xm/god-yuan-hero
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This commit is contained in:
yxming66 2025-11-10 20:43:18 +08:00
parent 206ca6f6bd
commit 2978659f20
119 changed files with 115597 additions and 24603 deletions
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10
.mxproject
View File

@ -6,6 +6,11 @@ SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core
HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Middlewares\Third_Party\FreeRTOS\Source\include;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc;
CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
[PreviousUsedCMakes]
SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\dma.c;Core\Src\i2c.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;
HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc;
CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
[PreviousGenFiles]
AdvancedFolderStructure=true
HeaderFileListSize=11
@ -39,8 +44,3 @@ SourceFolderListSize=1
SourcePath#0=..\Core\Src
SourceFiles=;
[PreviousUsedCMakes]
SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\dma.c;Core\Src\i2c.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;
HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc;
CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER;

3
CMakeLists.txt
View File

@ -64,7 +64,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/component/user_math.c
# User/device sources
User/device/AT9S_Pro.c
User/device/dr16.c
User/device/at9s_pro.c
User/device/bmi088.c
User/device/motor.c
User/device/motor_dm.c

112477
MDK-ARM/JLinkLog.txt
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File diff suppressed because it is too large Load Diff

375
MDK-ARM/hero.uvguix.yxm23
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File diff suppressed because one or more lines are too long

165
MDK-ARM/hero.uvoptx
View File

@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>4</nTsel>
<nTsel>6</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -114,13 +114,13 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>Segger\JL2CM3.dll</pMon>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>d</Name>
<Name>(105=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -153,7 +153,88 @@
<Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -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>577</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134235006</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\module\cmd.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\hero\../User/module/cmd.c\577</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>585</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134234566</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\module\cmd.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\hero\../User/module/cmd.c\585</Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>592</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134234680</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\module\cmd.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\hero\../User/module/cmd.c\592</Expression>
</Bp>
<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>594</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134234724</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\module\cmd.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\hero\../User/module/cmd.c\594</Expression>
</Bp>
<Bp>
<Number>4</Number>
<Type>0</Type>
<LineNumber>597</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134234756</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\User\module\cmd.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\hero\../User/module/cmd.c\597</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
@ -223,54 +304,34 @@
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>speed</ItemText>
<ItemText>cmd</ItemText>
</Ww>
</WatchWindow1>
<WatchWindow2>
<Ww>
<count>0</count>
<WinNumber>2</WinNumber>
<ItemText>cmd_for_shoot</ItemText>
<ItemText>chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>2</WinNumber>
<ItemText>cmd_for_gimbal</ItemText>
<ItemText>chassis_cmd</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>2</WinNumber>
<ItemText>motor1to4_param,0x0A</ItemText>
<ItemText>cmd</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>2</WinNumber>
<ItemText>motor1to4_measure</ItemText>
<ItemText>at9s_out</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>2</WinNumber>
<ItemText>dt</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>2</WinNumber>
<ItemText>pid_wheel,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>2</WinNumber>
<ItemText>chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>2</WinNumber>
<ItemText>chassis_cmd</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>2</WinNumber>
<ItemText>cmd_for_chassis</ItemText>
<ItemText>robot_config</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint>
@ -1511,6 +1572,30 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>94</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\module\cmd.c</PathWithFileName>
<FilenameWithoutPath>cmd.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>95</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\module\cmd.h</PathWithFileName>
<FilenameWithoutPath>cmd.h</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
@ -1521,7 +1606,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>94</FileNumber>
<FileNumber>96</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1533,7 +1618,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>95</FileNumber>
<FileNumber>97</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1545,7 +1630,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>96</FileNumber>
<FileNumber>98</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1557,7 +1642,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>97</FileNumber>
<FileNumber>99</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1569,7 +1654,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>98</FileNumber>
<FileNumber>100</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1581,7 +1666,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>99</FileNumber>
<FileNumber>101</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1593,7 +1678,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>100</FileNumber>
<FileNumber>102</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1605,7 +1690,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>101</FileNumber>
<FileNumber>103</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1617,7 +1702,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>102</FileNumber>
<FileNumber>104</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1629,7 +1714,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>103</FileNumber>
<FileNumber>105</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>

10
MDK-ARM/hero.uvprojx
View File

@ -888,6 +888,16 @@
<FileType>5</FileType>
<FilePath>..\User\module\chassis.h</FilePath>
</File>
<File>
<FileName>cmd.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\module\cmd.c</FilePath>
</File>
<File>
<FileName>cmd.h</FileName>
<FileType>5</FileType>
<FilePath>..\User\module\cmd.h</FilePath>
</File>
</Files>
</Group>
<Group>

BIN
MDK-ARM/hero/ahrs.o
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MDK-ARM/hero/at9s_pro.o
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MDK-ARM/hero/at9s_pro_cmd.o
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5
MDK-ARM/hero/atti_esti.d
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@ -54,6 +54,7 @@ hero/atti_esti.o: ..\User\task\atti_esti.c ..\User\task\user_task.h \
..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\module\chassis.h ..\Core\Inc\main.h \
..\User\component\at9s_pro_cmd.h ..\User\device\at9s_pro.h \
..\User\device\motor_rm.h ..\User\module\chassis.h \
..\User\component\filter.h ..\User\component\mixer.h \
..\User\component\pid.h ..\User\component\ahrs.h \
..\User\device\bmi088.h

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MDK-ARM/hero/atti_esti.o
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MDK-ARM/hero/blink.o
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MDK-ARM/hero/bmi088.o
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MDK-ARM/hero/can.o
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32
MDK-ARM/hero/chassis.d
View File

@ -1,19 +1,22 @@
hero/chassis.o: ..\User\module\chassis.c ..\User\module\chassis.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
hero/chassis.o: ..\User\module\chassis.c \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h ..\User\bsp\mm.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
@ -33,17 +36,7 @@ hero/chassis.o: ..\User\module\chassis.c ..\User\module\chassis.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\component\at9s_pro_cmd.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\device\at9s_pro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
..\Core\Inc\can.h ..\Core\Inc\main.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\device\motor_rm.h \
..\User\device\motor.h ..\User\bsp\can.h ..\User\bsp\bsp.h \
..\User\bsp\mm.h \
..\User\bsp\bsp.h D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
@ -55,4 +48,11 @@ hero/chassis.o: ..\User\module\chassis.c ..\User\module\chassis.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\bsp\time.h
..\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 \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\device.h ..\User\module\chassis.h \
..\User\component\filter.h ..\User\component\mixer.h \
..\User\component\pid.h ..\User\component\filter.h \
..\User\component\ahrs.h

BIN
MDK-ARM/hero/chassis.o
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46
MDK-ARM/hero/cmd.d
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@ -1,23 +1,8 @@
hero/cmd.o: ..\User\task\cmd.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
hero/cmd.o: ..\User\module\cmd.c ..\User\module\cmd.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\device\at9s_pro.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\device\device.h ..\User\module\config.h \
..\User\component\pid.h ..\User\component\filter.h \
..\User\device\motor.h ..\User\device\motor_rm.h ..\User\bsp\can.h \
..\User\module\chassis.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h ..\User\bsp\can.h \
..\Core\Inc\can.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
@ -52,8 +37,25 @@ hero/cmd.o: ..\User\task\cmd.c ..\User\task\user_task.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\device\motor_dm.h \
..\User\module\chassis.h ..\User\component\at9s_pro_cmd.h
..\User\component\filter.h ..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
..\User\component\mixer.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\component\ahrs.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\device.h ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\component\pid.h \
..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
..\User\device\at9s_pro.h ..\User\bsp\time.h

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61
MDK-ARM/hero/cmd_1.d Normal file
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@ -0,0 +1,61 @@
hero/cmd_1.o: ..\User\task\cmd.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\device\at9s_pro.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\device\device.h ..\User\module\config.h \
..\User\component\pid.h ..\User\component\filter.h \
..\User\device\motor.h ..\User\device\motor_rm.h ..\User\bsp\can.h \
..\Core\Inc\can.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\device\motor_dm.h \
..\User\module\chassis.h ..\User\component\filter.h \
..\User\component\mixer.h ..\User\component\pid.h \
..\User\component\ahrs.h ..\User\module\cmd.h

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7
MDK-ARM/hero/config.d
View File

@ -54,6 +54,7 @@ hero/config.o: ..\User\module\config.c ..\User\module\config.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\device\motor_dm.h \
..\User\module\chassis.h ..\User\component\at9s_pro_cmd.h \
..\User\device\at9s_pro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h
..\User\module\chassis.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\filter.h ..\User\component\mixer.h \
..\User\component\pid.h ..\User\component\ahrs.h ..\User\module\cmd.h

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20
MDK-ARM/hero/ctrl_chassis.d
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@ -11,8 +11,8 @@ hero/ctrl_chassis.o: ..\User\task\ctrl_chassis.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 \
..\Core\Inc\can.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\User\module\chassis.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@ -44,9 +44,17 @@ hero/ctrl_chassis.o: ..\User\task\ctrl_chassis.c ..\User\task\user_task.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\module\chassis.h ..\Core\Inc\main.h \
..\User\component\at9s_pro_cmd.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\device\at9s_pro.h ..\User\component\user_math.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\filter.h ..\User\component\user_math.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h
D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
..\User\component\mixer.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\component\ahrs.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\device.h ..\User\module\config.h \
..\User\component\pid.h ..\User\module\shoot.h ..\Core\Inc\main.h \
..\User\module\gimbal.h ..\User\component\ahrs.h \
..\User\device\motor_dm.h ..\User\module\cmd.h

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MDK-ARM/hero/ctrl_gimbal.d
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@ -55,4 +55,5 @@ hero/ctrl_gimbal.o: ..\User\task\ctrl_gimbal.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\module\config.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
..\User\component\at9s_pro_cmd.h ..\User\device\at9s_pro.h
..\User\component\filter.h ..\User\component\mixer.h \
..\User\component\pid.h ..\User\component\ahrs.h ..\User\module\cmd.h

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MDK-ARM/hero/ctrl_shoot.d
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@ -57,4 +57,6 @@ hero/ctrl_shoot.o: ..\User\task\ctrl_shoot.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\module\config.h ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\device\motor_dm.h \
..\User\module\chassis.h
..\User\module\chassis.h ..\User\component\filter.h \
..\User\component\mixer.h ..\User\component\pid.h \
..\User\component\ahrs.h ..\User\module\cmd.h

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14
MDK-ARM/hero/hero.build_log.htm
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@ -17,12 +17,12 @@ Library Manager: ArmAr.exe V6.16
Hex Converter: FromElf.exe V6.16
CPU DLL: SARMCM3.DLL V5.34.0.0
Dialog DLL: DCM.DLL V1.17.3.0
Target DLL: Segger\JL2CM3.dll V2.99.38.0
Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.0.8.0
Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\CUBEMX\hero\MDK-ARM\hero.uvprojx
Project File Date: 10/14/2025
D:\CUBEMX\hero\god-yuan-hero\MDK-ARM\hero.uvprojx
Project File Date: 11/07/2025
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
@ -30,10 +30,10 @@ Build target 'hero'
Note: source file '..\User\bsp\can.c' - object file renamed from 'hero\can.o' to 'hero\can_1.o'.
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'hero\gpio.o' to 'hero\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'hero\spi.o' to 'hero\spi_1.o'.
compiling blink.c...
compiling chassis.c...
Note: source file '..\User\task\cmd.c' - object file renamed from 'hero\cmd.o' to 'hero\cmd_1.o'.
compiling cmd.c...
linking...
Program Size: Code=89872 RO-data=1200 RW-data=624 ZI-data=42304
Program Size: Code=91640 RO-data=1216 RW-data=880 ZI-data=43712
FromELF: creating hex file...
"hero\hero.axf" - 0 Error(s), 0 Warning(s).
@ -59,7 +59,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:01
Build Time Elapsed: 00:00:04
</pre>
</body>
</html>

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MDK-ARM/hero/hero.lnp
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@ -66,6 +66,7 @@
"hero\gimbal.o"
"hero\shoot.o"
"hero\chassis.o"
"hero\cmd.o"
"hero\atti_esti.o"
"hero\init.o"
"hero\rc.o"
@ -74,7 +75,7 @@
"hero\ctrl_chassis.o"
"hero\ctrl_gimbal.o"
"hero\ctrl_shoot.o"
"hero\cmd.o"
"hero\cmd_1.o"
--strict --scatter "hero\hero.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers

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MDK-ARM/hero/hero_sct.Bak Normal file
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@ -0,0 +1,19 @@
; *************************************************************
; *** Scatter-Loading Description File generated by uVision ***
; *************************************************************
LR_IROM1 0x08000000 0x00100000 { ; load region size_region
ER_IROM1 0x08000000 0x00100000 { ; load address = execution address
*.o (RESET, +First)
*(InRoot$$Sections)
.ANY (+RO)
.ANY (+XO)
}
RW_IRAM1 0x20000000 0x0001C000 { ; RW data
.ANY (+RW +ZI)
}
RW_IRAM2 0x2001C000 0x00004000 {
.ANY (+RW +ZI)
}
}

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MDK-ARM/hero/init.d
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@ -56,4 +56,6 @@ hero/init.o: ..\User\task\init.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
..\User\module\chassis.h
..\User\module\chassis.h ..\User\component\filter.h \
..\User\component\mixer.h ..\User\component\pid.h \
..\User\component\ahrs.h

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MDK-ARM/hero/shoot.d
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@ -1,6 +1,7 @@
hero/shoot.o: ..\User\module\shoot.c \
D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\module\shoot.h ..\Core\Inc\main.h \
..\User\module\shoot.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.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 \
@ -15,7 +16,6 @@ hero/shoot.o: ..\User\module\shoot.c \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \

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User/device/device.h
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@ -22,10 +22,11 @@ extern "C" {
#define DEVICE_ERR_NO_DEV (-4)
/* AUTO GENERATED SIGNALS BEGIN */
#define SIGNAL_BMI088_ACCL_RAW_REDY (1u << 0)
#define SIGNAL_BMI088_GYRO_RAW_REDY (1u << 1)
#define SIGNAL_BMI088_ACCL_NEW_DATA (1u << 2)
#define SIGNAL_BMI088_GYRO_NEW_DATA (1u << 3)
#define SIGNAL_DR16_RAW_REDY (1u << 0)
#define SIGNAL_BMI088_ACCL_RAW_REDY (1u << 1)
#define SIGNAL_BMI088_GYRO_RAW_REDY (1u << 2)
#define SIGNAL_BMI088_ACCL_NEW_DATA (1u << 3)
#define SIGNAL_BMI088_GYRO_NEW_DATA (1u << 4)
/* AUTO GENERATED SIGNALS END */
/* USER SIGNALS BEGIN */

4
User/device/device_config.yaml
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@ -10,6 +10,10 @@ buzzer:
BSP_PWM_BUZZER: BSP_PWM_TIM8_CH1
bsp_config: null
enabled: true
dr16:
bsp_config:
BSP_UART_DR16: BSP_UART_AT9S_PRO
enabled: true
motor:
bsp_config: {}
enabled: true

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