Merge branch 'forupdatashoot'

.mxproject

@@ -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;
-

.vscode/settings.json

@@ -14,5 +14,16 @@
         "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"
-    ]
+    ],
+    "[c]": {
+    "editor.tabSize": 2,
+    "editor.insertSpaces": true,
+    "editor.detectIndentation": false
+    },
+    "[cpp]": {
+    "editor.tabSize": 2,
+    "editor.insertSpaces": true,
+    "editor.detectIndentation": false
+    }
+
 }

CMakeLists.txt

@@ -57,14 +57,15 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
 
     # User/component sources
     User/component/ahrs.c
-    User/component/at9s_pro_cmd.c
     User/component/filter.c
     User/component/mixer.c
     User/component/pid.c
     User/component/user_math.c
+    User/component/crc16.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

MDK-ARM/hero.uvoptx

@@ -153,7 +153,104 @@
           <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>594</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134236724</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>1</Number>
+          <Type>0</Type>
+          <LineNumber>578</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>..\User\module\cmd.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+        <Bp>
+          <Number>2</Number>
+          <Type>0</Type>
+          <LineNumber>586</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>..\User\module\cmd.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+        <Bp>
+          <Number>3</Number>
+          <Type>0</Type>
+          <LineNumber>593</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>..\User\module\cmd.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+        <Bp>
+          <Number>4</Number>
+          <Type>0</Type>
+          <LineNumber>595</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>..\User\module\cmd.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+        <Bp>
+          <Number>5</Number>
+          <Type>0</Type>
+          <LineNumber>598</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>..\User\module\cmd.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -223,54 +320,39 @@
         <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>
+          <ItemText>robot_config</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>2</WinNumber>
-          <ItemText>pid_wheel,0x0A</ItemText>
+          <ItemText>\\hero\../User/task/cmd.c\cmd.input.rc.data</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>
         </Ww>
       </WatchWindow2>
       <Tracepoint>
@@ -1255,6 +1337,30 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>74</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\device\dr16.c</PathWithFileName>
+      <FilenameWithoutPath>dr16.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>75</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\device\dr16.h</PathWithFileName>
+      <FilenameWithoutPath>dr16.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -1265,7 +1371,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>74</FileNumber>
+      <FileNumber>76</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1277,7 +1383,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>75</FileNumber>
+      <FileNumber>77</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1287,30 +1393,6 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-    <File>
-      <GroupNumber>8</GroupNumber>
-      <FileNumber>76</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\component\at9s_pro_cmd.c</PathWithFileName>
-      <FilenameWithoutPath>at9s_pro_cmd.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>8</GroupNumber>
-      <FileNumber>77</FileNumber>
-      <FileType>5</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\component\at9s_pro_cmd.h</PathWithFileName>
-      <FilenameWithoutPath>at9s_pro_cmd.h</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
     <File>
       <GroupNumber>8</GroupNumber>
       <FileNumber>78</FileNumber>
@@ -1511,6 +1593,30 @@
       <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 +1627,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>94</FileNumber>
+      <FileNumber>96</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1533,7 +1639,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>95</FileNumber>
+      <FileNumber>97</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1545,7 +1651,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>96</FileNumber>
+      <FileNumber>98</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1557,7 +1663,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>97</FileNumber>
+      <FileNumber>99</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1569,7 +1675,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>98</FileNumber>
+      <FileNumber>100</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1581,7 +1687,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>99</FileNumber>
+      <FileNumber>101</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1593,7 +1699,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>100</FileNumber>
+      <FileNumber>102</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1605,7 +1711,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>101</FileNumber>
+      <FileNumber>103</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1617,7 +1723,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>102</FileNumber>
+      <FileNumber>104</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1629,7 +1735,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>103</FileNumber>
+      <FileNumber>105</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

MDK-ARM/hero.uvprojx

@@ -778,6 +778,16 @@
               <FileType>5</FileType>
               <FilePath>..\User\device\vofa.h</FilePath>
             </File>
+            <File>
+              <FileName>dr16.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\device\dr16.c</FilePath>
+            </File>
+            <File>
+              <FileName>dr16.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\User\device\dr16.h</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -793,16 +803,6 @@
               <FileType>5</FileType>
               <FilePath>..\User\component\ahrs.h</FilePath>
             </File>
-            <File>
-              <FileName>at9s_pro_cmd.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\component\at9s_pro_cmd.c</FilePath>
-            </File>
-            <File>
-              <FileName>at9s_pro_cmd.h</FileName>
-              <FileType>5</FileType>
-              <FilePath>..\User\component\at9s_pro_cmd.h</FilePath>
-            </File>
             <File>
               <FileName>filter.c</FileName>
               <FileType>1</FileType>
@@ -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>

MDK-ARM/hero/atti_esti.d

@@ -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\device\motor_rm.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\device\bmi088.h

MDK-ARM/hero/chassis.d

@@ -1,19 +1,22 @@
-hero/chassis.o: ..\User\module\chassis.c ..\User\module\chassis.h \
+hero/chassis.o: ..\User\module\chassis.c \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.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 \
+  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 \
+  ..\User\bsp\bsp.h D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.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 \
   ..\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

MDK-ARM/hero/cmd.d

@@ -1,23 +1,9 @@
-hero/cmd.o: ..\User\task\cmd.c ..\User\task\user_task.h \
+hero/cmd.o: ..\User\module\cmd.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\string.h ..\User\module\cmd.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+  ..\User\module\chassis.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h ..\User\bsp\can.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 \
@@ -52,8 +38,25 @@ 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\filter.h ..\User\component\user_math.h \
-  ..\User\component\ahrs.h ..\User\device\motor_dm.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  ..\User\module\chassis.h ..\User\component\at9s_pro_cmd.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\device\vt13.h ..\User\bsp\time.h

MDK-ARM/hero/cmd_1.d

@@ -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\dr16.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\device\at9s_pro.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

MDK-ARM/hero/config.d

@@ -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\module\chassis.h \
-  ..\User\device\at9s_pro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.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

MDK-ARM/hero/ctrl_chassis.d

@@ -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 \
+  ..\User\module\chassis.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.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\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\User\component\at9s_pro_cmd.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

MDK-ARM/hero/ctrl_gimbal.d

@@ -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

MDK-ARM/hero/ctrl_shoot.d

@@ -11,11 +11,6 @@ hero/ctrl_shoot.o: ..\User\task\ctrl_shoot.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\component\at9s_pro_cmd.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.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 ..\User\device\device.h \
   ..\User\module\shoot.h ..\Core\Inc\main.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
@@ -50,11 +45,17 @@ hero/ctrl_shoot.o: ..\User\task\ctrl_shoot.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\component\pid.h ..\User\component\filter.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\User\component\user_math.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h ..\User\bsp\bsp.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
-  ..\User\bsp\mm.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.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\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

MDK-ARM/hero/dr16.d

@@ -2,14 +2,12 @@ hero/dr16.o: ..\User\device\dr16.c ..\User\device\dr16.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 \
-  ..\User\component\dr16_cmd.h \
+  ..\User\component\user_math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\component\component.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 \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\Core\Inc\usart.h ..\Core\Inc\main.h \
+  ..\User\device\device.h ..\User\bsp\uart.h ..\Core\Inc\usart.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.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 \
@@ -41,4 +39,5 @@ hero/dr16.o: ..\User\device\dr16.c ..\User\device\dr16.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h
+  ..\User\bsp\bsp.h ..\User\bsp\time.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h

MDK-ARM/hero/hero.build_log.htm

@@ -21,8 +21,8 @@ Target DLL:      Segger\JL2CM3.dll V2.99.38.0
 Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
-D:\CUBEMX\hero\MDK-ARM\hero.uvprojx
+D:\CUBEMX\hero\god-yuan-hero\MDK-ARM\hero.uvprojx
-Project File Date:  10/14/2025
+Project File Date:  11/12/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
@@ -30,12 +30,32 @@ 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...
+Note: source file '..\User\task\cmd.c' - object file renamed from 'hero\cmd.o' to 'hero\cmd_1.o'.
-compiling chassis.c...
+compiling rc.c...
-linking...
+../User/module/cmd.c(25): warning: enumeration values 'CMD_SRC_NUM' and 'CMD_SRC_ERR' not handled in switch [-Wswitch]
-Program Size: Code=89872 RO-data=1200 RW-data=624 ZI-data=42304  
+        switch (source) {
-FromELF: creating hex file...
+                ^
-"hero\hero.axf" - 0 Error(s), 0 Warning(s).
+../User/module/cmd.c(102): error: unknown type name 'DR16_DataPC_t'
+    DR16_DataPC_t dr16;
+    ^
+../User/module/cmd.c(105): error: unknown type name 'DR16_DataPC_t'
+    DR16_DataPC_t dr16;
+    ^
+../User/module/cmd.c(121): error: no member named 'dr16' in 'union rc_inputdata_u'
+    pc_data_buffer.dr16= rc_buffer.dr16.data.pc;
+                         ~~~~~~~~~ ^
+../User/module/cmd.c(122): error: no member named 'dr16' in 'union rc_inputdata_u'
+    rc->online = rc->data->dr16.header.online;                    
+                 ~~~~~~~~  ^
+../User/module/cmd.c(131): error: no member named 'dr16' in 'union rc_inputdata_u'
+    pc->online=rc_buffer.dr16.header.online;
+               ~~~~~~~~~ ^
+../User/module/cmd.c(259): error: no member named 'online' in 'AT9S_t'
+        c->output.shoot.cmd.online = at9s_out.online;
+                                     ~~~~~~~~ ^
+1 warning and 6 errors generated.
+compiling cmd.c...
+"hero\hero.axf" - 6 Error(s), 1 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -59,7 +79,8 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:01
+Target not created.
+Build Time Elapsed:  00:00:03
 </pre>
 </body>
 </html>

MDK-ARM/hero/hero.lnp

@@ -56,8 +56,8 @@
 "hero\motor_dm.o"
 "hero\motor_rm.o"
 "hero\vofa.o"
+"hero\dr16.o"
 "hero\ahrs.o"
-"hero\at9s_pro_cmd.o"
 "hero\filter.o"
 "hero\pid.o"
 "hero\user_math.o"
@@ -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

MDK-ARM/hero/hero_sct.Bak

@@ -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)
+  }
+}
+

MDK-ARM/hero/init.d

@@ -11,11 +11,11 @@ hero/init.o: ..\User\task\init.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\device\at9s_pro.h ..\User\component\user_math.h \
+  ..\User\device\dr16.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\component\at9s_pro_cmd.h \
+  ..\User\device\device.h ..\User\device\at9s_pro.h \
   ..\User\module\gimbal.h ..\User\component\ahrs.h \
   ..\User\component\filter.h ..\User\component\pid.h \
   ..\User\device\motor.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
@@ -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

MDK-ARM/hero/rc.d

@@ -15,4 +15,4 @@ hero/rc.o: ..\User\task\rc.c ..\User\task\user_task.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\component\at9s_pro_cmd.h
+  ..\User\device\device.h

MDK-ARM/hero/shoot.d

@@ -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 \
@@ -35,11 +35,11 @@ hero/shoot.o: ..\User\module\shoot.c \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   ..\User\component\pid.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 \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
   ..\User\device\device.h ..\User\bsp\can.h ..\Core\Inc\can.h \
   ..\Core\Inc\main.h ..\User\bsp\bsp.h ..\User\bsp\mm.h \