From 7fbec09276014cc5622790c752bd41f0c2cca6d4 Mon Sep 17 00:00:00 2001 From: yxming66 <2389287465@qq.com> Date: Wed, 8 Oct 2025 20:26:49 +0800 Subject: [PATCH 1/7] =?UTF-8?q?=E6=AD=A3=E5=9C=A8=E8=80=83=E8=99=91config?= =?UTF-8?q?=E8=AF=A5=E5=92=8B=E5=86=99?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/settings.json | 3 +- MDK-ARM/shoot.uvguix.yxm23 | 227 +- MDK-ARM/shoot/config.o | Bin 4284 -> 5592 bytes MDK-ARM/shoot/shoot.axf | Bin 366228 -> 368256 bytes MDK-ARM/shoot/shoot.build_log.htm | 106 +- MDK-ARM/shoot/shoot.hex | 4084 +++++++++++++++-------------- MDK-ARM/shoot/shoot.htm | 2563 +++++++++--------- MDK-ARM/shoot/shoot.map | 3166 +++++++++++----------- MDK-ARM/shoot/shoot_control.o | Bin 22032 -> 23720 bytes MDK-ARM/shoot/shoot_ctrl.o | Bin 9056 -> 9104 bytes MDK-ARM/shoot/shoot_shoot.dep | 20 +- User/module/config.c | 78 +- User/module/config.h | 2 +- User/module/shoot_control.c | 94 +- User/module/shoot_control.h | 39 +- User/task/shoot_ctrl.c | 1 + 16 files changed, 5233 insertions(+), 5150 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index 3d34068..da54ea1 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -2,6 +2,7 @@ "C_Cpp.errorSquiggles": "disabled", "files.associations": { "pid.h": "c", - "main.h": "c" + "main.h": "c", + "motor_rm.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/shoot.uvguix.yxm23 b/MDK-ARM/shoot.uvguix.yxm23 index 0bcb976..3294732 100644 --- a/MDK-ARM/shoot.uvguix.yxm23 +++ b/MDK-ARM/shoot.uvguix.yxm23 @@ -110,8 +110,8 @@ 0 - 1692 - 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Output:

*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin' -Build target 'shoot' +Rebuild target 'shoot' Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'. -"shoot\shoot.axf" - 0 Error(s), 0 Warning(s). +assembling startup_stm32f407xx.s... +compiling stm32f4xx_hal_flash_ramfunc.c... +compiling dma.c... +compiling stm32f4xx_hal_msp.c... +compiling stm32f4xx_it.c... +compiling usart.c... +compiling main.c... +compiling can.c... +compiling gpio.c... +compiling event_groups.c... +compiling freertos.c... +compiling stm32f4xx_hal_flash_ex.c... +compiling stm32f4xx_hal_gpio.c... +compiling stm32f4xx_hal_rcc.c... +compiling stm32f4xx_hal_cortex.c... +compiling stm32f4xx_hal_exti.c... +compiling stm32f4xx_hal_rcc_ex.c... +compiling stm32f4xx_hal_can.c... +compiling tasks.c... +compiling list.c... +compiling croutine.c... +compiling cmsis_os2.c... +compiling system_stm32f4xx.c... +compiling mm.c... +compiling stm32f4xx_hal.c... +compiling stm32f4xx_hal_pwr.c... +compiling stream_buffer.c... +compiling heap_4.c... +compiling port.c... +compiling stm32f4xx_hal_dma_ex.c... +compiling motor.c... +compiling stm32f4xx_hal_pwr_ex.c... +compiling stm32f4xx_hal_dma.c... +compiling time.c... +compiling dwt.c... +compiling timers.c... +compiling uart.c... +compiling stm32f4xx_hal_flash.c... +compiling queue.c... +compiling user_math.c... +../User/component/at9s_pro_cmd.c(2): warning: In file included from... +../User/component/at9s_pro_cmd.h(9): warning: In file included from... +../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] +typedef __packed struct + ^ +../User\component/user_math.h(33): note: expanded from macro '__packed' + #define __packed __attribute__((__packed__)) + ^ +1 warning generated. +compiling at9s_pro_cmd.c... +compiling vofa.c... +../User/device/AT9S_Pro.c(2): warning: In file included from... +../User/device/AT9S_Pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] +typedef __packed struct + ^ +../User\component/user_math.h(33): note: expanded from macro '__packed' + #define __packed __attribute__((__packed__)) + ^ +1 warning generated. +compiling AT9S_Pro.c... +compiling can.c... +compiling motor_rm.c... +compiling filter.c... +compiling pid.c... +compiling stm32f4xx_hal_uart.c... +../User/task/init.c(10): warning: In file included from... +../User\component/at9s_pro_cmd.h(9): warning: In file included from... +../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] +typedef __packed struct + ^ +../User\component/user_math.h(33): note: expanded from macro '__packed' + #define __packed __attribute__((__packed__)) + ^ +1 warning generated. +compiling init.c... +../User/task/rc.c(8): warning: In file included from... +../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] +typedef __packed struct + ^ +../User\component/user_math.h(33): note: expanded from macro '__packed' + #define __packed __attribute__((__packed__)) + ^ +1 warning generated. +compiling rc.c... +compiling config.c... +compiling user_task.c... +../User/task/shoot_ctrl.c(10): warning: In file included from... +../User\component/at9s_pro_cmd.h(9): warning: In file included from... +../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] +typedef __packed struct + ^ +../User\component/user_math.h(33): note: expanded from macro '__packed' + #define __packed __attribute__((__packed__)) + ^ +1 warning generated. +compiling shoot_ctrl.c... +compiling shoot_control.c... +linking... +Program Size: Code=32128 RO-data=660 RW-data=268 ZI-data=23668 +FromELF: creating hex file... +"shoot\shoot.axf" - 0 Error(s), 5 Warning(s).

Software Packages used:

@@ -52,7 +152,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h -Build Time Elapsed: 00:00:00 +Build Time Elapsed: 00:00:02 diff --git a/MDK-ARM/shoot/shoot.hex b/MDK-ARM/shoot/shoot.hex index b6e37ca..b91a97e 100644 --- a/MDK-ARM/shoot/shoot.hex +++ b/MDK-ARM/shoot/shoot.hex @@ -1,2022 +1,2070 @@ :020000040800F2 -:10000000C062002069020008F9350008152D0008BB -:1000100099340008B10D0008914700080000000065 -:10002000000000000000000000000000E1380008AF -:100030000D16000800000000713800081542000885 -:10004000830200088302000883020008830200087C -:10005000830200088302000883020008830200086C -:10006000830200088302000883020008830200085C -:10007000311500088302000883020008830200088B -:10008000830200088302000883020008D50D0008DF -:10009000B50D0008C50D00088302000883020008A2 -:1000A000830200088302000883020008830200081C -:1000B000830200088302000883020008830200080C -:1000C00083020008830200088302000883020008FC 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+:108110000000F0410000F0410100000010000000EC +:08812000AAAAAAAA00000000AF :040000050800018965 :00000001FF diff --git a/MDK-ARM/shoot/shoot.htm b/MDK-ARM/shoot/shoot.htm index 806b74c..2b18088 100644 --- a/MDK-ARM/shoot/shoot.htm +++ b/MDK-ARM/shoot/shoot.htm @@ -3,16 +3,16 @@ Static Call Graph - [shoot\shoot.axf]

Static Call Graph for image shoot\shoot.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Oct 8 16:39:31 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Oct 8 20:22:54 2025

-

Maximum Stack Usage = 304 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

+

Maximum Stack Usage = 312 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

Task_shoot_ctrl ⇒ Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

Functions with no stack information

@@ -24,8 +24,8 @@ Mutually Recursive functions

  • MemManage_Handler   ⇒   MemManage_Handler
  • NMI_Handler   ⇒   NMI_Handler
  • UsageFault_Handler   ⇒   UsageFault_Handler
    -
  • UART_EndTxTransfer   ⇒   UART_EndTxTransfer
    -
  • UART_EndRxTransfer   ⇒   UART_EndRxTransfer
    +
  • UART_EndTxTransfer   ⇒   UART_EndTxTransfer
    +
  • UART_EndRxTransfer   ⇒   UART_EndRxTransfer

    @@ -158,22 +158,24 @@ Global Symbols

    [Calls]
    • >>   __rt_entry
    -

    __scatterload_rt2_thumb_only (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) +

    __scatterload_rt2_thumb_only (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) -

    __scatterload_null (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) +

    __scatterload_null (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) -

    __decompress (Thumb, 90 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED) - -

    __decompress1 (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED) +

    __scatterload_copy (Thumb, 26 bytes, Stack size unknown bytes, __scatter_copy.o(!!handler_copy), UNUSED) +

    [Calls]

    • >>   __scatterload_copy +
    +
    [Called By]
    • >>   __scatterload_copy +

    __scatterload_zeroinit (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED) -

    __rt_lib_init (Thumb, 0 bytes, Stack size unknown bytes, libinit.o(.ARM.Collect$$libinit$$00000000)) -

    [Called By]