
"cmake.cmakePath": "cube-cmake",
"cmake.configureArgs": [
"-DCMAKE_COMMAND=cube-cmake"
],
"cmake.preferredGenerators": [
"Ninja"
],
"stm32cube-ide-clangd.path": "cube",
"stm32cube-ide-clangd.arguments": [
"starm-clangd",
"--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe",
"--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe"
]
}

113
CMakeLists.txt Normal file
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@ -0,0 +1,113 @@
cmake_minimum_required(VERSION 3.22)
#
# This file is generated only once,
# and is not re-generated if converter is called multiple times.
#
# User is free to modify the file as much as necessary
#
# Setup compiler settings
set(CMAKE_C_STANDARD 11)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_C_EXTENSIONS ON)
# Define the build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Debug")
endif()
# Set the project name
set(CMAKE_PROJECT_NAME DveC)
# Enable compile command to ease indexing with e.g. clangd
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
# Core project settings
project(${CMAKE_PROJECT_NAME})
message("Build type: " ${CMAKE_BUILD_TYPE})
# Enable CMake support for ASM and C languages
enable_language(C ASM)
# Create an executable object type
add_executable(${CMAKE_PROJECT_NAME})
# Add STM32CubeMX generated sources
add_subdirectory(cmake/stm32cubemx)
# Link directories setup
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined library search paths
)
# Add sources to executable
target_sources(${CMAKE_PROJECT_NAME} PRIVATE
# Add user sources here
# User/BarometerDriver sources
User/BarometerDriver/spl06.c
User/BarometerDriver/user_iic.c
# User/bsp sources
User/bsp/gpio.c
User/bsp/i2c.c
User/bsp/mm.c
User/bsp/pwm.c
User/bsp/spi.c
User/bsp/time.c
User/bsp/uart.c
# User/component sources
User/component/AltitudeKalman.c
User/component/ahrs.c
User/component/filter.c
User/component/freertos_cli.c
User/component/limiter.c
User/component/pid.c
User/component/user_math.c
# User/device sources
User/device/at9s_pro.c
User/device/bmi088.c
User/device/buzzer.c
User/device/ist8310.c
User/device/led.c
User/device/vofa.c
# User/module sources
User/module/HeightEstimation.c
User/module/at9s_pro_cmd.c
User/module/config.c
User/module/xm_quadctrl.c
# User/task sources
User/task/atti_esti.c
User/task/blink.c
User/task/cmd.c
User/task/height_cal.c
User/task/init.c
User/task/quad_ctrl.c
User/task/user_task.c
)
# Add include paths
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined include paths
User
)
# Add project symbols (macros)
target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
# Add user defined symbols
)
# Remove wrong libob.a library dependency when using cpp files
list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
# Add linked libraries
target_link_libraries(${CMAKE_PROJECT_NAME}
stm32cubemx
# Add user defined libraries
)

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

2
Core/Inc/FreeRTOSConfig.h
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@ -69,7 +69,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)25000)
#define configTOTAL_HEAP_SIZE ((size_t)0x61a8)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0

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

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

2
Core/Src/tim.c
View File

@ -47,7 +47,7 @@ void MX_TIM1_Init(void)
htim1.Instance = TIM1;
htim1.Init.Prescaler = 167;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.Period = 4000-1;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;

9
DveC.ioc
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@ -72,7 +72,7 @@ Dma.USART6_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphData
FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,configCHECK_FOR_STACK_OVERFLOW
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
FREERTOS.configTOTAL_HEAP_SIZE=25000
FREERTOS.configTOTAL_HEAP_SIZE=0x61a8
File.Version=6
GPIO.groupedBy=Group By Peripherals
I2C3.I2C_Mode=I2C_Fast
@ -309,12 +309,12 @@ ProjectManager.ProjectName=DveC
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=MDK-ARM V5.32
ProjectManager.TargetToolchain=CMake
ProjectManager.ToolChainLocation=
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_I2C2_Init-I2C2-false-HAL-true,5-MX_I2C3_Init-I2C3-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM4_Init-TIM4-false-HAL-true,8-MX_TIM5_Init-TIM5-false-HAL-true,9-MX_TIM10_Init-TIM10-false-HAL-true,10-MX_SPI1_Init-SPI1-false-HAL-true,11-MX_USART6_UART_Init-USART6-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true
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_I2C3_Init-I2C3-false-HAL-true,5-MX_TIM1_Init-TIM1-false-HAL-true,6-MX_TIM4_Init-TIM4-false-HAL-true,7-MX_TIM5_Init-TIM5-false-HAL-true,8-MX_TIM10_Init-TIM10-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_USART6_UART_Init-USART6-false-HAL-true,11-MX_USART3_UART_Init-USART3-false-HAL-true
RCC.48MHZClocksFreq_Value=84000000
RCC.AHBFreq_Value=168000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
@ -384,7 +384,8 @@ TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Prescaler
TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Prescaler,Period
TIM1.Period=4000-1
TIM1.Prescaler=167
TIM10.Channel=TIM_CHANNEL_1
TIM10.IPParameters=Channel

679
MDK-ARM/DveC.uvguix.yxm23
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File diff suppressed because one or more lines are too long

25
MDK-ARM/DveC.uvoptx
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@ -148,7 +148,24 @@
<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>278</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>startup_stm32f407xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
@ -213,6 +230,10 @@
<Name>System Viewer\I2C2</Name>
<WinId>35904</WinId>
</Entry>
<Entry>
<Name>System Viewer\TIM1</Name>
<WinId>35903</WinId>
</Entry>
<Entry>
<Name>System Viewer\TIM5</Name>
<WinId>35905</WinId>
@ -250,7 +271,7 @@
<Group>
<GroupName>Application/User/Core</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/DveC/DveC.axf
View File

Binary file not shown.

5
MDK-ARM/DveC/DveC.build_log.htm
View File

@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\CUBEMX\Quadcopter\DveC\MDK-ARM\DveC.uvprojx
Project File Date: 10/19/2025
Project File Date: 10/21/2025
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
@ -32,8 +32,9 @@ Note: source file '..\User\bsp\i2c.c' - object file renamed from 'DveC\i2c.o' to
Note: source file '..\User\bsp\spi.c' - object file renamed from 'DveC\spi.o' to 'DveC\spi_1.o'.
Note: source file '..\User\BarometerDriver\spl06.c' - object file renamed from 'DveC\spl06.o' to 'DveC\spl06_1.o'.
Note: source file '..\User\task\cmd.c' - object file renamed from 'DveC\cmd.o' to 'DveC\cmd_1.o'.
compiling config.c...
linking...
Program Size: Code=50488 RO-data=1244 RW-data=320 ZI-data=33160
Program Size: Code=51440 RO-data=1244 RW-data=320 ZI-data=33544
FromELF: creating hex file...
"DveC\DveC.axf" - 0 Error(s), 0 Warning(s).

5877
MDK-ARM/DveC/DveC.hex
View File

File diff suppressed because it is too large Load Diff

2361
MDK-ARM/DveC/DveC.htm
View File

File diff suppressed because it is too large Load Diff

3432
MDK-ARM/DveC/DveC.map
View File

File diff suppressed because it is too large Load Diff

136
MDK-ARM/DveC/DveC_DveC.dep
View File

@ -1,6 +1,6 @@
Dependencies for Project 'DveC', Target 'DveC': (DO NOT MODIFY !)
CompilerVersion: 6160000::V6.16::ARMCLANG
F (startup_stm32f407xx.s)(0x68F1B729)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c -gdwarf-3 -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./RTE/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/startup_stm32f407xx.o)
F (startup_stm32f407xx.s)(0x68F74D65)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c -gdwarf-3 -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./RTE/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/startup_stm32f407xx.o)
F (../Core/Src/main.c)(0x68F1B727)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/main.o -MD)
I (..\Core\Inc\main.h)(0x68F1B727)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@ -38,7 +38,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -93,7 +93,7 @@ F (../Core/Src/freertos.c)(0x68F10102)(-xc -std=c99 --target=arm-arm-none-eabi -
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -135,7 +135,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\User\task\user_task.h)(0x68F49892)
I (..\User\task\user_task.h)(0x68F98E84)
F (../Core/Src/dma.c)(0x68F0EA66)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/dma.o -MD)
I (..\Core\Inc\dma.h)(0x68DF6BC0)
I (..\Core\Inc\main.h)(0x68F1B727)
@ -244,7 +244,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
F (../Core/Src/tim.c)(0x68F1AC89)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/tim.o -MD)
F (../Core/Src/tim.c)(0x68F74D63)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/tim.o -MD)
I (..\Core\Inc\tim.h)(0x68DF6BC0)
I (..\Core\Inc\main.h)(0x68F1B727)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@ -353,7 +353,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_it.h)(0x68F0EA66)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1084,7 +1084,7 @@ F (../Middlewares/Third_Party/FreeRTOS/Source/croutine.c)(0x68AD8208)(-xc -std=c
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1098,7 +1098,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1113,7 +1113,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1126,7 +1126,7 @@ I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1140,7 +1140,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1155,7 +1155,7 @@ I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1170,7 +1170,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1188,7 +1188,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F)
I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1236,7 +1236,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1248,7 +1248,7 @@ F (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c)(0x6
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1342,7 +1342,7 @@ I (..\User\bsp\mm.h)(0x68F0EAFF)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1435,7 +1435,7 @@ I (..\User\bsp\bsp.h)(0x68F0EAFF)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -1858,8 +1858,8 @@ I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\filter.h)(0x68F0EAFF)()
F (..\User\component\pid.c)(0x68F0EAFF)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/pid.o -MD)
I (..\User\component\pid.h)(0x68F0EAFF)
F (..\User\component\pid.c)(0x690048B0)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/pid.o -MD)
I (..\User\component\pid.h)(0x69004B0F)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x68F0EAFF)
I (..\User\component\user_math.h)(0x68F0EAFF)
@ -1867,7 +1867,7 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\pid.h)(0x68F0EAFF)()
F (..\User\component\pid.h)(0x69004B0F)()
F (..\User\component\user_math.c)(0x68F0EAFF)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/user_math.o -MD)
I (..\User\component\user_math.h)(0x68F0EAFF)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@ -1889,10 +1889,10 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68F0FFC5)
F (..\User\component\AltitudeKalman.h)(0x68F1E74C)()
F (..\User\module\config.c)(0x68F49186)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/config.o -MD)
F (..\User\module\config.c)(0x6900AF76)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/config.o -MD)
I (..\User\module\config.h)(0x68F49094)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\module\xm_quadctrl.h)(0x68F49821)
I (..\User\module\xm_quadctrl.h)(0x68FA3500)
I (..\User\device\at9s_pro.h)(0x68F1001A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@ -1901,11 +1901,12 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68F0FFC5)
I (..\User\component\pid.h)(0x68F0EAFF)
I (..\User\component\pid.h)(0x69004B0F)
I (..\User\component\filter.h)(0x68F0EAFF)
I (..\User\component\ahrs.h)(0x68F0EAFF)
F (..\User\module\config.h)(0x68F49094)()
F (..\User\module\at9s_pro_cmd.c)(0x68F49821)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/at9s_pro_cmd.o -MD)
I (..\User\module\at9s_pro_cmd.h)(0x68F49822)
F (..\User\module\at9s_pro_cmd.c)(0x68F75A33)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/at9s_pro_cmd.o -MD)
I (..\User\module\at9s_pro_cmd.h)(0x68F7581C)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68F1001A)
@ -1916,9 +1917,9 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68F0FFC5)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\module\at9s_pro_cmd.h)(0x68F49822)()
F (..\User\module\xm_quadctrl.c)(0x68F490BD)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/xm_quadctrl.o -MD)
I (..\User\module\xm_quadctrl.h)(0x68F49821)
F (..\User\module\at9s_pro_cmd.h)(0x68F7581C)()
F (..\User\module\xm_quadctrl.c)(0x6900AC42)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/xm_quadctrl.o -MD)
I (..\User\module\xm_quadctrl.h)(0x68FA3500)
I (..\User\device\at9s_pro.h)(0x68F1001A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -1928,8 +1929,9 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68F0FFC5)
I (..\User\component\pid.h)(0x68F0EAFF)
I (..\User\component\pid.h)(0x69004B0F)
I (..\User\component\filter.h)(0x68F0EAFF)
I (..\User\component\ahrs.h)(0x68F0EAFF)
I (..\User\bsp\pwm.h)(0x68F0EAFF)
I (..\Core\Inc\tim.h)(0x68DF6BC0)
I (..\Core\Inc\main.h)(0x68F1B727)
@ -1966,9 +1968,9 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\User\bsp\bsp.h)(0x68F0EAFF)
I (..\User\bsp\time.h)(0x68F0EAFF)
I (..\User\module\HeightEstimation.h)(0x68F1FDF4)
F (..\User\module\xm_quadctrl.h)(0x68F49821)()
F (..\User\module\HeightEstimation.c)(0x68F200A2)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/heightestimation.o -MD)
I (..\User\module\HeightEstimation.h)(0x68F8E48E)
F (..\User\module\xm_quadctrl.h)(0x68FA3500)()
F (..\User\module\HeightEstimation.c)(0x68F9A942)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/heightestimation.o -MD)
I (..\User\bsp\time.h)(0x68F0EAFF)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x68F0EAFF)
@ -2016,10 +2018,10 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68F0FFC5)
I (..\User\component\filter.h)(0x68F0EAFF)
I (..\User\task\user_task.h)(0x68F49892)
I (..\User\task\user_task.h)(0x68F98E84)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -2027,14 +2029,14 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
F (..\User\module\HeightEstimation.h)(0x68F1FDF4)()
F (..\User\task\init.c)(0x68F49BE0)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/init.o -MD)
I (..\User\task\user_task.h)(0x68F49892)
F (..\User\module\HeightEstimation.h)(0x68F8E48E)()
F (..\User\task\init.c)(0x68F99012)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/init.o -MD)
I (..\User\task\user_task.h)(0x68F98E84)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -2047,18 +2049,18 @@ I (..\User\component\user_math.h)(0x68F0EAFF)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\module\xm_quadctrl.h)(0x68F49821)
I (..\User\module\xm_quadctrl.h)(0x68FA3500)
I (..\User\device\at9s_pro.h)(0x68F1001A)
I (..\User\device\device.h)(0x68F0FFC5)
I (..\User\component\pid.h)(0x68F0EAFF)
I (..\User\component\pid.h)(0x69004B0F)
I (..\User\component\filter.h)(0x68F0EAFF)
F (..\User\task\user_task.c)(0x68F496CD)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/user_task.o -MD)
I (..\User\task\user_task.h)(0x68F49892)
I (..\User\task\user_task.h)(0x68F98E84)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -2066,14 +2068,14 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
F (..\User\task\user_task.h)(0x68F49892)()
F (..\User\task\user_task.h)(0x68F98E84)()
F (..\User\task\blink.c)(0x68F496CD)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/blink.o -MD)
I (..\User\task\user_task.h)(0x68F49892)
I (..\User\task\user_task.h)(0x68F98E84)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -2117,13 +2119,13 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\User\bsp\bsp.h)(0x68F0EAFF)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
F (..\User\task\cmd.c)(0x68F49980)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/cmd_1.o -MD)
I (..\User\task\user_task.h)(0x68F49892)
F (..\User\task\cmd.c)(0x68F7581C)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/cmd_1.o -MD)
I (..\User\task\user_task.h)(0x68F98E84)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -2137,17 +2139,18 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68F0FFC5)
I (..\User\module\at9s_pro_cmd.h)(0x68F49822)
I (..\User\module\xm_quadctrl.h)(0x68F49821)
I (..\User\component\pid.h)(0x68F0EAFF)
I (..\User\module\at9s_pro_cmd.h)(0x68F7581C)
I (..\User\module\xm_quadctrl.h)(0x68FA3500)
I (..\User\component\pid.h)(0x69004B0F)
I (..\User\component\filter.h)(0x68F0EAFF)
F (..\User\task\atti_esti.c)(0x68F496CD)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/atti_esti.o -MD)
I (..\User\task\user_task.h)(0x68F49892)
I (..\User\component\ahrs.h)(0x68F0EAFF)
F (..\User\task\atti_esti.c)(0x68F98E84)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/atti_esti.o -MD)
I (..\User\task\user_task.h)(0x68F98E84)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -2197,17 +2200,17 @@ I (..\User\component\ahrs.h)(0x68F0EAFF)
I (..\User\component\user_math.h)(0x68F0EAFF)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68F0EAFF)
I (..\User\component\pid.h)(0x69004B0F)
I (..\User\component\filter.h)(0x68F0EAFF)
I (..\User\device\bmi088.h)(0x68F0E47F)
I (..\User\device\device.h)(0x68F0FFC5)
F (..\User\task\height_cal.c)(0x68F496CD)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/height_cal.o -MD)
I (..\User\task\user_task.h)(0x68F49892)
F (..\User\task\height_cal.c)(0x68F98E9A)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/height_cal.o -MD)
I (..\User\task\user_task.h)(0x68F98E84)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -2256,15 +2259,15 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\User\module\HeightEstimation.h)(0x68F1FDF4)
I (..\User\module\HeightEstimation.h)(0x68F8E48E)
I (..\User\device\at9s_pro.h)(0x68F1001A)
F (..\User\task\quad_ctrl.c)(0x68F49980)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/quad_ctrl.o -MD)
I (..\User\task\user_task.h)(0x68F49892)
F (..\User\task\quad_ctrl.c)(0x68F7584A)(-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 -O1 -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/_DveC -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/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 dvec/quad_ctrl.o -MD)
I (..\User\task\user_task.h)(0x68F98E84)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68F4A8EC)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
@ -2272,13 +2275,14 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\User\module\xm_quadctrl.h)(0x68F49821)
I (..\User\device\at9s_pro.h)(0x68F1001A)
I (..\User\component\ahrs.h)(0x68F0EAFF)
I (..\User\component\user_math.h)(0x68F0EAFF)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\module\xm_quadctrl.h)(0x68FA3500)
I (..\User\device\at9s_pro.h)(0x68F1001A)
I (..\User\device\device.h)(0x68F0FFC5)
I (..\User\component\pid.h)(0x68F0EAFF)
I (..\User\component\pid.h)(0x69004B0F)
I (..\User\component\filter.h)(0x68F0EAFF)
I (..\User\module\config.h)(0x68F49094)

BIN
MDK-ARM/DveC/at9s_pro_cmd.o
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BIN
MDK-ARM/DveC/atti_esti.o
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2
MDK-ARM/DveC/cmd_1.d
View File

@ -17,4 +17,4 @@ dvec/cmd_1.o: ..\User\task\cmd.c ..\User\task\user_task.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\device\device.h ..\User\module\at9s_pro_cmd.h \
..\User\module\xm_quadctrl.h ..\User\component\pid.h \
..\User\component\filter.h
..\User\component\filter.h ..\User\component\ahrs.h

BIN
MDK-ARM/DveC/cmd_1.o
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2
MDK-ARM/DveC/config.d
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@ -8,4 +8,4 @@ dvec/config.o: ..\User\module\config.c ..\User\module\config.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\device\device.h ..\User\component\pid.h \
..\User\component\filter.h
..\User\component\filter.h ..\User\component\ahrs.h

BIN
MDK-ARM/DveC/config.o
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1
MDK-ARM/DveC/height_cal.d
View File

@ -11,7 +11,6 @@ dvec/height_cal.o: ..\User\task\height_cal.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\User\device\bmi088.h \

BIN
MDK-ARM/DveC/height_cal.o
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BIN
MDK-ARM/DveC/heightestimation.o
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BIN
MDK-ARM/DveC/init.o
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BIN
MDK-ARM/DveC/pid.o
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4
MDK-ARM/DveC/quad_ctrl.d
View File

@ -11,10 +11,10 @@ dvec/quad_ctrl.o: ..\User\task\quad_ctrl.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\module\xm_quadctrl.h ..\User\device\at9s_pro.h \
..\User\component\user_math.h \
..\User\component\ahrs.h ..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\module\xm_quadctrl.h ..\User\device\at9s_pro.h \
..\User\device\device.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\module\config.h

BIN
MDK-ARM/DveC/quad_ctrl.o
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BIN
MDK-ARM/DveC/tim.o
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BIN
MDK-ARM/DveC/user_task.o
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5
MDK-ARM/DveC/xm_quadctrl.d
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@ -8,8 +8,9 @@ dvec/xm_quadctrl.o: ..\User\module\xm_quadctrl.c \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\device\device.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\bsp\pwm.h ..\Core\Inc\tim.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\User\component\filter.h ..\User\component\ahrs.h ..\User\bsp\pwm.h \
..\Core\Inc\tim.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \

BIN
MDK-ARM/DveC/xm_quadctrl.o
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322497
MDK-ARM/JLinkLog.txt
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File diff suppressed because it is too large Load Diff

0
Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c → Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c vendored
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0
Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h → Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h vendored
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269
STM32F407XX_FLASH.ld Normal file
View File

@ -0,0 +1,269 @@
/*
******************************************************************************
**
** File : LinkerScript.ld
**
** Author : STM32CubeMX
**
** Abstract : Linker script for STM32F407IGHx series
** 1024Kbytes FLASH and 192Kbytes RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
*****************************************************************************
** @attention
**
** <h2><center>&copy; COPYRIGHT(c) 2025 STMicroelectronics</center></h2>
**
** Redistribution and use in source and binary forms, with or without modification,
** are permitted provided that the following conditions are met:
** 1. Redistributions of source code must retain the above copyright notice,
** this list of conditions and the following disclaimer.
** 2. Redistributions in binary form must reproduce the above copyright notice,
** this list of conditions and the following disclaimer in the documentation
** and/or other materials provided with the distribution.
** 3. Neither the name of STMicroelectronics nor the names of its contributors
** may be used to endorse or promote products derived from this software
** without specific prior written permission.
**
** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Specify the memory areas */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
CCMRAM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K
}
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0x200; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
/* Constant data goes into FLASH */
.rodata :
{
. = ALIGN(4);
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
. = ALIGN(4);
} >FLASH
.ARM.extab (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
*(.ARM.extab* .gnu.linkonce.armextab.*)
. = ALIGN(4);
} >FLASH
.ARM (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
. = ALIGN(4);
} >FLASH
.preinit_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
. = ALIGN(4);
} >FLASH
.init_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
. = ALIGN(4);
} >FLASH
.fini_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
{
. = ALIGN(4);
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(SORT(.fini_array.*)))
KEEP (*(.fini_array*))
PROVIDE_HIDDEN (__fini_array_end = .);
. = ALIGN(4);
} >FLASH
_siccmram = LOADADDR(.ccmram);
/* CCM-RAM section
*
* IMPORTANT NOTE!
* If initialized variables will be placed in this section,
* the startup code needs to be modified to copy the init-values.
*/
.ccmram :
{
. = ALIGN(4);
_sccmram = .; /* create a global symbol at ccmram start */
*(.ccmram)
*(.ccmram*)
. = ALIGN(4);
_eccmram = .; /* create a global symbol at ccmram end */
} >CCMRAM AT> FLASH
/* used by the startup to initialize data */
_sidata = LOADADDR(.data);
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
*(.RamFunc) /* .RamFunc sections */
*(.RamFunc*) /* .RamFunc* sections */
. = ALIGN(4);
} >RAM AT> FLASH
/* Initialized TLS data section */
.tdata : ALIGN(4)
{
*(.tdata .tdata.* .gnu.linkonce.td.*)
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
PROVIDE(__data_end = .);
PROVIDE(__tdata_end = .);
} >RAM AT> FLASH
PROVIDE( __tdata_start = ADDR(.tdata) );
PROVIDE( __tdata_size = __tdata_end - __tdata_start );
PROVIDE( __data_start = ADDR(.data) );
PROVIDE( __data_size = __data_end - __data_start );
PROVIDE( __tdata_source = LOADADDR(.tdata) );
PROVIDE( __tdata_source_end = LOADADDR(.tdata) + SIZEOF(.tdata) );
PROVIDE( __tdata_source_size = __tdata_source_end - __tdata_source );
PROVIDE( __data_source = LOADADDR(.data) );
PROVIDE( __data_source_end = __tdata_source_end );
PROVIDE( __data_source_size = __data_source_end - __data_source );
/* Uninitialized data section */
.tbss (NOLOAD) : ALIGN(4)
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.tbss .tbss.*)
. = ALIGN(4);
PROVIDE( __tbss_end = . );
} >RAM
PROVIDE( __tbss_start = ADDR(.tbss) );
PROVIDE( __tbss_size = __tbss_end - __tbss_start );
PROVIDE( __tbss_offset = ADDR(.tbss) - ADDR(.tdata) );
PROVIDE( __tls_base = __tdata_start );
PROVIDE( __tls_end = __tbss_end );
PROVIDE( __tls_size = __tls_end - __tls_base );
PROVIDE( __tls_align = MAX(ALIGNOF(.tdata), ALIGNOF(.tbss)) );
PROVIDE( __tls_size_align = (__tls_size + __tls_align - 1) & ~(__tls_align - 1) );
PROVIDE( __arm32_tls_tcb_offset = MAX(8, __tls_align) );
PROVIDE( __arm64_tls_tcb_offset = MAX(16, __tls_align) );
.bss (NOLOAD) : ALIGN(4)
{
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
PROVIDE( __bss_end = .);
} >RAM
PROVIDE( __non_tls_bss_start = ADDR(.bss) );
PROVIDE( __bss_start = __tbss_start );
PROVIDE( __bss_size = __bss_end - __bss_start );
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack (NOLOAD) :
{
. = ALIGN(8);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(8);
} >RAM
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a:* ( * )
libm.a:* ( * )
libgcc.a:* ( * )
}
}

2
User/BarometerDriver/spl06.c
View File

@ -1,7 +1,7 @@
#include "main.h"
#include "bsp/time.h"
#include "math.h"
#include "device/SPL06.h"
#include "BarometerDriver/SPL06.h"
#include "BarometerDriver/user_iic.h"
SPL06 spl06;
SPL06_Calib_Param spl06_calib_param;

12
User/component/pid.c
View File

@ -68,7 +68,7 @@ float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt) {
/* 计算P项 */
const float k_err = err * pid->param->k;
/* 计算D项 */
const float k_fb = pid->param->k * fb;
const float filtered_k_fb = LowPassFilter2p_Apply(&(pid->dfilter), k_fb);
@ -96,11 +96,12 @@ float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt) {
/* 计算PD输出 */
float output = (k_err * pid->param->p) - (d * pid->param->d);
/* 计算I项 */
const float i = pid->i + (k_err * dt);
const float i_out = i * pid->param->i;
if (pid->param->i > SIGMA) {
/* 检查是否饱和 */
if (isfinite(i)) {
@ -111,7 +112,10 @@ float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt) {
}
}
}
pid->out.pout=k_err * pid->param->p;//记录各项输出
pid->out.dout=d * pid->param->d;
pid->out.iout=i_out;
/* 计算PID输出 */
output += i_out;

8
User/component/pid.h
View File

@ -35,7 +35,7 @@ typedef struct {
float p; /* 比例项增益，设置为1用于标准形式 */
float i; /* 积分项增益 */
float d; /* 微分项增益 */
float i_limit; /* 积分项上限 */
float i_limit; /* 积分项上限 */
float out_limit; /* 输出绝对值限制 */
float d_cutoff_freq; /* D项低通截止频率 */
float range; /* 计算循环误差时使用，大于0时启用 */
@ -49,6 +49,12 @@ typedef struct {
float dt_min; /* 最小PID_Calc调用间隔 */
float i; /* 积分 */
struct {
float pout;
float iout;
float dout;
} out;
struct {
float err; /* 上次误差 */
float k_fb; /* 上次反馈值 */

334
User/device/SPL06.c
View File

@ -1,334 +0,0 @@
#include "main.h"
#include "bsp/time.h"
#include "math.h"
#include "device/SPL06.h"
#include "BarometerDriver/user_iic.h"
SPL06 spl06;
SPL06_Calib_Param spl06_calib_param;
/***************************************************************************
* 函 数 名: spl06_write_reg
* 功能说明: IIC写
* 形 参: 无
* 返 回 值: 无
**************************************************************************/
uint8_t spl06_write_reg(uint8_t reg_addr,uint8_t reg_val)
{
IIC_Start();
IIC_Send_Byte((SP06_Advice_Address<<1)|0);//发送器件地址+写命令
if(IIC_Wait_Ack()) //等待应答
{
IIC_Stop();
return 1;
}
IIC_Send_Byte(reg_addr); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Send_Byte(reg_val);//发送数据
if(IIC_Wait_Ack()) //等待ACK
{
IIC_Stop();
return 1;
}
IIC_Stop();
return 0;
// /*HAL库*/
// uint8_t status = 0;
//
// // 使用HAL库发送数据(器件地址+寄存器地址+数据)
// status = HAL_I2C_Mem_Write(&hi2c2,
// (SP06_Advice_Address << 1),
// reg_addr,
// I2C_MEMADD_SIZE_8BIT,
// &reg_val,
// 1,
// 100);
//
// return (status == HAL_OK) ? 0 : 1;
}
//IIC读SPL06寄存器
uint8_t spl06_read_reg(uint8_t reg_addr)
{
uint8_t res;
IIC_Start();
IIC_Send_Byte((SP06_Advice_Address<<1)|0);//发送器件地址+写命令
IIC_Wait_Ack(); //等待应答
IIC_Send_Byte(reg_addr); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Start();
IIC_Send_Byte((SP06_Advice_Address<<1)|1);//发送器件地址+读命令
IIC_Wait_Ack(); //等待应答
res=IIC_Read_Byte(0);//读取数据,发送nACK
IIC_Stop(); //产生一个停止条件
return res;
// /*HAL库*/
// uint8_t reg_val = 0;
//
// HAL_I2C_Mem_Read(&hi2c2,
// (SP06_Advice_Address << 1),
// reg_addr,
// I2C_MEMADD_SIZE_8BIT,
// &reg_val,
// 1,
// 100);
//
// return reg_val;
}
//
void spl06_start(uint8_t mode)
{
spl06_write_reg(SP06_MEAS_CFG, mode);//测量模式配置
}
void spl06_config_temperature(uint8_t rate,uint8_t oversampling)
{
uint8_t data;
data = (1<<7)|rate|oversampling;
if(oversampling > TMP_PRC_8)//过采样次数大于EMPERATURE_RATE_8_TIMES，应当允许数据被新的数据覆盖，内部拥有气压和温度共32级的FIFO，在大于8次（也就是大于或等于16次过采样）的时候需要被新的数据覆盖，否则数据就会丢失
{
uint8_t data;
data = spl06_read_reg(SP06_CFG_REG);//读取原寄存器值
data |= SPL06_CFG_T_SHIFT;//P-SHIFT位置1
spl06_write_reg(SP06_CFG_REG, data);//重新写回寄存器
}
switch(oversampling)
{
case TMP_PRC_1:
spl06.i32kT = 524288;
break;
case TMP_PRC_2:
spl06.i32kT = 1572864;
break;
case TMP_PRC_4:
spl06.i32kT = 3670016;
break;
case TMP_PRC_8:
spl06.i32kT = 7864320;
break;
case TMP_PRC_16:
spl06.i32kT = 253952;
break;
case TMP_PRC_32:
spl06.i32kT = 516096;
break;
case TMP_PRC_64:
spl06.i32kT = 1040384;
break;
case TMP_PRC_128:
spl06.i32kT = 2088960;
break;
}
spl06_write_reg(SP06_TMP_CFG, data);//重新写回寄存器
}
void spl06_config_pressure(uint8_t rate,uint8_t oversampling)//设置补偿系数及采样速率
{
uint8_t data;
data = rate|oversampling;
if(oversampling > PM_PRC_8)//过采样次数大于EMPERATURE_RATE_8_TIMES，应当允许数据被新的数据覆盖，内部拥有气压和温度共32级的FIFO，在大于8次（也就是大于或等于16次过采样）的时候需要被新的数据覆盖，否则数据就会丢失
{
uint8_t data;
data = spl06_read_reg(SP06_CFG_REG);//读取原寄存器值
data |= SPL06_CFG_P_SHIFT;//P-SHIFT位置1
spl06_write_reg(SP06_CFG_REG, data);//重新写回寄存器
}
switch(oversampling)
{
case PM_PRC_1:
spl06.i32kP = 524288;
break;
case PM_PRC_2:
spl06.i32kP = 1572864;
break;
case PM_PRC_4:
spl06.i32kP = 3670016;
break;
case PM_PRC_8:
spl06.i32kP = 7864320;
break;
case PM_PRC_16:
spl06.i32kP = 253952;
break;
case PM_PRC_32:
spl06.i32kP = 516096;
break;
case PM_PRC_64:
spl06.i32kP = 1040384;
break;
case PM_PRC_128:
spl06.i32kP = 2088960;
break;
}
spl06_write_reg(SP06_PSR_CFG, data); //写入配置
}
int32_t spl06_get_pressure_adc(void)//获取压力ADC值
{
uint8_t buf[3];
int32_t adc;
buf[0] = spl06_read_reg(SP06_PSR_B2);
buf[1] = spl06_read_reg(SP06_PSR_B1);
buf[2] = spl06_read_reg(SP06_PSR_B0);
adc = (int32_t)buf[0]<<16 | (int32_t)buf[1]<<8 | (int32_t)buf[2];
adc = (adc&0x800000)?(0xFF000000|adc):adc;
return adc;
}
int32_t spl06_get_temperature_adc(void)//获取温度ADC值
{
uint8_t buf[3];
int32_t adc;
buf[0] = spl06_read_reg(SP06_TMP_B2);
buf[1] = spl06_read_reg(SP06_TMP_B1);
buf[2] = spl06_read_reg(SP06_TMP_B0);
adc = (int32_t)buf[0]<<16 | (int32_t)buf[1]<<8 | (int32_t)buf[2];
adc = (adc&0x800000)?(0xFF000000|adc):adc;
return adc;
}
uint8_t spl06_update(int32_t *Temp,int32_t *Press)//获取并计算出温度值、气压值
{
float Praw_src=0,Traw_src=0;
float qua2=0, qua3=0;
Traw_src = spl06_get_temperature_adc()/(float)spl06.i32kT;
Praw_src = spl06_get_pressure_adc()/(float)spl06.i32kP ;
//计算温度
*Temp = 0.5*spl06_calib_param.c0 + spl06_calib_param.c1* Traw_src;
//计算气压
qua2 = spl06_calib_param.c10 + Praw_src * (spl06_calib_param.c20 + Praw_src*spl06_calib_param.c30);
qua3 = Traw_src * Praw_src * (spl06_calib_param.c11 + Praw_src * spl06_calib_param.c21);
*Press = spl06_calib_param.c00 + Praw_src * qua2 + Traw_src * spl06_calib_param.c01 + qua3;
return 0;
}
//获取传感器数据就位状态，传感器就绪状态
uint8_t spl06_get_measure_status(void)
{
return spl06_read_reg(SP06_MEAS_CFG);
}
//设置读取模式+读取方式
void spl06_set_measure_mode(uint8_t mode) //参数为模式值
{
spl06_write_reg(SP06_MEAS_CFG, mode);
}
//启动命令模式读取温度值
void spl06_start_temperature(void)
{
spl06_write_reg(SP06_MEAS_CFG, MEAS_CTRL_TempMeasure);
}
//启动命令模式读取气压值
void spl06_start_pressure(void)
{
spl06_write_reg(SP06_MEAS_CFG, MEAS_CTRL_PressMeasure);
}
//进入待机模式，进入后停止采集数据直到再次切换模式
void spl06_enter_standby(void)
{
spl06_write_reg(SP06_MEAS_CFG, MEAS_CTRL_Standby);
}
void spl06_get_calib_param()
{
unsigned long h;
unsigned long m;
unsigned long l;
h = spl06_read_reg(0x10);
l = spl06_read_reg(0x11);
spl06_calib_param.c0 = (int16_t)h<<4 | l>>4;
spl06_calib_param.c0 = (spl06_calib_param.c0&0x0800)?(0xF000|spl06_calib_param.c0):spl06_calib_param.c0;
h = spl06_read_reg(0x11);
l = spl06_read_reg(0x12);
spl06_calib_param.c1 = (int16_t)(h&0x0F)<<8 | l;
spl06_calib_param.c1 = (spl06_calib_param.c1&0x0800)?(0xF000|spl06_calib_param.c1):spl06_calib_param.c1;
h = spl06_read_reg(0x13);
m = spl06_read_reg(0x14);
l = spl06_read_reg(0x15);
spl06_calib_param.c00 = (int32_t)h<<12 | (int32_t)m<<4 | (int32_t)l>>4;
spl06_calib_param.c00 = (spl06_calib_param.c00&0x080000)?(0xFFF00000|spl06_calib_param.c00):spl06_calib_param.c00;
h = spl06_read_reg(0x15);
m = spl06_read_reg(0x16);
l = spl06_read_reg(0x17);
spl06_calib_param.c10 = (int32_t)h<<16 | (int32_t)m<<8 | l;
spl06_calib_param.c10 = (spl06_calib_param.c10&0x080000)?(0xFFF00000|spl06_calib_param.c10):spl06_calib_param.c10;
h = spl06_read_reg(0x18);
l = spl06_read_reg(0x19);
spl06_calib_param.c01 = (int16_t)h<<8 | l;
h = spl06_read_reg(0x1A);
l = spl06_read_reg(0x1B);
spl06_calib_param.c11 = (int16_t)h<<8 | l;
h = spl06_read_reg(0x1C);
l = spl06_read_reg(0x1D);
spl06_calib_param.c20 = (int16_t)h<<8 | l;
h = spl06_read_reg(0x1E);
l = spl06_read_reg(0x1F);
spl06_calib_param.c21 = (int16_t)h<<8 | l;
h = spl06_read_reg(0x20);
l = spl06_read_reg(0x21);
spl06_calib_param.c30 = (int16_t)h<<8 | l;
}
uint8_t spl06_init(void)
{
uint8_t spl06_start_status;
if(spl06_write_reg(SP06_RESET,0x89))
{
return 1;
}
BSP_TIME_Delay(100); //复位后系数准备好需要至少40ms
do
spl06_start_status = spl06_get_measure_status(); //读取气压计启动状态
while((spl06_start_status&MEAS_COEF_RDY)!=MEAS_COEF_RDY);
//读取内部校准值
spl06_get_calib_param();
do
spl06_start_status = spl06_get_measure_status();//读取气压计启动状态
while((spl06_start_status&MEAS_SENSOR_RDY)!= MEAS_SENSOR_RDY);
spl06.chip_id = spl06_read_reg(SP06_ID);
if((spl06.chip_id & 0xf0) != SP06_COEF )
{
return 2;
}
spl06_config_pressure(PM_RATE_128,PM_PRC_8);
spl06_config_temperature(TMP_RATE_128,TMP_PRC_8);
spl06_start(MEAS_CTRL_ContinuousPressTemp); //启动连续的气压温度测量
return 0;
}
//通过气压计算高度
int32_t Caculate_height(int32_t GasPress)
{
int32_t Altitude=0;
Altitude =(44330.0 *(1.0-pow((float)(GasPress) / 101325.0,1.0/5.255)))*1000;//单位mm
return Altitude;
}

146
User/device/SPL06.h
View File

@ -1,146 +0,0 @@
#ifndef __SPL06_H
#define __SPL06_H
#include "main.h"
//气压测量速率(sample/sec),Background 模式使用
#define PM_RATE_1 (0<<4) //1 measurements pr. sec.
#define PM_RATE_2 (1<<4) //2 measurements pr. sec.
#define PM_RATE_4 (2<<4) //4 measurements pr. sec.
#define PM_RATE_8 (3<<4) //8 measurements pr. sec.
#define PM_RATE_16 (4<<4) //16 measurements pr. sec.
#define PM_RATE_32 (5<<4) //32 measurements pr. sec.
#define PM_RATE_64 (6<<4) //64 measurements pr. sec.
#define PM_RATE_128 (7<<4) //128 measurements pr. sec.
//气压过采样速率(times),Background 模式使用
#define PM_PRC_1 0 //Sigle kP=524288 ,3.6ms
#define PM_PRC_2 1 //2 times kP=1572864 ,5.2ms
#define PM_PRC_4 2 //4 times kP=3670016 ,8.4ms
#define PM_PRC_8 3 //8 times kP=7864320 ,14.8ms
#define PM_PRC_16 4 //16 times kP=253952 ,27.6ms
#define PM_PRC_32 5 //32 times kP=516096 ,53.2ms
#define PM_PRC_64 6 //64 times kP=1040384 ,104.4ms
#define PM_PRC_128 7 //128 times kP=2088960 ,206.8ms
//温度测量速率(sample/sec),Background 模式使用
#define TMP_RATE_1 (0<<4) //1 measurements pr. sec.
#define TMP_RATE_2 (1<<4) //2 measurements pr. sec.
#define TMP_RATE_4 (2<<4) //4 measurements pr. sec.
#define TMP_RATE_8 (3<<4) //8 measurements pr. sec.
#define TMP_RATE_16 (4<<4) //16 measurements pr. sec.
#define TMP_RATE_32 (5<<4) //32 measurements pr. sec.
#define TMP_RATE_64 (6<<4) //64 measurements pr. sec.
#define TMP_RATE_128 (7<<4) //128 measurements pr. sec.
//温度重采样速率(times),Background 模式使用
#define TMP_PRC_1 0 //Sigle
#define TMP_PRC_2 1 //2 times
#define TMP_PRC_4 2 //4 times
#define TMP_PRC_8 3 //8 times
#define TMP_PRC_16 4 //16 times
#define TMP_PRC_32 5 //32 times
#define TMP_PRC_64 6 //64 times
#define TMP_PRC_128 7 //128 times
//SPL06_MEAS_CFG
#define MEAS_COEF_RDY 0x80 //传感器内部校准值可读
#define MEAS_SENSOR_RDY 0x40 //传感器初始化完成
#define MEAS_TMP_RDY 0x20 //有新的温度数据
#define MEAS_PRS_RDY 0x10 //有新的气压数据
#define MEAS_CTRL_Standby 0x00 //空闲模式，挂起模式
#define MEAS_CTRL_PressMeasure 0x01 //单次气压测量，命令模式下启动气压采集
#define MEAS_CTRL_TempMeasure 0x02 //单次温度测量,命令模式下启动电压测量
#define MEAS_CTRL_ContinuousPress 0x05 //连续气压测量
#define MEAS_CTRL_ContinuousTemp 0x06 //连续温度测量
#define MEAS_CTRL_ContinuousPressTemp 0x07 //连续气压温度测量
//FIFO_STS
#define SPL06_FIFO_FULL 0x02
#define SPL06_FIFO_EMPTY 0x01
//INT_STS
#define SPL06_INT_FIFO_FULL 0x04
#define SPL06_INT_TMP 0x02
#define SPL06_INT_PRS 0x01
//CFG_REG
#define SPL06_CFG_T_SHIFT 0x08 //oversampling times>8时必须使用
#define SPL06_CFG_P_SHIFT 0x04
#define SP06_PSR_B2 0x00 //气压值
#define SP06_PSR_B1 0x01
#define SP06_PSR_B0 0x02
#define SP06_TMP_B2 0x03 //温度值
#define SP06_TMP_B1 0x04
#define SP06_TMP_B0 0x05
#define SP06_PSR_CFG 0x06 //气压测量速率配置
#define SP06_TMP_CFG 0x07 //温度测量速度配置
#define SP06_MEAS_CFG 0x08 //测量配置与传感器配置
#define SP06_CFG_REG 0x09 //中断/FIF0/SPI线数配置
#define SP06_INT_STS 0x0A //中断状态标志位
#define SP06_FIFO_STS 0x0B //fifo状态
#define SP06_RESET 0x0C
#define SP06_ID 0x0D
#define SP06_COEF 0x10 //-0x21
#define SP06_COEF_SRCE 0x28
#define SP06_Advice_Address 0x77 //IIC器件地址
typedef struct { //内部出厂校准数据
int16_t c0;
int16_t c1;
int32_t c00;
int32_t c10;
int16_t c01;
int16_t c11;
int16_t c20;
int16_t c21;
int16_t c30;
}SPL06_Calib_Param;
typedef struct {
uint8_t chip_id; /**<chip id*/
int32_t i32rawPressure;//原始气压数据
int32_t i32rawTemperature;//原始温度数据
int32_t i32kP; //气压补偿参数
int32_t i32kT;//温度补偿参数
}SPL06;
uint8_t spl06_write_reg(uint8_t reg_addr,uint8_t reg_val);
uint8_t spl06_read_reg(uint8_t reg_addr);
void spl06_start(uint8_t mode);
void spl06_config_temperature(uint8_t rate,uint8_t oversampling);
void spl06_config_pressure(uint8_t rate,uint8_t oversampling);
int32_t spl06_get_pressure_adc(void);
int32_t spl06_get_temperature_adc(void);
uint8_t spl06_update(int32_t*Temp, int32_t *Press);//获取并计算出温度值、气压值
uint8_t spl06_init(void);
int32_t Caculate_height(int32_t GasPress);//计算高度，单位ms
#endif

41
User/module/HeightEstimation.c
View File

@ -2,6 +2,7 @@
#include "bsp/time.h"
#include "BarometerDriver/spl06.h"
#include "BarometerDriver/user_iic.h"
#include "component/AltitudeKalman.h"
#include "component/filter.h"
#include "task/user_task.h"
@ -35,17 +36,35 @@ float accl_z_WithoutGravity; //z轴去g加速度
/* 卡尔曼滤波器估计高度 */
AltitudeKalman alt_kf;
/* Private function -------------------------------------------------------- */
int8_t HeightEstimation_Updata(float accl_z)
float remove_gravity_q(float ax, float ay, float az,
float q0, float q1, float q2, float q3)
{
/* Body -> NED 方向余弦矩阵第三行 */
float C31 = 2.0f*(q1*q3 - q0*q2);
float C32 = 2.0f*(q2*q3 + q0*q1);
float C33 = 1.0f - 2.0f*(q1*q1 + q2*q2);
/* NED 下 DOWN 方向的原始加速度 */
float an_z = C31*ax + C32*ay + C33*az;
/* 去重力 */
return an_z;
}
float accel_z_earth;
int8_t HeightEstimation_Updata(AHRS_Accl_t accl, AHRS_Quaternion_t quaternion)
{
SPL06_Update(&temperature, &pressure);
height = SPL06_CaculateHeight(pressure);
relative_height=(float)((height - initial_height)/1000.0f);
relative_height_filtered=LowPassFilter2p_Apply(&relative_height_filter, relative_height);
accl_z_filtered=LowPassFilter2p_Apply(&accl_z_filter, accl_z);
accl_z_WithoutGravity = (accl_z_filtered - gravity)*9.80665f;
accel_z_earth = remove_gravity_q(accl.x, accl.y, accl.z,
quaternion.q0, quaternion.q1, quaternion.q2, quaternion.q3);
accel_z_earth=LowPassFilter2p_Apply(&accl_z_filter, accel_z_earth);
accl_z_WithoutGravity = (accel_z_earth - gravity) * 9.80665f;
return 0;
}
/* Exported functions ------------------------------------------------------- */
@ -53,7 +72,7 @@ int8_t HeightEstimation_Init(float freq)
{
SPL06_Init();
BSP_TIME_Delay(100);
LowPassFilter2p_Init(&accl_z_filter, freq, 30.0f);
LowPassFilter2p_Init(&accl_z_filter, freq, 10.0f);
LowPassFilter2p_Init(&relative_height_filter, freq, 5.0f);
AltKalman_Init(&alt_kf);
@ -65,12 +84,12 @@ int8_t HeightEstimation_Init(float freq)
}
initializeCounter=0;
float accl_z_buffer=0;
AHRS_Accl_t accl_z_buffer={0,0,0};
float gravity_sum=0;
while(initializeCounter<INITIALIZE_SAMPLE_COUNT)
{
osMessageQueueGet(task_runtime.msgq.heightestimation.accl_z, &accl_z_buffer, NULL, 0);
gravity_sum+=accl_z_buffer;
osMessageQueueGet(task_runtime.msgq.heightestimation.accl, &accl_z_buffer, NULL, 0);
gravity_sum+=accl_z_buffer.z;
initializeCounter++;
osDelay(20);
}
@ -78,9 +97,9 @@ int8_t HeightEstimation_Init(float freq)
return 0;
}
int8_t HeightEstimation_GetHeight(float *heightout, float *velocityout, float accl_z)
int8_t HeightEstimation_GetHeight(float *heightout, float *velocityout, AHRS_Accl_t accl, AHRS_Quaternion_t eulr)
{
HeightEstimation_Updata(accl_z);
HeightEstimation_Updata(accl,eulr);
if(pressure==0){
//错误处理
}

3
User/module/HeightEstimation.h
View File

@ -7,8 +7,9 @@ extern "C" {
#include <stdbool.h>
#include <stdint.h>
#include "device/at9s_pro.h"
#include "component/ahrs.h"
int8_t HeightEstimation_Init(float freq);
int8_t HeightEstimation_GetHeight(float *heightout, float *velocityout, float accl_z);
int8_t HeightEstimation_GetHeight(float *heightout, float *velocityout, AHRS_Accl_t accl, AHRS_Quaternion_t eulr);
#ifdef __cplusplus
}
#endif

22
User/module/at9s_pro_cmd.c
View File

@ -16,20 +16,20 @@
/* Exported functions ------------------------------------------------------- */
/**
* @brief 解析命令
* @brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @param rc 遥控器数据
* @param dr16_cmd 命令
* @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误
* @param rc ң<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param dr16_cmd <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param dt_sec <EFBFBD><EFBFBD><EFBFBD>ν<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>
* @return int8_t 0<EFBFBD><EFBFBD>Ӧû<EFBFBD>д<EFBFBD><EFBFBD><EFBFBD>
*/
int8_t COMP_AT9S_CMD_ParseRc(const DEVICE_AT9S_t *rc, COMP_AT9S_CMD_t *at9s_cmd) {
/* 指针检测 */
/* ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
if (rc == NULL) return -1;
if (at9s_cmd == NULL) return -1;
at9s_cmd->ch_l_x = 2.0f*(rc->data.ch_l_x-209.0f)/(1596.0f-209.0f)-1.0f;
at9s_cmd->ch_l_y = 2.0f*(rc->data.ch_l_y-178.0f)/(1575.0f-198.0f)-1.0f;
at9s_cmd->ch_l_y = (rc->data.ch_l_y-178.0f)/(1575.0f-198.0f);
at9s_cmd->ch_r_x = 2.0f*(rc->data.ch_r_x-210.0f)/(1596.0f-210.0f)-1.0f;
at9s_cmd->ch_r_y = 2.0f*(rc->data.ch_r_y-221.0f)/(1604.0f-217.0f)-1.0f;
@ -43,9 +43,13 @@ int8_t COMP_AT9S_CMD_ParseRc(const DEVICE_AT9S_t *rc, COMP_AT9S_CMD_t *at9s_cmd)
if(fabs(at9s_cmd->ch_r_x)>=1.0f)at9s_cmd->ch_r_x= at9s_cmd->ch_r_x>0?1.0f:-1.0f;
if(fabs(at9s_cmd->ch_r_y)>=1.0f)at9s_cmd->ch_r_y= at9s_cmd->ch_r_y>0?1.0f:-1.0f;
if(rc->online == true ||rc->data.key_D == AT9S_CMD_SW_UP)at9s_cmd->stop = false;
else if(rc->online == false || rc->data.key_D == AT9S_CMD_SW_DOWN)at9s_cmd->stop = true;
if(rc->online == true && rc->data.key_C == AT9S_CMD_SW_UP){at9s_cmd->stop = false;at9s_cmd->lockoutput = false;}
else if(rc->online == false || rc->data.key_C == AT9S_CMD_SW_MID)at9s_cmd->lockoutput = true;
else if(rc->online == false || rc->data.key_C == AT9S_CMD_SW_DOWN)at9s_cmd->stop = true;
else at9s_cmd->stop = true;
if(rc->data.ch_l_x==0&&rc->data.ch_l_y==0&&rc->data.ch_r_x==0&&rc->data.ch_r_y==0)at9s_cmd->start=true;
else at9s_cmd->start=false;
at9s_cmd->online = rc->online;
return 0;

2
User/module/at9s_pro_cmd.h
View File

@ -19,7 +19,9 @@ typedef enum {
typedef struct
{
bool online;
bool start;
bool stop;
bool lockoutput;
int8_t mode;

62
User/module/config.c
View File

@ -28,62 +28,62 @@ Config_RobotParam_t robot_config = {
.pid = {
.pit_agl = {
.k = 1.0f,
.p = 0.8f,
.i = 0.05f,
.p = 10.0f,
.i = 3.0f,
.d = 0.0f,
.i_limit = 0.3f,
.out_limit = 1.0f,
.i_limit = 0.1f,
.out_limit = 0.1745f,
.d_cutoff_freq = 0.0f,
.range = 0.0f
},
.rol_agl = {
.k = 1.0f,
.p = 0.8f,
.i = 0.05f,
.p = 10.0f,
.i = 3.0f,
.d = 0.0f,
.i_limit = 0.3f,
.out_limit = 1.0f,
.i_limit = 0.1f,
.out_limit = 0.1745f,
.d_cutoff_freq = 0.0f,
.range = 0.0f
},
.yaw_agl = {
.k = 1.0f,
.p = 0.8f,
.i = 0.05f,
.p = 10.0f,
.i = 3.0f,
.d = 0.0f,
.i_limit = 0.3f,
.out_limit = 1.0f,
.i_limit = 0.1f,
.out_limit = 0.1745f,
.d_cutoff_freq = 0.0f,
.range = 0.0f
},
.pit_omg = {
.k = 1.0f,
.p = 0.25f,
.i = 0.05f,
.d = 0.01f,
.i_limit = 0.05f,
.p = 0.13f,
.i = 0.18f,
.d = 0.005f,
.i_limit = 0.08f,
.out_limit = 0.2f,
.d_cutoff_freq = 30.0f,
.d_cutoff_freq = 15.0f,
.range = 0.0f
},
.rol_omg = {
.k = 1.0f,
.p = 0.25f,
.i = 0.05f,
.d = 0.01f,
.i_limit = 0.05f,
.p = 0.13f,
.i = 0.18f,
.d = 0.005f,
.i_limit = 0.08f,
.out_limit = 0.2f,
.d_cutoff_freq = 30.0f,
.d_cutoff_freq = 15.0f,
.range = 0.0f
},
.yaw_omg = {
.k = 1.0f,
.p = 0.25f,
.i = 0.05f,
.d = 0.01f,
.i_limit = 0.05f,
.p = 0.13f,
.i = 0.18f,
.d = 0.005f,
.i_limit = 0.08f,
.out_limit = 0.2f,
.d_cutoff_freq = 30.0f,
.d_cutoff_freq = 15.0f,
.range = 0.0f
},
.alt_pos = {
@ -99,11 +99,11 @@ Config_RobotParam_t robot_config = {
.alt_vel = {
.k = 0.08f,
.p = 2.2f,
.i = 0.05f,
.i = 0.0f,
.d = 0.01f,
.i_limit = 0.05f,
.out_limit = 0.2f,
.d_cutoff_freq = -1.0f,
.i_limit = 0.0f,
.out_limit = 0.4f,
.d_cutoff_freq = 30.0f,
.range = 0.0f
},

204
User/module/xm_quadctrl.c
View File

@ -74,6 +74,7 @@
//};
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
@ -136,36 +137,70 @@ float Kalman_Update(KalmanFilter* kf, float newAngle, float newRate, float dt) {
return kf->angle;
}
static bool Quad_UnlockDetection(Quad_t *q, Quad_CMD_t *cmd){
static bool arm_flag=false;
float thr = cmd->throttle;
float yaw = cmd->yaw;
float pit = cmd->pit;
float rol = cmd->rol;
/* 2. 内八判定 */
bool inside_8 = (thr < 0.1f) &&
(yaw > 0.9f) &&
(pit < -0.9f) &&
(rol < -0.9f);
uint32_t now_ms = BSP_TIME_Get_us() / 1000.0f;
if (!inside_8) { // 一旦出界，计时清零
q->timer_ms = 0;
return arm_flag;
}
if (q->timer_ms == 0) // 第一次进入
q->timer_ms = now_ms;
if ((now_ms - q->timer_ms) >= 1000 && !arm_flag) {
arm_flag = true;
q->timer_ms = 0;
}
return arm_flag;
}
static bool Quad_OutZeroDetection(Quad_CMD_t *cmd)
{
return (cmd->throttle < 0.05f) &&
(fabsf(cmd->yaw) < 0.05f) &&
(fabsf(cmd->pit) < 0.05f) &&
(fabsf(cmd->rol) < 0.05f);
}
int8_t Quad_UpdateStatus(Quad_t *q) {
// 这里添加传感器数据更新逻辑
// 1. 姿态估计（使用卡尔曼滤波）
q->current_status.eulr.rol = Kalman_Update(&q->kalman.rol_kf,
atan2f(q->current_status.accl.y, q->current_status.accl.z),
q->current_status.gyro.x,
q->dt);
q->current_status.eulr.pit = Kalman_Update(&q->kalman.pit_kf,
atan2f(-q->current_status.accl.x, q->current_status.accl.z),
q->current_status.gyro.y,
q->dt);
// 2. 高度估计（融合加速度计和气压计）
HeightEstimation_GetHeight(&q->current_status.alt, &q->current_status.vel_z, q->current_status.accl.z);
// 1. 姿态估计（使用卡尔曼滤波）精度不好
// q->current_status.eulr.rol = Kalman_Update(&q->kalman.rol_kf,
// atan2f(q->current_status.accl.y, q->current_status.accl.z),
// q->current_status.gyro.x,
// q->dt);
//
// q->current_status.eulr.pit = Kalman_Update(&q->kalman.pit_kf,
// atan2f(-q->current_status.accl.x, q->current_status.accl.z),
// q->current_status.gyro.y,
// q->dt);
LowPassFilter2p_Apply(&q->filter.gyro_x,q->current_status.gyro.x);
LowPassFilter2p_Apply(&q->filter.gyro_y,q->current_status.gyro.y);
LowPassFilter2p_Apply(&q->filter.gyro_z,q->current_status.gyro.z);
LowPassFilter2p_Apply(&q->filter.eulr_rol,q->current_status.eulr.rol);
LowPassFilter2p_Apply(&q->filter.eulr_pit,q->current_status.eulr.pit);
LowPassFilter2p_Apply(&q->filter.alt,q->current_status.alt);
LowPassFilter2p_Apply(&q->filter.vel_z,q->current_status.vel_z);
return 0;
}
int8_t Quad_SetTargetStates(Quad_t *q, Quad_CMD_t cmd) {
// 这里添加目标状态设置逻辑
int8_t Quad_SetTargetStates(Quad_t *q, Quad_CMD_t *cmd) {
q->expect_status.vel = cmd.throttle;
q->expect_status.yaw_omg = cmd.yaw;
q->expect_status.rol_agl = cmd.rol+q->current_status.eulr.rol;
q->expect_status.pit_agl = cmd.pit+q->current_status.eulr.pit;
q->expect_status.vel = cmd->throttle;
q->expect_status.yaw_omg = cmd->yaw;
q->expect_status.rol_agl = cmd->rol+q->calibration_status.eulr.rol;
q->expect_status.pit_agl = cmd->pit+q->calibration_status.eulr.pit;
Quad_Math_LimitFloat(&q->expect_status.yaw_omg,
-q->param->expect_status_limit.yaw_omg,
@ -174,8 +209,8 @@ int8_t Quad_SetTargetStates(Quad_t *q, Quad_CMD_t cmd) {
q->expect_status.rol_agl-q->param->expect_status_limit.rol_agl,
q->expect_status.rol_agl+q->param->expect_status_limit.rol_agl);
Quad_Math_LimitFloat(&q->expect_status.pit_agl,
q->expect_status.pit_agl-q->param->expect_status_limit.pit_agl,
q->expect_status.pit_agl+q->param->expect_status_limit.pit_agl);
-q->param->expect_status_limit.pit_agl,
q->param->expect_status_limit.pit_agl);
return 0;
}
@ -217,19 +252,20 @@ int8_t Quad_AttCtrl_omg(Quad_t *q, float dt) {
//角速度控制
q->output.pit = PID_Calc(&q->pid.pit_omg,
q->expect_status.pit_omg,
q->current_status.gyro.y,
q->current_status.gyro.x,
0,
q->dt);
q->output.yaw = PID_Calc(&q->pid.yaw_omg,
q->expect_status.yaw_omg,
q->current_status.gyro.z,
-q->current_status.gyro.z,
0,
q->dt);
q->output.rol = PID_Calc(&q->pid.rol_omg,
q->expect_status.rol_omg,
q->current_status.gyro.x,
-q->current_status.gyro.y,
0,
q->dt);
LowPassFilter2p_Apply(&q->filter.output_pit,q->output.pit);
return 0;
}
@ -237,14 +273,15 @@ int8_t Quad_Mixer(Quad_t *q) {
Quad_Math_ScaleSumTo1(&q->output.throttle, &q->output.rol, &q->output.pit, &q->output.yaw);
q->output.mix[0] = q->output.throttle + q->output.rol - q->output.pit + q->output.yaw;// 前右
q->output.mix[1] = q->output.throttle - q->output.rol - q->output.pit - q->output.yaw;// 前左
q->output.mix[2] = q->output.throttle - q->output.rol + q->output.pit + q->output.yaw;// 后左
q->output.mix[3] = q->output.throttle + q->output.rol + q->output.pit - q->output.yaw;// 后右
q->output.mix[0] = q->output.throttle - q->output.rol - q->output.pit - q->output.yaw;// 前右
q->output.mix[1] = q->output.throttle + q->output.rol - q->output.pit + q->output.yaw;// 前左
q->output.mix[2] = q->output.throttle + q->output.rol + q->output.pit - q->output.yaw;// 后左
q->output.mix[3] = q->output.throttle - q->output.rol + q->output.pit + q->output.yaw;// 后右
for(int i=0;i<4;i++){
Quad_Math_LimitFloat(&q->output.mix[i], q->param->motor_limit.min_output, q->param->motor_limit.max_output);
q->output.motor[i] = 0.275+0.8*q->output.mix[i]*0.21;
q->output.motor[i] = 0.275+q->output.mix[i]*0.21;
LowPassFilter2p_Apply(&q->filter.motor[i],q->output.motor[i]);
}
return 0;
@ -276,7 +313,7 @@ int8_t Quad_ResetOutput(Quad_Output_t *output) {
}
/* Exported functions ------------------------------------------------------- */
int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, float freq) {
int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, Quad_CMD_t *cmd, float freq) {
if(param == NULL) {
return -1; // 参数错误
@ -294,14 +331,18 @@ int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, float freq) {
LowPassFilter2p_Init(&q->filter.accl_x, freq, 30.0f);
LowPassFilter2p_Init(&q->filter.accl_y, freq, 30.0f);
LowPassFilter2p_Init(&q->filter.accl_z, freq, 30.0f);
LowPassFilter2p_Init(&q->filter.gyro_x, freq, 80.0f);
LowPassFilter2p_Init(&q->filter.gyro_y, freq, 80.0f);
LowPassFilter2p_Init(&q->filter.gyro_z, freq, 80.0f);
LowPassFilter2p_Init(&q->filter.gyro_x, freq, 20.0f);
LowPassFilter2p_Init(&q->filter.gyro_y, freq, 20.0f);
LowPassFilter2p_Init(&q->filter.gyro_z, freq, 20.0f);
LowPassFilter2p_Init(&q->filter.eulr_yaw, freq, 20.0f);
LowPassFilter2p_Init(&q->filter.eulr_pit, freq, 20.0f);
LowPassFilter2p_Init(&q->filter.eulr_rol, freq, 20.0f);
LowPassFilter2p_Init(&q->filter.eulr_pit, freq, 10.0f);
LowPassFilter2p_Init(&q->filter.eulr_rol, freq, 10.0f);
LowPassFilter2p_Init(&q->filter.alt, freq, 10.0f);
LowPassFilter2p_Init(&q->filter.vel_z, freq, 15.0f);
LowPassFilter2p_Init(&q->filter.output_pit, freq, 5.0f);
for(int i=0;i<4;i++)
LowPassFilter2p_Init(&q->filter.motor[i],freq,30.0f);
PID_Init(&q->pid.yaw_agl, KPID_MODE_CALC_D, att_agl, &param->pid.yaw_agl);
PID_Init(&q->pid.pit_agl, KPID_MODE_CALC_D, att_agl, &param->pid.pit_agl);
@ -316,48 +357,87 @@ int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, float freq) {
q->expect_status.pit_agl = q->current_status.eulr.pit;
q->expect_status.rol_agl = q->current_status.eulr.rol;
q->expect_status.yaw_agl = q->current_status.eulr.yaw;
q->calibration_status.eulr.rol = q->current_status.eulr.rol;
q->calibration_status.eulr.pit = q->current_status.eulr.pit;
q->calibration_status.eulr.yaw = q->current_status.eulr.yaw;
BSP_PWM_Start(BSP_PWM_MOTOR_OUT1);
BSP_PWM_Start(BSP_PWM_MOTOR_OUT2);
BSP_PWM_Start(BSP_PWM_MOTOR_OUT3);
BSP_PWM_Start(BSP_PWM_MOTOR_OUT4);
return 0;
}
int8_t Quad_Ctrl(Quad_t *q, Quad_CMD_t cmd) {
uint16_t dt;
int8_t Quad_Ctrl(Quad_t *q, Quad_CMD_t *cmd) {
if(q == NULL) {
return -1; // 参数错误
}
q->now =BSP_TIME_Get_us() / 1000000.0f;
q->dt =(BSP_TIME_Get_us() - q->last) / 1000000.0f;
q->last=BSP_TIME_Get_us();
Quad_UpdateStatus(q);
Quad_SetTargetStates(q, cmd);
switch(q->fsm_states){
case JOYSTICKDETECTION:
BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT1, 0.275+0.21*cmd->throttle);
BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT2, 0.275+0.21*cmd->throttle);
BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT3, 0.275+0.21*cmd->throttle);
BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT4, 0.275+0.21*cmd->throttle);
if(!Quad_UnlockDetection(q,cmd)){
Quad_ResetOutput(&q->output);
return -1;
}
q->fsm_states=UNLOCKMOTOR;
q->timer_ms=q->now;
case UNLOCKMOTOR:
BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT1, 0.275);
BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT2, 0.275);
BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT3, 0.275);
BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT4, 0.275);
dt=1000*q->now-q->timer_ms;
if(dt>2000){
q->fsm_states=RUNNING;
q->timer_ms=1000*q->now;
}
break;
case RUNNING:
Quad_UpdateStatus(q);
Quad_SetTargetStates(q, cmd);
static uint8_t cnt_1ms = 0;
cnt_1ms = (cnt_1ms + 1) % 10;
static uint8_t cnt_1ms = 0;
cnt_1ms = (cnt_1ms + 1) % 10;
/* 位置环 100 Hz */
if (cnt_1ms == 0) {
Quad_PosCtrl(q,10*q->dt);
/* 位置环 100 Hz */
if (cnt_1ms == 0) {
Quad_PosCtrl(q,10*q->dt);
}
/* 角度环 250 Hz */
if (cnt_1ms % 4 == 0) {
Quad_AttCtrl_agl(q,4*q->dt);
}
/* 角速度环 1000 Hz */
Quad_AttCtrl_omg(q,q->dt);
/* 混控 & 输出（1000 Hz） */
Quad_Mixer(q);
if(cmd->lockoutput){
for(int i=0;i<4;i++){
q->output.motor[i]=0;
}
}else if(cmd->stop){
Quad_stop();
}
Quad_OutPut(&q->output);
return 0;
break;
}
/* 角度环 250 Hz */
if (cnt_1ms % 4 == 0) {
Quad_AttCtrl_agl(q,4*q->dt);
}
/* 角速度环 1000 Hz */
Quad_AttCtrl_omg(q,q->dt);
/* 混控 & 输出（1000 Hz） */
Quad_Mixer(q);
Quad_OutPut(&q->output);
return 0;
}
void Quad_stop() {

40
User/module/xm_quadctrl.h
View File

@ -5,6 +5,7 @@ extern "C" {
#endif
#include "device/at9s_pro.h"
#include "component/pid.h"
#include "component/ahrs.h"
// 卡尔曼滤波器结构体
typedef struct {
float Q_angle; // 过程噪声协方差（角度）
@ -14,17 +15,12 @@ typedef struct {
float bias; // 估计陀螺仪偏置
float P[2][2]; // 误差协方差矩阵
} KalmanFilter;
typedef struct{
float x;
float y;
float z;
}Quad_Vectory3f_t;
typedef struct{
float yaw;
float pit;
float rol;
}Quad_EulrVectory3f_t;
typedef enum {
JOYSTICKDETECTION,
UNLOCKMOTOR,
RUNNING
} Quad_CtrlFSM;
typedef struct {
uint16_t pos_alt;
@ -45,6 +41,9 @@ typedef struct {
LowPassFilter2p_t eulr_rol;
LowPassFilter2p_t alt;
LowPassFilter2p_t vel_z;
LowPassFilter2p_t output_pit;
LowPassFilter2p_t motor[4];
}Quad_LowPassFilter2p_t;
typedef struct {
@ -76,7 +75,9 @@ typedef struct {
}Quad_MotorConfig_t;
typedef struct {
bool online;
bool start;
bool stop;
bool lockoutput;
float throttle;
float yaw;
@ -86,9 +87,13 @@ typedef struct {
}Quad_CMD_t;
typedef struct{
Quad_Vectory3f_t accl; // m/s²
Quad_Vectory3f_t gyro;
Quad_EulrVectory3f_t eulr;
AHRS_Eulr_t eulr;
}Quad_CalibrationStatus_t;
typedef struct{
AHRS_Accl_t accl; // m/s²
AHRS_Gyro_t gyro;
AHRS_Eulr_t eulr;
float alt; // 气压计加速度计融合后相对高度 (m)
float vel_z; //z轴速度
}Quad_CurrentStatus_t;
@ -142,20 +147,25 @@ typedef struct{
float dt;
int64_t last;
uint64_t timer_ms;
Quad_CtrlFSM fsm_states;
Quad_Params_t *param;
Quad_PID_t pid;
Quad_LowPassFilter2p_t filter;
Quad_Kalman_t kalman;
Quad_CalibrationStatus_t calibration_status;
Quad_CurrentStatus_t current_status;
Quad_ExpectStatus_t expect_status;
Quad_Output_t output;
}Quad_t;
int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, float freq);
int8_t Quad_Ctrl(Quad_t *q, Quad_CMD_t cmd);
int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, Quad_CMD_t *cmd, float freq);
int8_t Quad_Ctrl(Quad_t *q, Quad_CMD_t *cmd);
void Quad_stop();
#ifdef __cplusplus
}

21
User/task/atti_esti.c
View File

@ -26,8 +26,12 @@ AHRS_t gimbal_ahrs;
AHRS_Magn_t magn;
AHRS_Eulr_t eulr_to_send;
float accl_z_for_heightestimation;
AHRS_Accl_t accl_for_heightestimation;
AHRS_Quaternion_t quaternion_for_heightestimation;
AHRS_Eulr_t eulr_for_quad;
AHRS_Accl_t accl_for_quad;
AHRS_Gyro_t gyro_for_quad;
KPID_t imu_temp_ctrl_pid;
//Chassis_IMU_t chassis_to_send;
@ -149,11 +153,20 @@ void Task_atti_esti(void *argument) {
osKernelUnlock();
accl_z_for_heightestimation = bmi088.accl.z;
eulr_for_quad=eulr_to_send;
accl_for_heightestimation = bmi088.accl;
quaternion_for_heightestimation = gimbal_ahrs.quat;
eulr_for_quad=eulr_to_send;
accl_for_quad=bmi088.accl;
gyro_for_quad=bmi088.gyro;
/* 创建修改后的数据副本用于发送到消息队列 */
osMessageQueuePut(task_runtime.msgq.heightestimation.accl_z, &accl_z_for_heightestimation, 0, 0);
osMessageQueuePut(task_runtime.msgq.heightestimation.accl, &accl_for_heightestimation, 0, 0);
osMessageQueuePut(task_runtime.msgq.heightestimation.quaternion, &quaternion_for_heightestimation, 0, 0);
osMessageQueuePut(task_runtime.msgq.quad.eulr, &eulr_for_quad, 0, 0);
osMessageQueuePut(task_runtime.msgq.quad.accl, &accl_for_quad, 0, 0);
osMessageQueuePut(task_runtime.msgq.quad.gyro, &gyro_for_quad, 0, 0);
BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

2
User/task/cmd.c
View File

@ -49,11 +49,13 @@ void Task_cmd(void *argument) {
}
cmd_for_quad.online=rc_cmd.online;
cmd_for_quad.start=rc_cmd.start;
cmd_for_quad.throttle=rc_cmd.ch_l_y;
cmd_for_quad.yaw=rc_cmd.ch_l_x;
cmd_for_quad.pit=rc_cmd.ch_r_y;
cmd_for_quad.rol=rc_cmd.ch_r_x;
cmd_for_quad.stop=rc_cmd.stop;
cmd_for_quad.lockoutput=rc_cmd.lockoutput;
osMessageQueuePut(task_runtime.msgq.quad.cmd, &cmd_for_quad, 0, 0);
/* USER CODE END */

54
User/task/height_cal.c
View File

@ -1,55 +1,53 @@
/*
height_cal Task
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "task\user_task.h"
#include "timers.h"
#include "device/bmi088.h"
#include "BarometerDriver/spl06.h"
#include "component/ahrs.h"
#include "module/HeightEstimation.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
float accl_z_buffer;
AHRS_Accl_t accl_buffer;
AHRS_Quaternion_t quaternion_buffer;
float estimated_velocity;
float estimated_height;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
/**
* \brief ps2 Task
*
* \param argument
*/
void Task_height_cal(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
(void)argument;
/* 计算任务运行到指定频率需要等待的tick数 */
const uint32_t delay_tick = osKernelGetTickFreq() / HEIGHT_CAL_FREQ;
osDelay(HEIGHT_CAL_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 */
osDelay(HEIGHT_CAL_INIT_DELAY);
uint32_t tick = osKernelGetTickCount();
HeightEstimation_Init(HEIGHT_CAL_FREQ);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.heightestimation.accl_z, &accl_z_buffer, NULL, 0);
HeightEstimation_GetHeight(&estimated_height, &estimated_velocity, accl_z_buffer);
osMessageQueuePut(task_runtime.msgq.quad.alt, &estimated_height, 0, 0);
osMessageQueuePut(task_runtime.msgq.quad.vel, &estimated_velocity, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
tick += delay_tick;
/*User code begin*/
osMessageQueueGet(task_runtime.msgq.heightestimation.accl, &accl_buffer, NULL, 0);
osMessageQueueGet(task_runtime.msgq.heightestimation.quaternion, &quaternion_buffer, NULL, 0);
HeightEstimation_GetHeight(&estimated_height, &estimated_velocity, accl_buffer, quaternion_buffer);
}
osMessageQueuePut(task_runtime.msgq.quad.alt, &estimated_height, 0, 0);
osMessageQueuePut(task_runtime.msgq.quad.vel, &estimated_velocity, 0, 0);
/*User code end*/
osDelayUntil(tick);
}
}

7
User/task/init.c
View File

@ -16,7 +16,7 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
/* Exported functions -------------------------------------------------k------ */
/**
* \brief 初始化
@ -39,8 +39,11 @@ void Task_Init(void *argument) {
// 创建消息队列
/* USER MESSAGE BEGIN */
task_runtime.msgq.heightestimation.accl_z= osMessageQueueNew(5, sizeof(float), NULL);
task_runtime.msgq.heightestimation.accl= osMessageQueueNew(5, sizeof(AHRS_Accl_t), NULL);
task_runtime.msgq.heightestimation.quaternion= osMessageQueueNew(5, sizeof(AHRS_Quaternion_t), NULL);
task_runtime.msgq.quad.eulr= osMessageQueueNew(3, sizeof(AHRS_Eulr_t), NULL);
task_runtime.msgq.quad.accl= osMessageQueueNew(3, sizeof(AHRS_Accl_t), NULL);
task_runtime.msgq.quad.gyro= osMessageQueueNew(3, sizeof(AHRS_Gyro_t), NULL);
task_runtime.msgq.quad.alt= osMessageQueueNew(3, sizeof(float), NULL);
task_runtime.msgq.quad.vel= osMessageQueueNew(3, sizeof(float), NULL);
task_runtime.msgq.quad.cmd= osMessageQueueNew(3, sizeof(Quad_CMD_t), NULL);

9
User/task/quad_ctrl.c
View File

@ -6,6 +6,7 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "component/ahrs.h"
#include "module/xm_quadctrl.h"
#include "module/config.h"
/* USER INCLUDE END */
@ -32,17 +33,21 @@ void Task_quad_ctrl(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
Quad_Init(&q,&Config_GetRobotParam()->quad_params,QUAD_CTRL_FREQ);
Quad_Init(&q,&Config_GetRobotParam()->quad_params,&quad_cmd,QUAD_CTRL_FREQ);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.quad.eulr, &q.current_status.eulr, NULL, 0);
osMessageQueueGet(task_runtime.msgq.quad.accl, &q.current_status.accl, NULL, 0);
osMessageQueueGet(task_runtime.msgq.quad.gyro, &q.current_status.gyro, NULL, 0);
osMessageQueueGet(task_runtime.msgq.quad.alt, &q.current_status.alt, NULL, 0);
osMessageQueueGet(task_runtime.msgq.quad.vel, &q.current_status.vel_z, NULL, 0);
osMessageQueueGet(task_runtime.msgq.quad.cmd, &quad_cmd, NULL, 0);
Quad_Ctrl(&q,quad_cmd);
Quad_Ctrl(&q,&quad_cmd);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

54
User/task/rc.c
View File

@ -1,54 +0,0 @@
/*
rc Task
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/at9s_pro.h"
#include "module/at9s_pro_cmd.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
uint8_t cmd_buffer[DEVICE_AT9S_FRAME_LEN];
DEVICE_AT9S_t at9s;
COMP_AT9S_CMD_t rc_cmd;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_rc(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() / RC_FREQ;
osDelay(RC_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 */
DEVICE_AT9S_Init(&at9s);
DEVICE_AT9S_StartDmaRecv(cmd_buffer);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
if (DEVICE_AT9S_WaitDmaCplt(10)) {
DEVICE_AT9S_ParseRaw(cmd_buffer, &at9s);
COMP_AT9S_CMD_ParseRc(&at9s, &rc_cmd);
DEVICE_AT9S_StartDmaRecv(cmd_buffer);
}
// osMessageQueuePut(task_runtime.msgq.cmd.rc, &at9s, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

9
User/task/user_task.h
View File

@ -23,8 +23,8 @@ extern "C" {
#define TASK_INIT_DELAY (100u)
#define ATTI_ESTI_INIT_DELAY (0)
#define BLINK_INIT_DELAY (0)
#define HEIGHT_CAL_INIT_DELAY (300)
#define QUAD_CTRL_INIT_DELAY (0)
#define HEIGHT_CAL_INIT_DELAY (500)
#define QUAD_CTRL_INIT_DELAY (3000)
#define CMD_INIT_DELAY (0)
/* Exported defines --------------------------------------------------------- */
@ -48,11 +48,14 @@ typedef struct {
osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
struct
{
osMessageQueueId_t accl_z; /* z轴加速度 */
osMessageQueueId_t accl;
osMessageQueueId_t quaternion;
}heightestimation;
struct{
osMessageQueueId_t eulr;
osMessageQueueId_t accl;
osMessageQueueId_t gyro;
osMessageQueueId_t alt;
osMessageQueueId_t vel;
osMessageQueueId_t cmd;

43
cmake/gcc-arm-none-eabi.cmake Normal file
View File

@ -0,0 +1,43 @@
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_PROCESSOR arm)
set(CMAKE_C_COMPILER_ID GNU)
set(CMAKE_CXX_COMPILER_ID GNU)
# Some default GCC settings
# arm-none-eabi- must be part of path environment
set(TOOLCHAIN_PREFIX arm-none-eabi-)
set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc)
set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++)
set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}g++)
set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy)
set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size)
set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_C ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf")
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
# MCU specific flags
set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
set(CMAKE_C_FLAGS_DEBUG "-O0 -g3")
set(CMAKE_C_FLAGS_RELEASE "-Os -g0")
set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --specs=nano.specs")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage")
set(TOOLCHAIN_LINK_LIBRARIES "m")

65
cmake/starm-clang.cmake Normal file
View File

@ -0,0 +1,65 @@
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_PROCESSOR arm)
set(CMAKE_C_COMPILER_ID Clang)
set(CMAKE_CXX_COMPILER_ID Clang)
# Some default llvm settings
set(TOOLCHAIN_PREFIX starm-)
set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}clang)
set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}clang++)
set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}clang)
set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy)
set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size)
set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_C ".elf")
set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf")
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
# STARM_TOOLCHAIN_CONFIG allows you to choose the toolchain configuration.
# Possible values are:
# "STARM_HYBRID" : Hybrid configuration using starm-clang Assemler and Compiler and GNU Linker
# "STARM_NEWLIB" : starm-clang toolchain with NEWLIB C library
# "STARM_PICOLIBC" : starm-clang toolchain with PICOLIBC C library
set(STARM_TOOLCHAIN_CONFIG "STARM_HYBRID")
if(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
set(TOOLCHAIN_MULTILIBS "--multi-lib-config=\"$ENV{CLANG_GCC_CMSIS_COMPILER}/multilib.gnu_tools_for_stm32.yaml\" --gcc-toolchain=\"$ENV{GCC_TOOLCHAIN_ROOT}/..\"")
elseif (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
set(TOOLCHAIN_MULTILIBS "--config=newlib.cfg")
endif()
# MCU specific flags
set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ${TOOLCHAIN_MULTILIBS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MP")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
set(CMAKE_C_FLAGS_DEBUG "-O0 -g3")
set(CMAKE_C_FLAGS_RELEASE "-Os -g0")
set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0")
set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
if (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --gcc-specs=nano.specs")
set(TOOLCHAIN_LINK_LIBRARIES "m")
elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-nosys")
elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_PICOLIBC")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-hosted")
endif()
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -z noexecstack")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage ")

121
cmake/stm32cubemx/CMakeLists.txt Normal file
View File

@ -0,0 +1,121 @@
cmake_minimum_required(VERSION 3.22)
# Enable CMake support for ASM and C languages
enable_language(C ASM)
# STM32CubeMX generated symbols (macros)
set(MX_Defines_Syms
USE_HAL_DRIVER
STM32F407xx
$<$<CONFIG:Debug>:DEBUG>
)
# STM32CubeMX generated include paths
set(MX_Include_Dirs
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include
)
# STM32CubeMX generated application sources
set(MX_Application_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/i2c.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/spi.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/syscalls.c
${CMAKE_CURRENT_SOURCE_DIR}/../../startup_stm32f407xx.s
)
# STM32 HAL/LL Drivers
set(STM32_Drivers_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
)
# Drivers Midllewares
set(FreeRTOS_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/list.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/queue.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
)
# Link directories setup
set(MX_LINK_DIRS
)
# Project static libraries
set(MX_LINK_LIBS
STM32_Drivers
${TOOLCHAIN_LINK_LIBRARIES}
FreeRTOS
)
# Interface library for includes and symbols
add_library(stm32cubemx INTERFACE)
target_include_directories(stm32cubemx INTERFACE ${MX_Include_Dirs})
target_compile_definitions(stm32cubemx INTERFACE ${MX_Defines_Syms})
# Create STM32_Drivers static library
add_library(STM32_Drivers OBJECT)
target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
# Create FreeRTOS static library
add_library(FreeRTOS OBJECT)
target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
target_link_libraries(FreeRTOS PUBLIC stm32cubemx)
# Add STM32CubeMX generated application sources to the project
target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${MX_Application_Src})
# Link directories setup
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE ${MX_LINK_DIRS})
# Add libraries to the project
target_link_libraries(${CMAKE_PROJECT_NAME} ${MX_LINK_LIBS})
# Add the map file to the list of files to be removed with 'clean' target
set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES ADDITIONAL_CLEAN_FILES ${CMAKE_PROJECT_NAME}.map)
# Validate that STM32CubeMX code is compatible with C standard
if((CMAKE_C_STANDARD EQUAL 90) OR (CMAKE_C_STANDARD EQUAL 99))
message(ERROR "Generated code requires C11 or higher")
endif()

84
ozone/QuadcopterDevC.jdebug.user
View File

@ -1,36 +1,68 @@
GraphedExpression="relative_height_filtered", Color=#e56a6f
GraphedExpression="relative_height", Color=#35792b, Show=0
GraphedExpression="estimated_velocity", Color=#769dda, Show=0
GraphedExpression="estimated_height", Color=#b14f0d
OpenDocument="time.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/bsp/time.c", Line=34
OpenDocument="height_cal.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/task/height_cal.c", Line=0
OpenDocument="HeightEstimation.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/module/HeightEstimation.c", Line=18
GraphedExpression="pressure", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#e56a6f, Show=0
GraphedExpression="((q).output).throttle", Color=#35792b, Show=0
GraphedExpression="((q).output).rol", Color=#769dda, Show=0
GraphedExpression="((q).output).pit", Color=#b14f0d, Show=0
GraphedExpression="((q).output).yaw", Color=#b3c38e, Show=0
GraphedExpression="((q).expect_status).pit_omg", Color=#ab7b05, Show=0
GraphedExpression="(((q).current_status).gyro).x", Color=#7fd3b7, Show=0
GraphedExpression="((((q).pid).pit_omg).out).dout", Color=#50328f, Show=0
GraphedExpression="((((q).pid).pit_agl).out).iout", Color=#c587a5
GraphedExpression="((((q).pid).pit_agl).last).out", Color=#999401, Show=0
GraphedExpression="((((q).pid).pit_omg).last).out", Color=#aa1d24, Show=0
GraphedExpression="((q).expect_status).pit_agl", Color=#86d27e, Show=0
GraphedExpression="(((q).current_status).eulr).pit", Color=#2a5191, Show=0
OpenDocument="xm_quadctrl.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/module/xm_quadctrl.c", Line=181
OpenDocument="time.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/bsp/time.c", Line=33
OpenDocument="HeightEstimation.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/module/HeightEstimation.c", Line=23
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/Quadcopter/DveC/MDK-ARM/startup_stm32f407xx.s", Line=161
OpenDocument="main.c", FilePath="D:/CUBEMX/Quadcopter/DveC/Core/Src/main.c", Line=47
OpenDocument="at9s_pro_cmd.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/module/at9s_pro_cmd.c", Line=11
OpenDocument="user_iic.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/BarometerDriver/user_iic.c", Line=97
OpenDocument="main.c", FilePath="D:/CUBEMX/Quadcopter/DveC/Core/Src/main.c", Line=46
OpenDocument="ahrs.h", FilePath="D:/CUBEMX/Quadcopter/DveC/User/component/ahrs.h", Line=0
OpenDocument="quad_ctrl.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/task/quad_ctrl.c", Line=7
OpenDocument="tasks.c", FilePath="D:/CUBEMX/Quadcopter/DveC/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2302
OpenDocument="stm32f4xx_it.c", FilePath="D:/CUBEMX/Quadcopter/DveC/Core/Src/stm32f4xx_it.c", Line=85
OpenDocument="height_cal.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/task/height_cal.c", Line=6
OpenDocument="filter.c", FilePath="D:/CUBEMX/Quadcopter/DveC/User/component/filter.c", Line=42
OpenDocument="stm32f4xx_hal_gpio.c", FilePath="D:/CUBEMX/Quadcopter/DveC/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c", Line=152
OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/Quadcopter/DveC/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=383
OpenDocument="stm32f4xx_hal_spi.c", FilePath="D:/CUBEMX/Quadcopter/DveC/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c", Line=3492
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=606, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=729, h=728, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=312, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=606, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=729, h=190, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=729, h=728, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=1276, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=1283, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="487;249", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1056;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="1007;0"
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=1276, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=291, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=2268, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="10 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="205;30", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1469;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1485;0"
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=291, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;485]
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;814]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" relative_height_filtered";" relative_height";" estimated_velocity";" estimated_height"], ColWidths=[100;100;100;100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;144;124;124;134;110;134;288]
TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;294]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;103]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
WatchedExpression="relative_height_filtered", RefreshRate=5, Window=Watched Data 1
WatchedExpression="estimated_velocity", RefreshRate=5, Window=Watched Data 1
WatchedExpression="estimated_height", RefreshRate=5, Window=Watched Data 1
WatchedExpression="alt_kf", RefreshRate=5, Window=Watched Data 1
WatchedExpression="relative_height", RefreshRate=5, Window=Watched Data 1
WatchedExpression="relative_height_filter", RefreshRate=5, Window=Watched Data 1
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;814]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" pressure";" ((q).output).throttle";" ((q).output).rol";" ((q).output).pit";" ((q).output).yaw";" ((q).expect_status).pit_omg";" (((q).current_status).gyro).x";" ((((q).pid).pit_omg).out).dout";" ((((q).pid).pit_agl).out).iout";" ((((q).pid).pit_agl).last).out";" ((((q).pid).pit_omg).last).out";" ((q).expect_status).pit_agl";" (((q).current_status).eulr).pit"], ColWidths=[100;100;100;100;100;100;100;100;100;100;100;100;100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[253;100;154;144;144;164;110;164;154]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;366]
WatchedExpression="pressure", RefreshRate=5, Window=Watched Data 1
WatchedExpression="q", RefreshRate=5, Window=Watched Data 1
WatchedExpression="eulr", RefreshRate=5, Window=Watched Data 1
WatchedExpression="quad_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="quad_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="inside_8", RefreshRate=5, Window=Watched Data 1
WatchedExpression="now_ms", RefreshRate=5, Window=Watched Data 1
WatchedExpression="dt", RefreshRate=5, Window=Watched Data 1
WatchedExpression="accel_z_earth", RefreshRate=5, Window=Watched Data 1
WatchedExpression="accl_z_WithoutGravity", Window=Watched Data 1
WatchedExpression="accl_buffer", RefreshRate=5, Window=Watched Data 1
WatchedExpression="eulr_buffer", RefreshRate=5, Window=Watched Data 1
WatchedExpression="sinRoll", RefreshRate=5, Window=Watched Data 1
WatchedExpression="cosRoll", RefreshRate=5, Window=Watched Data 1
WatchedExpression="sinPitch", RefreshRate=5, Window=Watched Data 1
WatchedExpression="cosPitch", RefreshRate=5, Window=Watched Data 1
WatchedExpression="calibrated_roll", RefreshRate=5, Window=Watched Data 1
WatchedExpression="calibrated_pitch", RefreshRate=5, Window=Watched Data 1

508
startup_stm32f407xx.s Normal file
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@ -0,0 +1,508 @@
/**
******************************************************************************
* @file startup_stm32f407xx.s
* @author MCD Application Team
* @brief STM32F407xx Devices vector table for GCC based toolchains.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M4 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* Copyright (c) 2017 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
.syntax unified
.cpu cortex-m4
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr sp, =_estack /* set stack pointer */
/* Call the clock system initialization function.*/
bl SystemInit
/* Copy the data segment initializers from flash to SRAM */
ldr r0, =_sdata
ldr r1, =_edata
ldr r2, =_sidata
movs r3, #0
b LoopCopyDataInit
CopyDataInit:
ldr r4, [r2, r3]
str r4, [r0, r3]
adds r3, r3, #4
LoopCopyDataInit:
adds r4, r0, r3
cmp r4, r1
bcc CopyDataInit
/* Zero fill the bss segment. */
ldr r2, =_sbss
ldr r4, =_ebss
movs r3, #0
b LoopFillZerobss
FillZerobss:
str r3, [r2]
adds r2, r2, #4
LoopFillZerobss:
cmp r2, r4
bcc FillZerobss
/* Call static constructors */
bl __libc_init_array
/* Call the application's entry point.*/
bl main
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
* @param None
* @retval None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M3. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
*******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
/* External Interrupts */
.word WWDG_IRQHandler /* Window WatchDog */
.word PVD_IRQHandler /* PVD through EXTI Line detection */
.word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
.word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
.word FLASH_IRQHandler /* FLASH */
.word RCC_IRQHandler /* RCC */
.word EXTI0_IRQHandler /* EXTI Line0 */
.word EXTI1_IRQHandler /* EXTI Line1 */
.word EXTI2_IRQHandler /* EXTI Line2 */
.word EXTI3_IRQHandler /* EXTI Line3 */
.word EXTI4_IRQHandler /* EXTI Line4 */
.word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
.word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
.word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
.word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
.word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
.word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
.word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
.word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
.word CAN1_TX_IRQHandler /* CAN1 TX */
.word CAN1_RX0_IRQHandler /* CAN1 RX0 */
.word CAN1_RX1_IRQHandler /* CAN1 RX1 */
.word CAN1_SCE_IRQHandler /* CAN1 SCE */
.word EXTI9_5_IRQHandler /* External Line[9:5]s */
.word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */
.word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */
.word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
.word TIM2_IRQHandler /* TIM2 */
.word TIM3_IRQHandler /* TIM3 */
.word TIM4_IRQHandler /* TIM4 */
.word I2C1_EV_IRQHandler /* I2C1 Event */
.word I2C1_ER_IRQHandler /* I2C1 Error */
.word I2C2_EV_IRQHandler /* I2C2 Event */
.word I2C2_ER_IRQHandler /* I2C2 Error */
.word SPI1_IRQHandler /* SPI1 */
.word SPI2_IRQHandler /* SPI2 */
.word USART1_IRQHandler /* USART1 */
.word USART2_IRQHandler /* USART2 */
.word USART3_IRQHandler /* USART3 */
.word EXTI15_10_IRQHandler /* External Line[15:10]s */
.word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
.word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */
.word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */
.word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */
.word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */
.word TIM8_CC_IRQHandler /* TIM8 Capture Compare */
.word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
.word FSMC_IRQHandler /* FSMC */
.word SDIO_IRQHandler /* SDIO */
.word TIM5_IRQHandler /* TIM5 */
.word SPI3_IRQHandler /* SPI3 */
.word UART4_IRQHandler /* UART4 */
.word UART5_IRQHandler /* UART5 */
.word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */
.word TIM7_IRQHandler /* TIM7 */
.word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
.word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
.word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
.word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
.word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
.word ETH_IRQHandler /* Ethernet */
.word ETH_WKUP_IRQHandler /* Ethernet Wakeup through EXTI line */
.word CAN2_TX_IRQHandler /* CAN2 TX */
.word CAN2_RX0_IRQHandler /* CAN2 RX0 */
.word CAN2_RX1_IRQHandler /* CAN2 RX1 */
.word CAN2_SCE_IRQHandler /* CAN2 SCE */
.word OTG_FS_IRQHandler /* USB OTG FS */
.word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
.word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
.word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
.word USART6_IRQHandler /* USART6 */
.word I2C3_EV_IRQHandler /* I2C3 event */
.word I2C3_ER_IRQHandler /* I2C3 error */
.word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */
.word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */
.word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */
.word OTG_HS_IRQHandler /* USB OTG HS */
.word DCMI_IRQHandler /* DCMI */
.word 0 /* CRYP crypto */
.word HASH_RNG_IRQHandler /* Hash and Rng */
.word FPU_IRQHandler /* FPU */
.size g_pfnVectors, .-g_pfnVectors
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak TAMP_STAMP_IRQHandler
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
.weak RTC_WKUP_IRQHandler
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Stream0_IRQHandler
.thumb_set DMA1_Stream0_IRQHandler,Default_Handler
.weak DMA1_Stream1_IRQHandler
.thumb_set DMA1_Stream1_IRQHandler,Default_Handler
.weak DMA1_Stream2_IRQHandler
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
.weak DMA1_Stream3_IRQHandler
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
.weak DMA1_Stream4_IRQHandler
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
.weak DMA1_Stream5_IRQHandler
.thumb_set DMA1_Stream5_IRQHandler,Default_Handler
.weak DMA1_Stream6_IRQHandler
.thumb_set DMA1_Stream6_IRQHandler,Default_Handler
.weak ADC_IRQHandler
.thumb_set ADC_IRQHandler,Default_Handler
.weak CAN1_TX_IRQHandler
.thumb_set CAN1_TX_IRQHandler,Default_Handler
.weak CAN1_RX0_IRQHandler
.thumb_set CAN1_RX0_IRQHandler,Default_Handler
.weak CAN1_RX1_IRQHandler
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
.weak CAN1_SCE_IRQHandler
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_TIM9_IRQHandler
.thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
.weak TIM1_UP_TIM10_IRQHandler
.thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_TIM11_IRQHandler
.thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTC_Alarm_IRQHandler
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
.weak OTG_FS_WKUP_IRQHandler
.thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
.weak TIM8_BRK_TIM12_IRQHandler
.thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
.weak TIM8_UP_TIM13_IRQHandler
.thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
.weak TIM8_TRG_COM_TIM14_IRQHandler
.thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
.weak TIM8_CC_IRQHandler
.thumb_set TIM8_CC_IRQHandler,Default_Handler
.weak DMA1_Stream7_IRQHandler
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
.weak FSMC_IRQHandler
.thumb_set FSMC_IRQHandler,Default_Handler
.weak SDIO_IRQHandler
.thumb_set SDIO_IRQHandler,Default_Handler
.weak TIM5_IRQHandler
.thumb_set TIM5_IRQHandler,Default_Handler
.weak SPI3_IRQHandler
.thumb_set SPI3_IRQHandler,Default_Handler
.weak UART4_IRQHandler
.thumb_set UART4_IRQHandler,Default_Handler
.weak UART5_IRQHandler
.thumb_set UART5_IRQHandler,Default_Handler
.weak TIM6_DAC_IRQHandler
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
.weak TIM7_IRQHandler
.thumb_set TIM7_IRQHandler,Default_Handler
.weak DMA2_Stream0_IRQHandler
.thumb_set DMA2_Stream0_IRQHandler,Default_Handler
.weak DMA2_Stream1_IRQHandler
.thumb_set DMA2_Stream1_IRQHandler,Default_Handler
.weak DMA2_Stream2_IRQHandler
.thumb_set DMA2_Stream2_IRQHandler,Default_Handler
.weak DMA2_Stream3_IRQHandler
.thumb_set DMA2_Stream3_IRQHandler,Default_Handler
.weak DMA2_Stream4_IRQHandler
.thumb_set DMA2_Stream4_IRQHandler,Default_Handler
.weak ETH_IRQHandler
.thumb_set ETH_IRQHandler,Default_Handler
.weak ETH_WKUP_IRQHandler
.thumb_set ETH_WKUP_IRQHandler,Default_Handler
.weak CAN2_TX_IRQHandler
.thumb_set CAN2_TX_IRQHandler,Default_Handler
.weak CAN2_RX0_IRQHandler
.thumb_set CAN2_RX0_IRQHandler,Default_Handler
.weak CAN2_RX1_IRQHandler
.thumb_set CAN2_RX1_IRQHandler,Default_Handler
.weak CAN2_SCE_IRQHandler
.thumb_set CAN2_SCE_IRQHandler,Default_Handler
.weak OTG_FS_IRQHandler
.thumb_set OTG_FS_IRQHandler,Default_Handler
.weak DMA2_Stream5_IRQHandler
.thumb_set DMA2_Stream5_IRQHandler,Default_Handler
.weak DMA2_Stream6_IRQHandler
.thumb_set DMA2_Stream6_IRQHandler,Default_Handler
.weak DMA2_Stream7_IRQHandler
.thumb_set DMA2_Stream7_IRQHandler,Default_Handler
.weak USART6_IRQHandler
.thumb_set USART6_IRQHandler,Default_Handler
.weak I2C3_EV_IRQHandler
.thumb_set I2C3_EV_IRQHandler,Default_Handler
.weak I2C3_ER_IRQHandler
.thumb_set I2C3_ER_IRQHandler,Default_Handler
.weak OTG_HS_EP1_OUT_IRQHandler
.thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
.weak OTG_HS_EP1_IN_IRQHandler
.thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
.weak OTG_HS_WKUP_IRQHandler
.thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
.weak OTG_HS_IRQHandler
.thumb_set OTG_HS_IRQHandler,Default_Handler
.weak DCMI_IRQHandler
.thumb_set DCMI_IRQHandler,Default_Handler
.weak HASH_RNG_IRQHandler
.thumb_set HASH_RNG_IRQHandler,Default_Handler
.weak FPU_IRQHandler
.thumb_set FPU_IRQHandler,Default_Handler