diff --git a/MDK-ARM/hero_DM02/ahrs.d b/MDK-ARM/hero_DM02/ahrs.d
index 014b563..6cab2d2 100644
--- a/MDK-ARM/hero_DM02/ahrs.d
+++ b/MDK-ARM/hero_DM02/ahrs.d
@@ -1,2 +1,8 @@
hero_dm02/ahrs.o: ..\User\component\ahrs\ahrs.c \
- ..\User\component\ahrs\ahrs.h ..\User\component\user_math.h
+ ..\User\component\ahrs\ahrs.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/ahrs.o b/MDK-ARM/hero_DM02/ahrs.o
index c2b7a86..4a1d68b 100644
Binary files a/MDK-ARM/hero_DM02/ahrs.o and b/MDK-ARM/hero_DM02/ahrs.o differ
diff --git a/MDK-ARM/hero_DM02/ai.d b/MDK-ARM/hero_DM02/ai.d
new file mode 100644
index 0000000..80a1569
--- /dev/null
+++ b/MDK-ARM/hero_DM02/ai.d
@@ -0,0 +1,72 @@
+hero_dm02/ai.o: ..\User\task\ai.c ..\User\task\user_task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\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\GCC\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\module\aimbot.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\module\gimbal.h ..\User\component\ahrs\ahrs.h \
+ ..\User\component\user_math.h ..\User\component\filter\filter.h \
+ ..\User\component\pid.h ..\User\device\motor.h ..\User\device\device.h \
+ ..\User\device\motor_dm.h ..\User\bsp\fdcan.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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\device\motor_rm.h ..\User\module\config.h \
+ ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
+ ..\User\component\mixer.h ..\User\module\track.h \
+ ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+ ..\User\module\cmd\cmd_feature.h ..\User\device\referee_proto_types.h \
+ ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+ ..\User\module\vision_bridge.h ..\User\bsp\fdcan.h \
+ ..\User\module\cmd\cmd_behavior.h ..\User\component\PowerControl.h \
+ ..\User\device\gimbal_imu.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/ai.o b/MDK-ARM/hero_DM02/ai.o
new file mode 100644
index 0000000..18a552f
Binary files /dev/null and b/MDK-ARM/hero_DM02/ai.o differ
diff --git a/MDK-ARM/hero_DM02/aimbot.d b/MDK-ARM/hero_DM02/aimbot.d
new file mode 100644
index 0000000..38f816c
--- /dev/null
+++ b/MDK-ARM/hero_DM02/aimbot.d
@@ -0,0 +1,64 @@
+hero_dm02/aimbot.o: ..\User\module\aimbot.c ..\User\module\aimbot.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\module\gimbal.h ..\User\component\ahrs\ahrs.h \
+ ..\User\component\user_math.h ..\User\component\filter\filter.h \
+ ..\User\component\pid.h ..\User\device\motor.h ..\User\device\device.h \
+ ..\User\device\motor_dm.h ..\User\bsp\fdcan.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 \
+ ..\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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\device\motor_rm.h ..\User\bsp\uart.h ..\Core\Inc\usart.h \
+ ..\User\component\crc16.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/aimbot.o b/MDK-ARM/hero_DM02/aimbot.o
new file mode 100644
index 0000000..f17223d
Binary files /dev/null and b/MDK-ARM/hero_DM02/aimbot.o differ
diff --git a/MDK-ARM/hero_DM02/at9s_pro.d b/MDK-ARM/hero_DM02/at9s_pro.d
index c5fd27b..4b41822 100644
--- a/MDK-ARM/hero_DM02/at9s_pro.d
+++ b/MDK-ARM/hero_DM02/at9s_pro.d
@@ -1,7 +1,14 @@
hero_dm02/at9s_pro.o: ..\User\device\AT9S_Pro.c ..\User\device\AT9S_Pro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
- ..\User\component\user_math.h ..\User\device\device.h \
- ..\User\bsp\uart.h ..\Core\Inc\usart.h ..\Core\Inc\main.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\device\device.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \
+ ..\Core\Inc\usart.h ..\Core\Inc\main.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
..\Core\Inc\stm32h7xx_hal_conf.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
@@ -9,6 +16,12 @@ hero_dm02/at9s_pro.o: ..\User\device\AT9S_Pro.c ..\User\device\AT9S_Pro.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
@@ -33,4 +46,4 @@ hero_dm02/at9s_pro.o: ..\User\device\AT9S_Pro.c ..\User\device\AT9S_Pro.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
- ..\User\bsp\bsp.h
+ ..\User\bsp\bsp.h ..\User\device\device.h
diff --git a/MDK-ARM/hero_DM02/at9s_pro.o b/MDK-ARM/hero_DM02/at9s_pro.o
index 42e139a..9e6eb3e 100644
Binary files a/MDK-ARM/hero_DM02/at9s_pro.o and b/MDK-ARM/hero_DM02/at9s_pro.o differ
diff --git a/MDK-ARM/hero_DM02/atti_esti.d b/MDK-ARM/hero_DM02/atti_esti.d
new file mode 100644
index 0000000..fce1ec8
--- /dev/null
+++ b/MDK-ARM/hero_DM02/atti_esti.d
@@ -0,0 +1,72 @@
+hero_dm02/atti_esti.o: ..\User\task\atti_esti.c ..\User\task\user_task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\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\GCC\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 \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\fdcan.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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\bsp\pwm.h ..\Core\Inc\tim.h ..\User\bsp\gpio.h \
+ ..\User\component\ahrs\ahrs.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h ..\User\component\pid.h \
+ ..\User\component\filter\filter.h ..\User\module\gimbal.h \
+ ..\User\device\motor.h ..\User\device\device.h \
+ ..\User\device\motor_dm.h ..\User\device\motor_rm.h \
+ ..\User\module\chassis.h ..\User\component\mixer.h \
+ ..\User\device\bmi088.h ..\User\device\dm_imu.h \
+ ..\User\module\config.h ..\User\module\shoot.h ..\Core\Inc\main.h \
+ ..\User\module\track.h ..\User\module\cmd\cmd.h \
+ ..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_feature.h \
+ ..\User\device\referee_proto_types.h ..\User\module\cmd\cmd_adapter.h \
+ ..\User\device\dr16.h ..\User\module\vision_bridge.h \
+ ..\User\component\user_math.h ..\User\bsp\fdcan.h \
+ ..\User\module\cmd\cmd_behavior.h ..\User\component\PowerControl.h \
+ ..\User\device\gimbal_imu.h ..\User\module\aimbot.h
diff --git a/MDK-ARM/hero_DM02/atti_esti.o b/MDK-ARM/hero_DM02/atti_esti.o
new file mode 100644
index 0000000..7036292
Binary files /dev/null and b/MDK-ARM/hero_DM02/atti_esti.o differ
diff --git a/MDK-ARM/hero_DM02/blink.d b/MDK-ARM/hero_DM02/blink.d
new file mode 100644
index 0000000..2eb01c0
--- /dev/null
+++ b/MDK-ARM/hero_DM02/blink.d
@@ -0,0 +1,54 @@
+hero_dm02/blink.o: ..\User\task\blink.c ..\User\task\user_task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\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\GCC\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\bsp\pwm.h ..\Core\Inc\tim.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\bsp\bsp.h ..\User\device\buzzer.h ..\User\device\device.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h
diff --git a/MDK-ARM/hero_DM02/blink.o b/MDK-ARM/hero_DM02/blink.o
new file mode 100644
index 0000000..10122cc
Binary files /dev/null and b/MDK-ARM/hero_DM02/blink.o differ
diff --git a/MDK-ARM/hero_DM02/bmi088.d b/MDK-ARM/hero_DM02/bmi088.d
index 490965c..c6def93 100644
--- a/MDK-ARM/hero_DM02/bmi088.d
+++ b/MDK-ARM/hero_DM02/bmi088.d
@@ -1,5 +1,10 @@
hero_dm02/bmi088.o: ..\User\device\bmi088.c ..\User\device\bmi088.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
..\User\component\ahrs\ahrs.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\User\device\device.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\Core\Inc\gpio.h ..\Core\Inc\main.h \
@@ -10,6 +15,12 @@ hero_dm02/bmi088.o: ..\User\device\bmi088.c ..\User\device\bmi088.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
@@ -34,5 +45,6 @@ hero_dm02/bmi088.o: ..\User\device\bmi088.c ..\User\device\bmi088.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
- ..\User\bsp\time.h ..\User\bsp\bsp.h ..\User\bsp\gpio.h \
- ..\User\bsp\spi.h ..\Core\Inc\spi.h
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\time.h \
+ ..\User\bsp\bsp.h ..\User\bsp\gpio.h ..\User\bsp\spi.h \
+ ..\Core\Inc\spi.h
diff --git a/MDK-ARM/hero_DM02/bmi088.o b/MDK-ARM/hero_DM02/bmi088.o
index d5e27cc..3ec038d 100644
Binary files a/MDK-ARM/hero_DM02/bmi088.o and b/MDK-ARM/hero_DM02/bmi088.o differ
diff --git a/MDK-ARM/hero_DM02/buzzer.d b/MDK-ARM/hero_DM02/buzzer.d
new file mode 100644
index 0000000..99b8db7
--- /dev/null
+++ b/MDK-ARM/hero_DM02/buzzer.d
@@ -0,0 +1,44 @@
+hero_dm02/buzzer.o: ..\User\device\buzzer.c ..\User\device\buzzer.h \
+ ..\User\bsp\pwm.h C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\Core\Inc\tim.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\bsp\bsp.h ..\User\device\device.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\time.h
diff --git a/MDK-ARM/hero_DM02/buzzer.o b/MDK-ARM/hero_DM02/buzzer.o
new file mode 100644
index 0000000..ffde71f
Binary files /dev/null and b/MDK-ARM/hero_DM02/buzzer.o differ
diff --git a/MDK-ARM/hero_DM02/chassis.d b/MDK-ARM/hero_DM02/chassis.d
new file mode 100644
index 0000000..1fc4d48
--- /dev/null
+++ b/MDK-ARM/hero_DM02/chassis.d
@@ -0,0 +1,72 @@
+hero_dm02/chassis.o: ..\User\module\chassis.c \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h ..\User\bsp\mm.h \
+ ..\User\bsp\fdcan.h C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\bsp\bsp.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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\component\ahrs\ahrs.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ ..\User\device\motor_rm.h ..\User\device\motor.h \
+ ..\User\device\device.h ..\User\module\chassis.h \
+ ..\User\component\filter\filter.h ..\User\component\mixer.h \
+ ..\User\component\pid.h ..\User\component\PowerControl.h \
+ ..\Core\Inc\main.h ..\User\module\config.h ..\User\module\shoot.h \
+ ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+ ..\User\module\track.h ..\User\module\cmd\cmd.h \
+ ..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_feature.h \
+ ..\User\device\referee_proto_types.h ..\User\module\cmd\cmd_adapter.h \
+ ..\User\device\dr16.h ..\User\module\vision_bridge.h \
+ ..\User\component\user_math.h ..\User\bsp\fdcan.h \
+ ..\User\module\cmd\cmd_behavior.h ..\User\device\gimbal_imu.h \
+ ..\User\module\aimbot.h
diff --git a/MDK-ARM/hero_DM02/chassis.o b/MDK-ARM/hero_DM02/chassis.o
new file mode 100644
index 0000000..0e12b91
Binary files /dev/null and b/MDK-ARM/hero_DM02/chassis.o differ
diff --git a/MDK-ARM/hero_DM02/cmd.d b/MDK-ARM/hero_DM02/cmd.d
new file mode 100644
index 0000000..f184e79
--- /dev/null
+++ b/MDK-ARM/hero_DM02/cmd.d
@@ -0,0 +1,70 @@
+hero_dm02/cmd.o: ..\User\module\cmd\cmd.c ..\User\module\cmd\cmd.h \
+ ..\User\module\cmd\cmd_types.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\module\cmd\cmd_feature.h ..\User\device\referee_proto_types.h \
+ ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
+ ..\User\module\vision_bridge.h ..\User\component\user_math.h \
+ ..\User\bsp\fdcan.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 \
+ ..\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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
+ ..\User\bsp\fdcan.h ..\User\component\filter\filter.h \
+ ..\User\component\mixer.h ..\User\component\pid.h \
+ ..\User\component\ahrs\ahrs.h ..\User\device\motor_rm.h \
+ ..\User\device\motor.h ..\User\module\gimbal.h \
+ ..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
+ ..\User\module\track.h ..\User\bsp\time.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/cmd.o b/MDK-ARM/hero_DM02/cmd.o
new file mode 100644
index 0000000..f2731b8
Binary files /dev/null and b/MDK-ARM/hero_DM02/cmd.o differ
diff --git a/MDK-ARM/hero_DM02/cmd_1.d b/MDK-ARM/hero_DM02/cmd_1.d
new file mode 100644
index 0000000..33a8556
--- /dev/null
+++ b/MDK-ARM/hero_DM02/cmd_1.d
@@ -0,0 +1,72 @@
+hero_dm02/cmd_1.o: ..\User\task\cmd.c ..\User\task\user_task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\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\GCC\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 \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\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\filter.h ..\User\device\motor.h \
+ ..\User\device\motor_rm.h ..\User\bsp\fdcan.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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\gimbal.h \
+ ..\User\component\ahrs\ahrs.h ..\User\device\motor_dm.h \
+ ..\User\module\chassis.h ..\User\component\mixer.h \
+ ..\User\module\track.h ..\User\module\cmd\cmd.h \
+ ..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_feature.h \
+ ..\User\device\referee_proto_types.h ..\User\module\cmd\cmd_adapter.h \
+ ..\User\module\vision_bridge.h ..\User\component\user_math.h \
+ ..\User\bsp\fdcan.h ..\User\module\cmd\cmd_behavior.h \
+ ..\User\component\PowerControl.h ..\User\device\gimbal_imu.h \
+ ..\User\module\aimbot.h
diff --git a/MDK-ARM/hero_DM02/cmd_1.o b/MDK-ARM/hero_DM02/cmd_1.o
new file mode 100644
index 0000000..4f1c193
Binary files /dev/null and b/MDK-ARM/hero_DM02/cmd_1.o differ
diff --git a/MDK-ARM/hero_DM02/cmd_adapter.d b/MDK-ARM/hero_DM02/cmd_adapter.d
new file mode 100644
index 0000000..79bbe9c
--- /dev/null
+++ b/MDK-ARM/hero_DM02/cmd_adapter.d
@@ -0,0 +1,64 @@
+hero_dm02/cmd_adapter.o: ..\User\module\cmd\cmd_adapter.c \
+ ..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_types.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\module\cmd\cmd_feature.h ..\User\device\referee_proto_types.h \
+ ..\User\device\dr16.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
+ ..\User\module\vision_bridge.h ..\User\component\user_math.h \
+ ..\User\bsp\fdcan.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 \
+ ..\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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\module\cmd\cmd_adapter.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/cmd_adapter.o b/MDK-ARM/hero_DM02/cmd_adapter.o
new file mode 100644
index 0000000..02fd88b
Binary files /dev/null and b/MDK-ARM/hero_DM02/cmd_adapter.o differ
diff --git a/MDK-ARM/hero_DM02/cmd_behavior.d b/MDK-ARM/hero_DM02/cmd_behavior.d
new file mode 100644
index 0000000..b14d965
--- /dev/null
+++ b/MDK-ARM/hero_DM02/cmd_behavior.d
@@ -0,0 +1,70 @@
+hero_dm02/cmd_behavior.o: ..\User\module\cmd\cmd_behavior.c \
+ ..\User\module\cmd\cmd_behavior.h ..\User\module\cmd\cmd_types.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\module\cmd\cmd_feature.h ..\User\device\referee_proto_types.h \
+ ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_adapter.h \
+ ..\User\device\dr16.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
+ ..\User\module\vision_bridge.h ..\User\component\user_math.h \
+ ..\User\bsp\fdcan.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 \
+ ..\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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\module\chassis.h ..\User\bsp\fdcan.h \
+ ..\User\component\filter\filter.h ..\User\component\mixer.h \
+ ..\User\component\pid.h ..\User\component\ahrs\ahrs.h \
+ ..\User\device\motor_rm.h ..\User\device\motor.h \
+ ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+ ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\track.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/cmd_behavior.o b/MDK-ARM/hero_DM02/cmd_behavior.o
new file mode 100644
index 0000000..0b86f01
Binary files /dev/null and b/MDK-ARM/hero_DM02/cmd_behavior.o differ
diff --git a/MDK-ARM/hero_DM02/cmd_example.d b/MDK-ARM/hero_DM02/cmd_example.d
new file mode 100644
index 0000000..e42258e
--- /dev/null
+++ b/MDK-ARM/hero_DM02/cmd_example.d
@@ -0,0 +1,69 @@
+hero_dm02/cmd_example.o: ..\User\module\cmd\cmd_example.c \
+ ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\module\cmd\cmd_feature.h ..\User\device\referee_proto_types.h \
+ ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
+ ..\User\module\vision_bridge.h ..\User\component\user_math.h \
+ ..\User\bsp\fdcan.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 \
+ ..\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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
+ ..\User\bsp\fdcan.h ..\User\component\filter\filter.h \
+ ..\User\component\mixer.h ..\User\component\pid.h \
+ ..\User\component\ahrs\ahrs.h ..\User\device\motor_rm.h \
+ ..\User\device\motor.h ..\User\module\gimbal.h \
+ ..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
+ ..\User\module\track.h
diff --git a/MDK-ARM/hero_DM02/cmd_example.o b/MDK-ARM/hero_DM02/cmd_example.o
new file mode 100644
index 0000000..7c91ccc
Binary files /dev/null and b/MDK-ARM/hero_DM02/cmd_example.o differ
diff --git a/MDK-ARM/hero_DM02/cmsis_os2.d b/MDK-ARM/hero_DM02/cmsis_os2.d
new file mode 100644
index 0000000..6a5454d
--- /dev/null
+++ b/MDK-ARM/hero_DM02/cmsis_os2.d
@@ -0,0 +1,61 @@
+hero_dm02/cmsis_os2.o: \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.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\GCC\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\include\event_groups.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\queue.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h
diff --git a/MDK-ARM/hero_DM02/cmsis_os2.o b/MDK-ARM/hero_DM02/cmsis_os2.o
new file mode 100644
index 0000000..388a98a
Binary files /dev/null and b/MDK-ARM/hero_DM02/cmsis_os2.o differ
diff --git a/MDK-ARM/hero_DM02/config.d b/MDK-ARM/hero_DM02/config.d
new file mode 100644
index 0000000..4cd6b96
--- /dev/null
+++ b/MDK-ARM/hero_DM02/config.d
@@ -0,0 +1,71 @@
+hero_dm02/config.o: ..\User\module\config.c ..\User\module\config.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\User\component\pid.h ..\User\component\filter\filter.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h ..\User\device\motor.h \
+ ..\User\device\device.h ..\User\device\motor_rm.h ..\User\bsp\fdcan.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 \
+ ..\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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\gimbal.h \
+ ..\User\component\ahrs\ahrs.h ..\User\device\motor_dm.h \
+ ..\User\module\chassis.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ ..\User\component\mixer.h ..\User\module\track.h \
+ ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+ ..\User\module\cmd\cmd_feature.h ..\User\device\referee_proto_types.h \
+ ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+ ..\User\module\vision_bridge.h ..\User\component\user_math.h \
+ ..\User\bsp\fdcan.h ..\User\module\cmd\cmd_behavior.h \
+ ..\User\component\PowerControl.h ..\User\device\gimbal_imu.h \
+ ..\User\module\aimbot.h
diff --git a/MDK-ARM/hero_DM02/config.o b/MDK-ARM/hero_DM02/config.o
new file mode 100644
index 0000000..7709bec
Binary files /dev/null and b/MDK-ARM/hero_DM02/config.o differ
diff --git a/MDK-ARM/hero_DM02/crc16.d b/MDK-ARM/hero_DM02/crc16.d
index 581408b..6611803 100644
--- a/MDK-ARM/hero_DM02/crc16.d
+++ b/MDK-ARM/hero_DM02/crc16.d
@@ -1,2 +1,7 @@
hero_dm02/crc16.o: ..\User\component\crc16.c ..\User\component\crc16.h \
- ..\User\component\user_math.h
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h
diff --git a/MDK-ARM/hero_DM02/crc16.o b/MDK-ARM/hero_DM02/crc16.o
index 34f45a7..9934822 100644
Binary files a/MDK-ARM/hero_DM02/crc16.o and b/MDK-ARM/hero_DM02/crc16.o differ
diff --git a/MDK-ARM/hero_DM02/crc8.d b/MDK-ARM/hero_DM02/crc8.d
new file mode 100644
index 0000000..98ac031
--- /dev/null
+++ b/MDK-ARM/hero_DM02/crc8.d
@@ -0,0 +1,4 @@
+hero_dm02/crc8.o: ..\User\component\crc8.c ..\User\component\crc8.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h
diff --git a/MDK-ARM/hero_DM02/crc8.o b/MDK-ARM/hero_DM02/crc8.o
new file mode 100644
index 0000000..73e8004
Binary files /dev/null and b/MDK-ARM/hero_DM02/crc8.o differ
diff --git a/MDK-ARM/hero_DM02/croutine.d b/MDK-ARM/hero_DM02/croutine.d
new file mode 100644
index 0000000..378008f
--- /dev/null
+++ b/MDK-ARM/hero_DM02/croutine.d
@@ -0,0 +1,14 @@
+hero_dm02/croutine.o: \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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\GCC\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\include\croutine.h
diff --git a/MDK-ARM/hero_DM02/croutine.o b/MDK-ARM/hero_DM02/croutine.o
new file mode 100644
index 0000000..737a288
Binary files /dev/null and b/MDK-ARM/hero_DM02/croutine.o differ
diff --git a/MDK-ARM/hero_DM02/ctrl_chassis.d b/MDK-ARM/hero_DM02/ctrl_chassis.d
new file mode 100644
index 0000000..f953def
--- /dev/null
+++ b/MDK-ARM/hero_DM02/ctrl_chassis.d
@@ -0,0 +1,72 @@
+hero_dm02/ctrl_chassis.o: ..\User\task\ctrl_chassis.c \
+ ..\User\task\user_task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\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\GCC\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\module\chassis.h ..\User\bsp\fdcan.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\component\filter\filter.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ ..\User\component\mixer.h ..\User\component\pid.h \
+ ..\User\component\ahrs\ahrs.h ..\User\device\motor_rm.h \
+ ..\User\device\motor.h ..\User\device\device.h ..\User\module\config.h \
+ ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\gimbal.h \
+ ..\User\device\motor_dm.h ..\User\module\track.h \
+ ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+ ..\User\module\cmd\cmd_feature.h ..\User\device\referee_proto_types.h \
+ ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+ ..\User\module\vision_bridge.h ..\User\component\user_math.h \
+ ..\User\bsp\fdcan.h ..\User\module\cmd\cmd_behavior.h \
+ ..\User\component\PowerControl.h ..\User\device\gimbal_imu.h \
+ ..\User\module\aimbot.h ..\User\device\supercap.h
diff --git a/MDK-ARM/hero_DM02/ctrl_chassis.o b/MDK-ARM/hero_DM02/ctrl_chassis.o
new file mode 100644
index 0000000..bad522d
Binary files /dev/null and b/MDK-ARM/hero_DM02/ctrl_chassis.o differ
diff --git a/MDK-ARM/hero_DM02/ctrl_gimbal.d b/MDK-ARM/hero_DM02/ctrl_gimbal.d
new file mode 100644
index 0000000..af8b21d
--- /dev/null
+++ b/MDK-ARM/hero_DM02/ctrl_gimbal.d
@@ -0,0 +1,72 @@
+hero_dm02/ctrl_gimbal.o: ..\User\task\ctrl_gimbal.c \
+ ..\User\task\user_task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\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\GCC\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\component\ahrs\ahrs.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\module\gimbal.h ..\User\component\filter\filter.h \
+ ..\User\component\pid.h ..\User\device\motor.h ..\User\device\device.h \
+ ..\User\device\motor_dm.h ..\User\bsp\fdcan.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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\device\motor_rm.h ..\User\module\config.h \
+ ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
+ ..\User\component\mixer.h ..\User\module\track.h \
+ ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+ ..\User\module\cmd\cmd_feature.h ..\User\device\referee_proto_types.h \
+ ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+ ..\User\module\vision_bridge.h ..\User\component\user_math.h \
+ ..\User\bsp\fdcan.h ..\User\module\cmd\cmd_behavior.h \
+ ..\User\component\PowerControl.h ..\User\device\gimbal_imu.h \
+ ..\User\module\aimbot.h
diff --git a/MDK-ARM/hero_DM02/ctrl_gimbal.o b/MDK-ARM/hero_DM02/ctrl_gimbal.o
new file mode 100644
index 0000000..79fe2ac
Binary files /dev/null and b/MDK-ARM/hero_DM02/ctrl_gimbal.o differ
diff --git a/MDK-ARM/hero_DM02/ctrl_shoot.d b/MDK-ARM/hero_DM02/ctrl_shoot.d
new file mode 100644
index 0000000..8e127c1
--- /dev/null
+++ b/MDK-ARM/hero_DM02/ctrl_shoot.d
@@ -0,0 +1,73 @@
+hero_dm02/ctrl_shoot.o: ..\User\task\ctrl_shoot.c \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\task\user_task.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\GCC\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\module\shoot.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\component\pid.h ..\User\component\filter\filter.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\device\motor_rm.h ..\User\device\motor.h \
+ ..\User\device\device.h ..\User\bsp\fdcan.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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h ..\User\module\config.h \
+ ..\User\module\gimbal.h ..\User\component\ahrs\ahrs.h \
+ ..\User\device\motor_dm.h ..\User\module\chassis.h \
+ ..\User\component\mixer.h ..\User\module\track.h \
+ ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+ ..\User\module\cmd\cmd_feature.h ..\User\device\referee_proto_types.h \
+ ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+ ..\User\module\vision_bridge.h ..\User\component\user_math.h \
+ ..\User\bsp\fdcan.h ..\User\module\cmd\cmd_behavior.h \
+ ..\User\component\PowerControl.h ..\User\device\gimbal_imu.h \
+ ..\User\module\aimbot.h
diff --git a/MDK-ARM/hero_DM02/ctrl_shoot.o b/MDK-ARM/hero_DM02/ctrl_shoot.o
new file mode 100644
index 0000000..faf534d
Binary files /dev/null and b/MDK-ARM/hero_DM02/ctrl_shoot.o differ
diff --git a/MDK-ARM/hero_DM02/dm_imu.d b/MDK-ARM/hero_DM02/dm_imu.d
new file mode 100644
index 0000000..0cd8e95
--- /dev/null
+++ b/MDK-ARM/hero_DM02/dm_imu.d
@@ -0,0 +1,59 @@
+hero_dm02/dm_imu.o: ..\User\device\dm_imu.c ..\User\device\dm_imu.h \
+ ..\User\device\device.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\User\component\ahrs\ahrs.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h ..\User\bsp\fdcan.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 \
+ ..\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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\bsp\time.h C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/dm_imu.o b/MDK-ARM/hero_DM02/dm_imu.o
new file mode 100644
index 0000000..5c01b35
Binary files /dev/null and b/MDK-ARM/hero_DM02/dm_imu.o differ
diff --git a/MDK-ARM/hero_DM02/dma.d b/MDK-ARM/hero_DM02/dma.d
index ff73f19..46643bc 100644
--- a/MDK-ARM/hero_DM02/dma.d
+++ b/MDK-ARM/hero_DM02/dma.d
@@ -6,8 +6,17 @@ hero_dm02/dma.o: ..\Core\Src\dma.c ..\Core\Inc\dma.h ..\Core\Inc\main.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
..\Drivers\CMSIS\Include\core_cm7.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
diff --git a/MDK-ARM/hero_DM02/dma.o b/MDK-ARM/hero_DM02/dma.o
index 6c41b67..e33fc76 100644
Binary files a/MDK-ARM/hero_DM02/dma.o and b/MDK-ARM/hero_DM02/dma.o differ
diff --git a/MDK-ARM/hero_DM02/dr16.d b/MDK-ARM/hero_DM02/dr16.d
index a12b805..4b4afc3 100644
--- a/MDK-ARM/hero_DM02/dr16.d
+++ b/MDK-ARM/hero_DM02/dr16.d
@@ -1,14 +1,25 @@
hero_dm02/dr16.o: ..\User\device\dr16.c ..\User\device\dr16.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
- ..\User\component\user_math.h ..\User\device\device.h \
- ..\User\bsp\uart.h ..\Core\Inc\usart.h ..\Core\Inc\main.h \
- ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\User\device\device.h ..\User\bsp\uart.h ..\Core\Inc\usart.h \
+ ..\Core\Inc\main.h ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
..\Core\Inc\stm32h7xx_hal_conf.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
@@ -33,4 +44,5 @@ hero_dm02/dr16.o: ..\User\device\dr16.c ..\User\device\dr16.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
- ..\User\bsp\bsp.h ..\User\bsp\time.h
+ ..\User\bsp\bsp.h ..\User\bsp\time.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/dr16.o b/MDK-ARM/hero_DM02/dr16.o
index 8dc1514..8eb1123 100644
Binary files a/MDK-ARM/hero_DM02/dr16.o and b/MDK-ARM/hero_DM02/dr16.o differ
diff --git a/MDK-ARM/hero_DM02/dwt.d b/MDK-ARM/hero_DM02/dwt.d
new file mode 100644
index 0000000..df0f6ae
--- /dev/null
+++ b/MDK-ARM/hero_DM02/dwt.d
@@ -0,0 +1,41 @@
+hero_dm02/dwt.o: ..\User\bsp\dwt.c ..\User\bsp\dwt.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h
diff --git a/MDK-ARM/hero_DM02/dwt.o b/MDK-ARM/hero_DM02/dwt.o
new file mode 100644
index 0000000..9375020
Binary files /dev/null and b/MDK-ARM/hero_DM02/dwt.o differ
diff --git a/MDK-ARM/hero_DM02/event_groups.d b/MDK-ARM/hero_DM02/event_groups.d
new file mode 100644
index 0000000..53a062b
--- /dev/null
+++ b/MDK-ARM/hero_DM02/event_groups.d
@@ -0,0 +1,18 @@
+hero_dm02/event_groups.o: \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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\GCC\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\include\timers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h
diff --git a/MDK-ARM/hero_DM02/event_groups.o b/MDK-ARM/hero_DM02/event_groups.o
new file mode 100644
index 0000000..8d70294
Binary files /dev/null and b/MDK-ARM/hero_DM02/event_groups.o differ
diff --git a/MDK-ARM/hero_DM02/fdcan.d b/MDK-ARM/hero_DM02/fdcan.d
index b78296f..94a500f 100644
--- a/MDK-ARM/hero_DM02/fdcan.d
+++ b/MDK-ARM/hero_DM02/fdcan.d
@@ -6,8 +6,17 @@ hero_dm02/fdcan.o: ..\Core\Src\fdcan.c ..\Core\Inc\fdcan.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
..\Drivers\CMSIS\Include\core_cm7.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
diff --git a/MDK-ARM/hero_DM02/fdcan.o b/MDK-ARM/hero_DM02/fdcan.o
index 61d3101..f3a2a91 100644
Binary files a/MDK-ARM/hero_DM02/fdcan.o and b/MDK-ARM/hero_DM02/fdcan.o differ
diff --git a/MDK-ARM/hero_DM02/fdcan_1.d b/MDK-ARM/hero_DM02/fdcan_1.d
new file mode 100644
index 0000000..5326eba
--- /dev/null
+++ b/MDK-ARM/hero_DM02/fdcan_1.d
@@ -0,0 +1,57 @@
+hero_dm02/fdcan_1.o: ..\User\bsp\fdcan.c ..\User\bsp\fdcan.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\bsp.h \
+ ..\User\bsp\mm.h C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\bsp\fdcan.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/fdcan_1.o b/MDK-ARM/hero_DM02/fdcan_1.o
new file mode 100644
index 0000000..205186c
Binary files /dev/null and b/MDK-ARM/hero_DM02/fdcan_1.o differ
diff --git a/MDK-ARM/hero_DM02/filter.d b/MDK-ARM/hero_DM02/filter.d
index effddfc..e2e32e7 100644
--- a/MDK-ARM/hero_DM02/filter.d
+++ b/MDK-ARM/hero_DM02/filter.d
@@ -1,2 +1,7 @@
hero_dm02/filter.o: ..\User\component\filter\filter.c \
- ..\User\component\filter\filter.h ..\User\component\user_math.h
+ ..\User\component\filter\filter.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h
diff --git a/MDK-ARM/hero_DM02/filter.o b/MDK-ARM/hero_DM02/filter.o
index b965a1d..e5aabd3 100644
Binary files a/MDK-ARM/hero_DM02/filter.o and b/MDK-ARM/hero_DM02/filter.o differ
diff --git a/MDK-ARM/hero_DM02/flash.d b/MDK-ARM/hero_DM02/flash.d
new file mode 100644
index 0000000..8f374cf
--- /dev/null
+++ b/MDK-ARM/hero_DM02/flash.d
@@ -0,0 +1,42 @@
+hero_dm02/flash.o: ..\User\bsp\flash.c ..\User\bsp\flash.h \
+ ..\Core\Inc\main.h ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\bsp\bsp.h C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/hero_DM02/flash.o b/MDK-ARM/hero_DM02/flash.o
new file mode 100644
index 0000000..b73237f
Binary files /dev/null and b/MDK-ARM/hero_DM02/flash.o differ
diff --git a/MDK-ARM/hero_DM02/freertos.d b/MDK-ARM/hero_DM02/freertos.d
new file mode 100644
index 0000000..d737cbf
--- /dev/null
+++ b/MDK-ARM/hero_DM02/freertos.d
@@ -0,0 +1,54 @@
+hero_dm02/freertos.o: ..\Core\Src\freertos.c \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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\GCC\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 \
+ ..\Core\Inc\main.h ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ ..\User\task\user_task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h
diff --git a/MDK-ARM/hero_DM02/freertos.o b/MDK-ARM/hero_DM02/freertos.o
new file mode 100644
index 0000000..c736a45
Binary files /dev/null and b/MDK-ARM/hero_DM02/freertos.o differ
diff --git a/MDK-ARM/hero_DM02/gimbal.d b/MDK-ARM/hero_DM02/gimbal.d
new file mode 100644
index 0000000..98956d1
--- /dev/null
+++ b/MDK-ARM/hero_DM02/gimbal.d
@@ -0,0 +1,61 @@
+hero_dm02/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
+ ..\User\component\ahrs\ahrs.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\component\filter\filter.h ..\User\component\pid.h \
+ ..\User\device\motor.h ..\User\device\device.h \
+ ..\User\device\motor_dm.h ..\User\bsp\fdcan.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 \
+ ..\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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\device\motor_rm.h ..\User\bsp\time.h
diff --git a/MDK-ARM/hero_DM02/gimbal.o b/MDK-ARM/hero_DM02/gimbal.o
new file mode 100644
index 0000000..75daadb
Binary files /dev/null and b/MDK-ARM/hero_DM02/gimbal.o differ
diff --git a/MDK-ARM/hero_DM02/gimbal_imu.d b/MDK-ARM/hero_DM02/gimbal_imu.d
new file mode 100644
index 0000000..9f3c702
--- /dev/null
+++ b/MDK-ARM/hero_DM02/gimbal_imu.d
@@ -0,0 +1,59 @@
+hero_dm02/gimbal_imu.o: ..\User\device\gimbal_imu.c \
+ ..\User\device\gimbal_imu.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h ..\User\bsp\fdcan.h \
+ ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.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\GCC\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 \
+ ..\Core\Inc\fdcan.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
+ ..\Core\Inc\stm32h7xx_hal_conf.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
+ ..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\User\component\ahrs\ahrs.h ..\User\component\user_math.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h ..\User\device\device.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\time.h
diff --git a/MDK-ARM/hero_DM02/gimbal_imu.o b/MDK-ARM/hero_DM02/gimbal_imu.o
new file mode 100644
index 0000000..36c1586
Binary files /dev/null and b/MDK-ARM/hero_DM02/gimbal_imu.o differ
diff --git a/MDK-ARM/hero_DM02/gpio.d b/MDK-ARM/hero_DM02/gpio.d
index 2df716f..fbf6fe2 100644
--- a/MDK-ARM/hero_DM02/gpio.d
+++ b/MDK-ARM/hero_DM02/gpio.d
@@ -6,8 +6,17 @@ hero_dm02/gpio.o: ..\Core\Src\gpio.c ..\Core\Inc\gpio.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
..\Drivers\CMSIS\Include\core_cm7.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
diff --git a/MDK-ARM/hero_DM02/gpio.o b/MDK-ARM/hero_DM02/gpio.o
index 3ab2c9a..afd90f7 100644
Binary files a/MDK-ARM/hero_DM02/gpio.o and b/MDK-ARM/hero_DM02/gpio.o differ
diff --git a/MDK-ARM/hero_DM02/gpio_1.d b/MDK-ARM/hero_DM02/gpio_1.d
index 378ac9e..bb7a0a8 100644
--- a/MDK-ARM/hero_DM02/gpio_1.d
+++ b/MDK-ARM/hero_DM02/gpio_1.d
@@ -1,5 +1,7 @@
hero_dm02/gpio_1.o: ..\User\bsp\gpio.c ..\User\bsp\gpio.h \
- ..\User\bsp\bsp.h ..\Core\Inc\gpio.h ..\Core\Inc\main.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\bsp.h \
+ ..\Core\Inc\gpio.h ..\Core\Inc\main.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h \
..\Core\Inc\stm32h7xx_hal_conf.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h \
@@ -7,8 +9,16 @@ hero_dm02/gpio_1.o: ..\User\bsp\gpio.c ..\User\bsp\gpio.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h723xx.h \
..\Drivers\CMSIS\Include\core_cm7.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_compat.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\arm_acle.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h \
@@ -30,4 +40,5 @@ hero_dm02/gpio_1.o: ..\User\bsp\gpio.c ..\User\bsp\gpio.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h \
..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h \
- ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h
+ ..\Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h \
+ ..\Core\Inc\main.h
diff --git a/MDK-ARM/hero_DM02/gpio_1.o b/MDK-ARM/hero_DM02/gpio_1.o
index 7a8406d..beae474 100644
Binary files a/MDK-ARM/hero_DM02/gpio_1.o and b/MDK-ARM/hero_DM02/gpio_1.o differ
diff --git a/MDK-ARM/hero_DM02/heap_4.d b/MDK-ARM/hero_DM02/heap_4.d
new file mode 100644
index 0000000..d8db6a3
--- /dev/null
+++ b/MDK-ARM/hero_DM02/heap_4.d
@@ -0,0 +1,14 @@
+hero_dm02/heap_4.o: \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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\GCC\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
diff --git a/MDK-ARM/hero_DM02/heap_4.o b/MDK-ARM/hero_DM02/heap_4.o
new file mode 100644
index 0000000..fb4bffa
Binary files /dev/null and b/MDK-ARM/hero_DM02/heap_4.o differ
diff --git a/MDK-ARM/hero_DM02/hero_DM02.axf b/MDK-ARM/hero_DM02/hero_DM02.axf
new file mode 100644
index 0000000..51be153
Binary files /dev/null and b/MDK-ARM/hero_DM02/hero_DM02.axf differ
diff --git a/MDK-ARM/hero_DM02/hero_DM02.build_log.htm b/MDK-ARM/hero_DM02/hero_DM02.build_log.htm
index ba0bed5..4c6a9b1 100644
--- a/MDK-ARM/hero_DM02/hero_DM02.build_log.htm
+++ b/MDK-ARM/hero_DM02/hero_DM02.build_log.htm
@@ -3,424 +3,59 @@
Vision Build Log
Tool Versions:
-IDE-Version: Vision V5.40.0.0
-Copyright (C) 2024 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: xx xx, xx, LIC=IC93N-YXR8M-INAA7-E6ZYE-UPX1P-FSZZI
+IDE-Version: Vision V5.34.0.0
+Copyright (C) 2021 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: huan yan, HY, LIC=LSNXV-P2H72-IIR5V-P2EMX-HQE6T-NX03J
Tool Versions:
-Toolchain: MDK-ARM Professional Version: 5.40.0.3
-Toolchain Path: D:\apps\keil5\keil_v5\ARM\ARMCLANG\Bin
-C Compiler: ArmClang.exe V6.22
-Assembler: Armasm.exe V6.22
-Linker/Locator: ArmLink.exe V6.22
-Library Manager: ArmAr.exe V6.22
-Hex Converter: FromElf.exe V6.22
-CPU DLL: SARMCM3.DLL V5.40.0.3
-Dialog DLL: DCM.DLL V1.17.5.0
-Target DLL: Segger\JL2CM3.dll V2.99.44.0
-Dialog DLL: TCM.DLL V1.56.4.0
+Toolchain: MDK-ARM Plus Version: 5.34.0.0
+Toolchain Path: C:\Keil_v5\ARM\ARMCLANG\Bin
+C Compiler: ArmClang.exe V6.16
+Assembler: Armasm.exe V6.16
+Linker/Locator: ArmLink.exe V6.16
+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
+Dialog DLL: TCM.DLL V1.48.0.0
Project:
-D:\CUBEMX\hero\god-yuan-hero\MDK-ARM\hero_DM02.uvprojx
-Project File Date: 01/26/2026
+C:\Users\18505\Desktop\RMUC2026\god-yuan-hero-main\god-yuan-hero\MDK-ARM\hero_DM02.uvprojx
+Project File Date: 03/19/2026
Output:
-*** Using Compiler 'V6.22', folder: 'D:\apps\keil5\keil_v5\ARM\ARMCLANG\Bin'
+*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
Build target 'hero_DM02'
Note: source file '..\User\bsp\fdcan.c' - object file renamed from 'hero_DM02\fdcan.o' to 'hero_DM02\fdcan_1.o'.
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'hero_DM02\gpio.o' to 'hero_DM02\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'hero_DM02\spi.o' to 'hero_DM02\spi_1.o'.
Note: source file '..\User\task\cmd.c' - object file renamed from 'hero_DM02\cmd.o' to 'hero_DM02\cmd_1.o'.
Note: source file '..\User\task\supercap.c' - object file renamed from 'hero_DM02\supercap.o' to 'hero_DM02\supercap_1.o'.
-compiling gpio.c...
-compiling stm32h7xx_hal_spi.c...
-compiling stm32h7xx_hal_spi_ex.c...
-compiling stm32h7xx_hal_rcc.c...
-compiling stm32h7xx_hal_uart_ex.c...
-compiling system_stm32h7xx.c...
-compiling stm32h7xx_hal_uart.c...
-../Middlewares/Third_Party/FreeRTOS/Source/croutine.c(28): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling croutine.c...
-../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c(37): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling event_groups.c...
-../Middlewares/Third_Party/FreeRTOS/Source/list.c(30): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling list.c...
-../Middlewares/Third_Party/FreeRTOS/Source/queue.c(36): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling queue.c...
-../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c(38): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling stream_buffer.c...
-../Middlewares/Third_Party/FreeRTOS/Source/tasks.c(38): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling tasks.c...
-../Middlewares/Third_Party/FreeRTOS/Source/timers.c(36): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling timers.c...
-../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(43): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling heap_4.c...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(28): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling cmsis_os2.c...
-armclang: error: no such file or directory: '../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c'
-armclang: error: no input files
-compiling port.c...
-../User/bsp/fdcan.c(2): warning: In file included from...
-../User/bsp\fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling fdcan.c...
-compiling gpio.c...
-../User/bsp/mm.c(4): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling mm.c...
-compiling pwm.c...
-compiling spi.c...
-../User/bsp/time.c(6): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling time.c...
-compiling uart.c...
-compiling AT9S_Pro.c...
-compiling bmi088.c...
-compiling dr16.c...
-compiling motor.c...
-../User/device/motor_dm.c(7): warning: In file included from...
-../User\device/motor_dm.h(10): warning: In file included from...
-../User\bsp/fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling motor_dm.c...
-../User/device/motor_rm.c(5): warning: In file included from...
-../User/device\motor_rm.h(11): warning: In file included from...
-../User\bsp/fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling motor_rm.c...
-../User/device/supercap.c(1): warning: In file included from...
-../User\device/supercap.h(7): warning: In file included from...
-../User\bsp/fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling supercap.c...
-compiling vt13.c...
-compiling crc16.c...
-compiling mixer.c...
-compiling pid.c...
-compiling user_math.c...
-compiling PowerControl.c...
-compiling ahrs.c...
-compiling filter.c...
-../User/module/chassis.c(8): warning: In file included from...
-../User\bsp/fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling chassis.c...
-../User/module/config.c(6): warning: In file included from...
-../User\module/config.h(14): warning: In file included from...
-../User\device/motor_rm.h(11): warning: In file included from...
-../User\bsp/fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling config.c...
-../User/module/gimbal.c(6): warning: In file included from...
-../User/module\gimbal.h(16): warning: In file included from...
-../User\device/motor_dm.h(10): warning: In file included from...
-../User\bsp/fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling gimbal.c...
-../User/module/shoot.c(36): warning: In file included from...
-../User/module\shoot.h(14): warning: In file included from...
-../User\device/motor_rm.h(11): warning: In file included from...
-../User\bsp/fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling shoot.c...
-../User/module/track.c(10): warning: In file included from...
-../User/module\track.h(16): warning: In file included from...
-../User\device/motor_dm.h(10): warning: In file included from...
-../User\bsp/fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling track.c...
-../User/module/cmd/cmd.c(4): warning: In file included from...
-../User/module/cmd\cmd.h(8): warning: In file included from...
-../User/module/cmd\cmd_adapter.h(95): warning: In file included from...
-../User\module/vision_bridge.h(8): warning: In file included from...
-../User\bsp\fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling cmd.c...
-../User/module/cmd/cmd_behavior.c(5): warning: In file included from...
-../User/module/cmd\cmd.h(8): warning: In file included from...
-../User/module/cmd\cmd_adapter.h(95): warning: In file included from...
-../User\module/vision_bridge.h(8): warning: In file included from...
-../User\bsp\fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling cmd_behavior.c...
-../User/module/cmd/cmd_adapter.c(4): warning: In file included from...
-../User/module/cmd\cmd_adapter.h(95): warning: In file included from...
-../User\module/vision_bridge.h(8): warning: In file included from...
-../User\bsp\fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling cmd_adapter.c...
-../User/module/cmd/cmd_example.c(6): warning: In file included from...
-../User/module/cmd\cmd.h(8): warning: In file included from...
-../User/module/cmd\cmd_adapter.h(95): warning: In file included from...
-../User\module/vision_bridge.h(8): warning: In file included from...
-../User\bsp\fdcan.h(12): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling cmd_example.c...
-../User/task/atti_esti.c(7): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling atti_esti.c...
-../User/task/blink.c(7): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling blink.c...
-../User/task/cmd.c(7): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling cmd.c...
-../User/task/ctrl_chassis.c(7): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling ctrl_chassis.c...
-../User/task/ctrl_gimbal.c(7): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling ctrl_gimbal.c...
-../User/task/ctrl_shoot.c(7): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling ctrl_shoot.c...
-../User/task/init.c(7): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling init.c...
-compiling stm32h7xx_hal_cortex.c...
-compiling stm32h7xx_hal_timebase_tim.c...
-../User/task/rc.c(7): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling rc.c...
-compiling stm32h7xx_hal_i2c_ex.c...
-compiling stm32h7xx_hal_msp.c...
-compiling stm32h7xx_hal.c...
-compiling stm32h7xx_it.c...
-compiling dma.c...
-compiling usart.c...
-compiling stm32h7xx_hal_flash.c...
-../Core/Src/main.c(21): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2\cmsis_os.h(126): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling main.c...
-compiling spi.c...
-compiling stm32h7xx_hal_gpio.c...
-compiling stm32h7xx_hal_pwr_ex.c...
-compiling stm32h7xx_hal_exti.c...
-compiling stm32h7xx_hal_dma.c...
-compiling stm32h7xx_hal_flash_ex.c...
-../User/task/user_task.c(1): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling user_task.c...
-compiling stm32h7xx_hal_mdma.c...
-compiling stm32h7xx_hal_dma_ex.c...
-../Core/Src/freertos.c(21): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling freertos.c...
-../User/task/supercap.c(7): warning: In file included from...
-../User\task/user_task.h(8): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\FreeRTOS.h(62): warning: In file included from...
-../Middlewares/Third_Party/FreeRTOS/Source/include\portable.h(52): error: 'portmacro.h' file not found
- 52 | #include "portmacro.h"
- | ^~~~~~~~~~~~~
-1 error generated.
-compiling supercap.c...
-compiling stm32h7xx_hal_hsem.c...
-compiling fdcan.c...
-compiling stm32h7xx_hal_pwr.c...
-compiling tim.c...
-compiling stm32h7xx_hal_tim_ex.c...
-compiling stm32h7xx_hal_rcc_ex.c...
-assembling startup_stm32h723xx.s...
-compiling stm32h7xx_hal_fdcan.c...
-compiling stm32h7xx_hal_tim.c...
-compiling stm32h7xx_hal_i2c.c...
-"hero_DM02\hero_DM02.axf" - 38 Error(s), 0 Warning(s).
+"hero_DM02\hero_DM02.axf" - 0 Error(s), 0 Warning(s).
Software Packages used:
Package Vendor: ARM
- https://www.keil.com/pack/ARM.CMSIS.6.1.0.pack
- ARM::CMSIS@6.1.0
- CMSIS (Common Microcontroller Software Interface Standard)
- * Component: CORE Version: 6.1.0
+ http://www.keil.com/pack/ARM.CMSIS.5.7.0.pack
+ ARM.CMSIS.5.7.0
+ CMSIS (Cortex Microcontroller Software Interface Standard)
+ * Component: CORE Version: 5.4.0
Package Vendor: Keil
https://www.keil.com/pack/Keil.STM32H7xx_DFP.4.1.3.pack
- Keil::STM32H7xx_DFP@4.1.3
+ Keil.STM32H7xx_DFP.4.1.3
STMicroelectronics STM32H7 Series Device Support
Collection of Component include folders:
- ./RTE/_hero_DM02
- D:/apps/keil5/Arm/Packs/ARM/CMSIS/6.1.0/CMSIS/Core/Include
+ .\RTE\_hero_DM02
+ C:\Users\18505\AppData\Local\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include
Collection of Component Files used:
- * Component: ARM::CMSIS:CORE@6.1.0
- Include file: CMSIS/Core/Include/tz_context.h
-Target not created.
-Build Time Elapsed: 00:00:37
+ * Component: ARM::CMSIS:CORE:5.4.0
+ Include file: CMSIS\Core\Include\tz_context.h
+Build Time Elapsed: 00:00:00