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成功，但是debug看不全，保存

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yxming66 2025-10-09 21:47:56 +08:00
parent 97ad16edf6
commit 2f0ff4b31c
14 changed files with 3215 additions and 3197 deletions
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211
MDK-ARM/shoot.uvguix.yxm23
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MDK-ARM/shoot/config.o
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MDK-ARM/shoot/shoot.axf
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MDK-ARM/shoot/shoot.build_log.htm
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@ -28,10 +28,6 @@ Project File Date: 10/03/2025
*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin' *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
Build target 'shoot' Build target 'shoot'
Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'. Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'.
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), 0 Warning(s). "shoot\shoot.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2> <h2>Software Packages used:</h2>
@ -56,7 +52,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0 * Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:02 Build Time Elapsed: 00:00:01
</pre> </pre>
</body> </body>
</html> </html>

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MDK-ARM/shoot/shoot.hex
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8
MDK-ARM/shoot/shoot.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [shoot\shoot.axf]</title></head> <title>Static Call Graph - [shoot\shoot.axf]</title></head>
<body><HR> <body><HR>
<H1>Static Call Graph for image shoot\shoot.axf</H1><HR> <H1>Static Call Graph for image shoot\shoot.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Oct 8 22:27:04 2025 <BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Thu Oct 9 20:55:15 2025
<BR><P> <BR><P>
<H3>Maximum Stack Usage = 312 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3> <H3>Maximum Stack Usage = 312 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3> Call chain for Maximum Stack Depth:</H3>
@ -834,7 +834,7 @@ Global Symbols
<BR><BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_shoot_ctrl <BR><BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_shoot_ctrl
</UL> </UL>
<P><STRONG><a name="[b2]"></a>Config_ShootInit</STRONG> (Thumb, 162 bytes, Stack size 32 bytes, config.o(.text.Config_ShootInit)) <P><STRONG><a name="[b2]"></a>Config_ShootInit</STRONG> (Thumb, 180 bytes, Stack size 32 bytes, config.o(.text.Config_ShootInit))
<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = Config_ShootInit &rArr; BSP_Malloc &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick <BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = Config_ShootInit &rArr; BSP_Malloc &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL> </UL>
<BR>[Calls]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_Malloc <BR>[Calls]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_Malloc
@ -1542,7 +1542,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_shoot_ctrl <BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_shoot_ctrl
</UL> </UL>
<P><STRONG><a name="[116]"></a>Shoot_Init</STRONG> (Thumb, 564 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init)) <P><STRONG><a name="[116]"></a>Shoot_Init</STRONG> (Thumb, 550 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 288 + Unknown Stack Size <BR><BR>[Stack]<UL><LI>Max Depth = 288 + Unknown Stack Size
<LI>Call Chain = Shoot_Init &rArr; BSP_CAN_Init &rArr; osMutexNew &rArr; xQueueCreateMutexStatic &rArr; prvInitialiseMutex &rArr; xQueueGenericSend &rArr; xTaskResumeAll &rArr; xTaskIncrementTick <LI>Call Chain = Shoot_Init &rArr; BSP_CAN_Init &rArr; osMutexNew &rArr; xQueueCreateMutexStatic &rArr; prvInitialiseMutex &rArr; xQueueGenericSend &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL> </UL>
@ -1672,7 +1672,7 @@ Global Symbols
</UL> </UL>
<BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init) <BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init)
</UL> </UL>
<P><STRONG><a name="[64]"></a>Task_shoot_ctrl</STRONG> (Thumb, 172 bytes, Stack size 0 bytes, shoot_ctrl.o(.text.Task_shoot_ctrl)) <P><STRONG><a name="[64]"></a>Task_shoot_ctrl</STRONG> (Thumb, 260 bytes, Stack size 0 bytes, shoot_ctrl.o(.text.Task_shoot_ctrl))
<BR><BR>[Stack]<UL><LI>Max Depth = 312 + Unknown Stack Size <BR><BR>[Stack]<UL><LI>Max Depth = 312 + Unknown Stack Size
<LI>Call Chain = Task_shoot_ctrl &rArr; Chassis_UpdateFeedback &rArr; MOTOR_RM_Update &rArr; BSP_CAN_GetMessage &rArr; osMutexAcquire &rArr; xQueueTakeMutexRecursive &rArr; xQueueSemaphoreTake &rArr; xTaskResumeAll &rArr; xTaskIncrementTick <LI>Call Chain = Task_shoot_ctrl &rArr; Chassis_UpdateFeedback &rArr; MOTOR_RM_Update &rArr; BSP_CAN_GetMessage &rArr; osMutexAcquire &rArr; xQueueTakeMutexRecursive &rArr; xQueueSemaphoreTake &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL> </UL>

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MDK-ARM/shoot/shoot.map
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MDK-ARM/shoot/shoot_control.o
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MDK-ARM/shoot/shoot_ctrl.o
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22
MDK-ARM/shoot/shoot_shoot.dep
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@ -1277,7 +1277,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\component\user_math.h)(0x68DFE123)() F (..\User\component\user_math.h)(0x68DFE123)()
F (..\User\component\at9s_pro_cmd.c)(0x68DAC603)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/at9s_pro_cmd.o -MD) F (..\User\component\at9s_pro_cmd.c)(0x68E79B41)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/at9s_pro_cmd.o -MD)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6) I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -1309,8 +1309,8 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\pid.h)(0x68DFDF27)() F (..\User\component\pid.h)(0x68DFDF27)()
F (..\User\module\shoot_control.c)(0x68E674B6)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD) F (..\User\module\shoot_control.c)(0x68E7AE56)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD)
I (..\User\module\shoot_control.h)(0x68E67024) I (..\User\module\shoot_control.h)(0x68E79B9A)
I (..\Core\Inc\main.h)(0x68D1384A) I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1367,9 +1367,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68DFDF27) I (..\User\bsp\time.h)(0x68DFDF27)
F (..\User\module\shoot_control.h)(0x68E67024)() F (..\User\module\shoot_control.h)(0x68E79B9A)()
F (..\User\module\config.c)(0x68E67024)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD) F (..\User\module\config.c)(0x68E7AF4F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD)
I (..\User\module\config.h)(0x68E66139) I (..\User\module\config.h)(0x68E79B9A)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68DFDF27) I (..\User\component\pid.h)(0x68DFDF27)
I (..\User\component\filter.h)(0x68DFDF27) I (..\User\component\filter.h)(0x68DFDF27)
@ -1424,8 +1424,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\User\module\shoot_control.h)(0x68E67024) I (..\User\module\shoot_control.h)(0x68E79B9A)
F (..\User\module\config.h)(0x68E66139)() F (..\User\module\config.h)(0x68E79B9A)()
F (..\User\task\init.c)(0x68D4AE2D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/init.o -MD) F (..\User\task\init.c)(0x68D4AE2D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/init.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9) I (..\User\task\user_task.h)(0x68D3E4B9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
@ -1468,7 +1468,7 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68DFDFA7) I (..\User\device\device.h)(0x68DFDFA7)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6) I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
F (..\User\task\shoot_ctrl.c)(0x68E66139)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_ctrl.o -MD) F (..\User\task\shoot_ctrl.c)(0x68E7B0B2)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_ctrl.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9) I (..\User\task\user_task.h)(0x68D3E4B9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -1489,7 +1489,7 @@ I (..\User\component\user_math.h)(0x68DFE123)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68DFDFA7) I (..\User\device\device.h)(0x68DFDFA7)
I (..\User\module\shoot_control.h)(0x68E67024) I (..\User\module\shoot_control.h)(0x68E79B9A)
I (..\Core\Inc\main.h)(0x68D1384A) I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1527,7 +1527,7 @@ I (..\Core\Inc\can.h)(0x68D13849)
I (..\User\bsp\bsp.h)(0x68DFDF27) I (..\User\bsp\bsp.h)(0x68DFDF27)
I (..\User\bsp\mm.h)(0x68DFDF27) I (..\User\bsp\mm.h)(0x68DFDF27)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
I (..\User\module\config.h)(0x68E66139) I (..\User\module\config.h)(0x68E79B9A)
F (..\User\task\user_task.c)(0x68DCD9EF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_task.o -MD) F (..\User\task\user_task.c)(0x68DCD9EF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_task.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9) I (..\User\task\user_task.h)(0x68D3E4B9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)

43
Ozone/shoot.jdebug.user
View File

@ -1,30 +1,19 @@
Breakpoint=D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c:126, State=BP_STATE_ON
Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:146:32, State=BP_STATE_DISABLED Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:146:32, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:149:49, State=BP_STATE_DISABLED Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:149:49, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:118:23, State=BP_STATE_DISABLED Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:120:26, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:462:21, State=BP_STATE_ON GraphedExpression="dpos", Color=#e56a6f, Show=0
Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:464, State=BP_STATE_DISABLED OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=46
Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:468:13, State=BP_STATE_ON
GraphedExpression="((shoot).target_variable).target_angle", Color=#e56a6f, Show=0
GraphedExpression="(((shoot).feedback).trig).rotor_abs_angle", Color=#35792b, Show=0
GraphedExpression="dpos", Color=#769dda, Show=0
GraphedExpression="((shoot).output).outagl_trig", Color=#b14f0d, Show=0
GraphedExpression="((shoot).output).outomg_trig", Color=#b3c38e, Show=0
GraphedExpression="(((shoot).feedback).trig).torque_current", Color=#ab7b05
OpenDocument="heap_4.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c", Line=104
OpenDocument="mm.c", FilePath="D:/CUBEMX/shoot/User/bsp/mm.c", Line=0
OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=9
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419
OpenDocument="math.h", FilePath="D:/cangming/ARM/ARMCLANG/include/math.h", Line=160
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=449
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161 OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161
OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=66 OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3637
OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/shoot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=2072 OpenDocument="config.h", FilePath="D:/CUBEMX/shoot/User/module/config.h", Line=0
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=58 OpenDocument="mm.c", FilePath="D:/CUBEMX/shoot/User/bsp/mm.c", Line=0
OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=4 OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=14
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=427
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=132
OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=108
OpenDocument="queue.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=2062 OpenDocument="queue.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=2062
OpenDocument="filter.c", FilePath="D:/CUBEMX/shoot/User/component/filter.c", Line=49 OpenDocument="filter.c", FilePath="D:/CUBEMX/shoot/User/component/filter.c", Line=49
OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=402 OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=402
@ -32,10 +21,10 @@ OpenDocument="rc.c", FilePath="D:/CUBEMX/shoot/User/task/rc.c", Line=0
OpenDocument="motor.h", FilePath="D:/CUBEMX/shoot/User/device/motor.h", Line=21 OpenDocument="motor.h", FilePath="D:/CUBEMX/shoot/User/device/motor.h", Line=21
OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=148 OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=148
OpenToolbar="Debug", Floating=0, x=0, y=0 OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=695, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=675, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=223, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=243, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=695, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=675, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=2560, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=2560, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=FLOATING, x=997, y=976, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="1094;240", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20" OpenWindow="Timeline", DockArea=FLOATING, x=997, y=976, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="1094;240", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20"
@ -48,7 +37,7 @@ TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Na
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;734] TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;734]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100] TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((shoot).target_variable).target_angle";" (((shoot).feedback).trig).rotor_abs_angle";" dpos";" ((shoot).output).outagl_trig";" ((shoot).output).outomg_trig";" (((shoot).feedback).trig).torque_current"], ColWidths=[100;100;100;100;100;100;100;100] TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" dpos"], ColWidths=[100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;1706] TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;1706]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1 WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1
@ -56,4 +45,6 @@ WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1 WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1
WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1 WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1
WatchedExpression="feedback_current", Window=Watched Data 1 WatchedExpression="feedback_current", Window=Watched Data 1
WatchedExpression="dpos", Window=Watched Data 1 WatchedExpression="dpos", Window=Watched Data 1
WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
WatchedExpression="a", RefreshRate=1, Window=Watched Data 1

8
User/module/config.c
View File

@ -23,7 +23,7 @@ Config_RobotParam_t robot_config = {
.num_trig_tooth=8, .num_trig_tooth=8,
.shot_freq=20.0f, .shot_freq=20.0f,
.shot_burst_num=1, .shot_burst_num=1,
.num_multilevel=1, .num_multilevel=2,
.jam_enable=true, .jam_enable=true,
.jam_threshold=120.0f, .jam_threshold=120.0f,
.jam_suspected_time=0.5f, .jam_suspected_time=0.5f,
@ -123,11 +123,15 @@ Config_RobotParam_t* Config_GetRobotParam(void) {
int8_t Config_ShootInit(void) { int8_t Config_ShootInit(void) {
int fric_num = robot_config.shoot_param.fric_num; int fric_num = robot_config.shoot_param.fric_num;
int num_multilevel = robot_config.shoot_param.num_multilevel; int num_multilevel = robot_config.shoot_param.num_multilevel;
robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t)); robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
if (robot_config.shoot_param.fric_motor_param == NULL) { if (robot_config.shoot_param.fric_motor_param == NULL) {
return -1; // 内存分配失败 return -1; // 内存分配失败
} }
robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float));
if (robot_config.shoot_param.ratio_multilevel == NULL) {
return -1; // 内存分配失败
}
// 初始化摩擦轮参数 // 初始化摩擦轮参数
for (uint8_t i = 0; i < fric_num; i++) { for (uint8_t i = 0; i < fric_num; i++) {
robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){ robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){

7
User/module/shoot_control.c
View File

@ -445,15 +445,14 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
} }
uint8_t fric_num = param->fric_num; uint8_t fric_num = param->fric_num;
s->param=param;
s->feedback.fric = (MOTOR_Feedback_t *) BSP_Malloc(fric_num * sizeof(MOTOR_Feedback_t)); s->feedback.fric = (MOTOR_Feedback_t *) BSP_Malloc(fric_num * sizeof(MOTOR_Feedback_t));
s->feedback.fil_fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float)); s->feedback.fil_fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float));
s->feedback.fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float)); s->feedback.fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.out_follow = (float *) BSP_Malloc(fric_num * sizeof(float)); s->output.out_follow = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.out_err = (float *) BSP_Malloc(fric_num * sizeof(float)); s->output.out_err = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.out_fric = (float *) BSP_Malloc(fric_num * sizeof(float)); s->output.out_fric = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.lpfout_fric = (float *) BSP_Malloc(fric_num * sizeof(float)); s->output.lpfout_fric = (float *) BSP_Malloc(fric_num * sizeof(float));
s->param->fric_motor_param= (Shoot_MOTOR_RM_Param_t *) BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
s->pid.fric_follow = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t)); s->pid.fric_follow = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t));
s->pid.fric_err = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t)); s->pid.fric_err = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t));
s->filter.fric.in = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t)); s->filter.fric.in = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
@ -465,7 +464,7 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
s->pid.fric_err == NULL || s->filter.fric.in == NULL || s->filter.fric.out == NULL) { s->pid.fric_err == NULL || s->filter.fric.in == NULL || s->filter.fric.out == NULL) {
return SHOOT_ERR_MALLOC;}/* 内存分配失败 */ return SHOOT_ERR_MALLOC;}/* 内存分配失败 */
s->param=param;
BSP_CAN_Init(); BSP_CAN_Init();
/* 初始化摩擦轮PID和滤波器 */ /* 初始化摩擦轮PID和滤波器 */

10
User/task/shoot_ctrl.c
View File

@ -20,7 +20,8 @@ COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
Shoot_t shoot; Shoot_t shoot;
Shoot_CMD_t shoot_cmd; Shoot_CMD_t shoot_cmd;
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
float a[2];
Shoot_MOTOR_RM_Param_t b[6];
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -39,6 +40,13 @@ void Task_shoot_ctrl(void *argument) {
Config_ShootInit(); Config_ShootInit();
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
Shoot_SetMode(&shoot,SHOOT_MODE_BURST); Shoot_SetMode(&shoot,SHOOT_MODE_BURST);
for(int i=0;i<2;i++){
a[i]=shoot.param->ratio_multilevel[i];
}
for(int i=0;i<6;i++){
b[i]=shoot.param->fric_motor_param[i];
}
/* USER CODE INIT END */ /* USER CODE INIT END */
while (1) { while (1) {