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yxming66 2025-10-11 16:36:07 +08:00
parent 4ab41bf908
commit 4222caec54
16 changed files with 7985 additions and 5522 deletions
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5973
MDK-ARM/JLinkLog.txt
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MDK-ARM/shoot.uvguix.yxm23
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MDK-ARM/shoot.uvoptx
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@ -153,72 +153,7 @@
<Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
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<Filename>..\User\module\shoot_control.c</Filename>
<ExecCommand></ExecCommand>
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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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@ -28,64 +28,11 @@ Project File Date: 10/10/2025
*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
Build target 'shoot'
Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'.
compiling pid.c...
../User/task/shoot_ctrl.c(9): 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...
../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...
../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/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 user_math.c...
compiling filter.c...
compiling config.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 motor_rm.c...
compiling shoot_control.c...
linking...
Program Size: Code=32304 RO-data=660 RW-data=280 ZI-data=23744
Program Size: Code=32328 RO-data=660 RW-data=280 ZI-data=23744
FromELF: creating hex file...
"shoot\shoot.axf" - 0 Error(s), 5 Warning(s).
"shoot\shoot.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>

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MDK-ARM/shoot/shoot.hex
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MDK-ARM/shoot/shoot.htm
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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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MDK-ARM/shoot/shoot_shoot.dep
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@ -1181,7 +1181,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.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 (..\User\bsp\time.h)(0x68DFDF27)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
F (..\User\device\motor_rm.h)(0x68DFDF0A)()
@ -1230,7 +1230,7 @@ I (..\User\device\AT9S_Pro.h)(0x68CE6AC0)
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\stddef.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@ -1268,15 +1268,15 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\User\bsp\bsp.h)(0x68DFDF27)
F (..\User\device\AT9S_Pro.h)(0x68CE6AC0)()
F (..\User\component\user_math.c)(0x68E9125E)(-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_math.o -MD)
I (..\User\component\user_math.h)(0x68E9125E)
F (..\User\component\user_math.c)(0x68E91641)(-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_math.o -MD)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.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\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\component\user_math.h)(0x68E9125E)()
F (..\User\component\user_math.h)(0x68E91641)()
F (..\User\component\at9s_pro_cmd.c)(0x68E869ED)(-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 (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@ -1284,7 +1284,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68E86971)
@ -1292,7 +1292,7 @@ I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)()
F (..\User\component\filter.c)(0x68DFDF27)(-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/filter.o -MD)
I (..\User\component\filter.h)(0x68DFDF27)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@ -1303,15 +1303,15 @@ F (..\User\component\pid.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi
I (..\User\component\pid.h)(0x68E86971)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x68DFDF27)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\pid.h)(0x68E86971)()
F (..\User\module\shoot_control.c)(0x68E9116B)(-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)(0x68EA16C5)(-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 (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\module\shoot_control.h)(0x68E9116B)
I (..\User\module\shoot_control.h)(0x68E91641)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1345,7 +1345,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68E86971)
I (..\User\component\filter.h)(0x68DFDF27)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\motor_rm.h)(0x68DFDF0A)
@ -1367,13 +1367,13 @@ 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\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\User\bsp\time.h)(0x68DFDF27)
F (..\User\module\shoot_control.h)(0x68E9116B)()
F (..\User\module\config.c)(0x68E9116B)(-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)(0x68E869ED)
F (..\User\module\shoot_control.h)(0x68E91641)()
F (..\User\module\config.c)(0x68EA109E)(-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)(0x68E91582)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68E86971)
I (..\User\component\filter.h)(0x68DFDF27)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@ -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\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\User\module\shoot_control.h)(0x68E9116B)
F (..\User\module\config.h)(0x68E869ED)()
I (..\User\module\shoot_control.h)(0x68E91641)
F (..\User\module\config.h)(0x68E91582)()
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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
@ -1443,7 +1443,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68E86971)
@ -1462,13 +1462,13 @@ 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\list.h)(0x68AD8208)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68E86971)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
F (..\User\task\shoot_ctrl.c)(0x68E90844)(-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)(0x68E919E7)(-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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -1485,11 +1485,11 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
I (..\User\component\user_math.h)(0x68E9125E)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68E86971)
I (..\User\module\shoot_control.h)(0x68E9116B)
I (..\User\module\shoot_control.h)(0x68E91641)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
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\mm.h)(0x68DFDF27)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
I (..\User\module\config.h)(0x68E869ED)
I (..\User\module\config.h)(0x68E91582)
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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)

41
Ozone/shoot.jdebug.user
View File

@ -3,38 +3,35 @@
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/module/shoot_control.c:120:26, State=BP_STATE_DISABLED
GraphedExpression="((((shoot).pid).trig).last).out", Color=#e56a6f, Show=0
GraphedExpression="((((shoot).pid).trig_omg).last).out", Color=#35792b, Show=0
GraphedExpression="((shoot).target_variable).target_angle", Color=#769dda, Show=0
GraphedExpression="((shoot).feedback).trig_agl", Color=#b14f0d, Show=0
GraphedExpression="((((shoot).feedback).trig).feedback).rotor_abs_angle", Color=#b3c38e, Show=0
GraphedExpression="((((shoot).feedback).trig).feedback).torque_current", Color=#ab7b05, Show=0
OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=231
Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:125:9, State=BP_STATE_DISABLED
GraphedExpression="((((shoot).feedback).trig).feedback).torque_current", Color=#e56a6f
OpenDocument="mm.c", FilePath="D:/CUBEMX/shoot/User/bsp/mm.c", Line=0
OpenDocument="heap_4.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c", Line=103
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=511
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=83
OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=885
OpenDocument="test.cpp", FilePath="D:/CUBEMX/shoot/User/module/test.cpp", Line=0
OpenDocument="stm32f4xx_it.c", FilePath="D:/CUBEMX/shoot/Core/Src/stm32f4xx_it.c", Line=82
OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=46
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3637
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3627
OpenDocument="config.h", FilePath="D:/CUBEMX/shoot/User/module/config.h", Line=0
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=16
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=436
OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=393
OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=9
OpenDocument="pid.h", FilePath="D:/CUBEMX/shoot/User/component/pid.h", Line=0
OpenDocument="pid.c", FilePath="D:/CUBEMX/shoot/User/component/pid.c", Line=111
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="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="portmacro.h", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h", Line=182
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="pid.h", FilePath="D:/CUBEMX/shoot/User/component/pid.h", Line=0
OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=231
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=657, 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=641, 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="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=261, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=657, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=277, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=641, 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="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="974;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20"
@ -47,15 +44,13 @@ TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Na
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="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).pid).trig).last).out";" ((((shoot).pid).trig_omg).last).out";" ((shoot).target_variable).target_angle";" ((shoot).feedback).trig_agl";" ((((shoot).feedback).trig).feedback).rotor_abs_angle";" ((((shoot).feedback).trig).feedback).torque_current"], ColWidths=[100;100;100;100;100;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;144;100;114;134;110;126;1614]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((((shoot).feedback).trig).feedback).torque_current"], 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;114;124;114;124;110;126;1630]
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_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1
WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1
WatchedExpression="feedback_current", Window=Watched Data 1
WatchedExpression="dpos", Window=Watched Data 1
WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot.param->fric_motor_param[1]", Window=Watched Data 1
WatchedExpression="shoot.param->fric_motor_param[2]", Window=Watched Data 1
WatchedExpression="a", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot.feedback.fric[1]", RefreshRate=5, Window=Watched Data 1

14
User/module/config.c
View File

@ -20,20 +20,20 @@ Config_RobotParam_t robot_config = {
.shoot_param = {
.proj=SHOOT_PROJECTILE_17MM,
.fric_num=6,
.fric_num=2,
.extra_deceleration_ratio=1.0f,
.num_trig_tooth=8,
.num_trig_tooth=4,
.shot_freq=20.0f,
.shot_burst_num=5,
.num_multilevel=2,
.jam_enable=true,
.shot_burst_num=10,
.num_multilevel=1,
.jam_enable=false,
.jam_threshold=120.0f,
.jam_suspected_time=0.5f,
.trig_motor_param = {
.can = BSP_CAN_2,
.id = 0x207,
.module = MOTOR_M2006,
.reverse = false,
.reverse = true,
.gear=true,
},
.fric_follow = {
@ -143,7 +143,7 @@ int8_t Config_ShootInit(void) {
.module = MOTOR_M3508,
/*设置电机反装；example***********************
.reverse = (i == 0||1||3||5) ? true : false,*/
.reverse = (i == 0) ? true : false,
.reverse = (i == 1) ? true : false,
.gear = false,
};
}

27
User/module/shoot_control.c
View File

@ -248,7 +248,7 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
* \param cmd 包含射击指令的结构体
*
* \return 函数运行结果
*/
*/float a;
int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || cmd == NULL) {
@ -294,12 +294,15 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
break;
case SHOOT_STATE_READY:/*准备射击*/
for(int i=fric_num;i<fric_num/i;i++)
Shoot_CaluTargetRPM(s,233);
for(int i=0;i<fric_num;i++)
{
uint8_t level=s->param->fric_motor_param->level-1;
float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm;
/* 计算跟随输出、计算修正输出 */
a=s->target_variable.target_rpm/MAX_FRIC_RPM;
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
s->param->ratio_multilevel[level]*s->target_variable.target_rpm/MAX_FRIC_RPM,
target_rpm,
s->feedback.fric_rpm[i],
0,
s->dt);
@ -364,9 +367,10 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
for(int i=0;i<fric_num;i++)
{
uint8_t level=s->param->fric_motor_param->level-1;
float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm;
/* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
s->param->ratio_multilevel[level]*s->target_variable.target_rpm/MAX_FRIC_RPM,
target_rpm,
s->feedback.fric_rpm[i],
0,
s->dt);
@ -411,10 +415,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
}
}
/* 输出 */
for(int i=0;fric_num-i>0;i+=4)
{
MOTOR_RM_Ctrl(&s->param->fric_motor_param[i].param);
}
MOTOR_RM_Ctrl(&s->param->fric_motor_param[0].param);
MOTOR_RM_Ctrl(&s->param->trig_motor_param);
last_firecmd = cmd->firecmd;
return SHOOT_OK;
@ -512,13 +513,13 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
/* 分配内存 */
s->param=param;
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.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_fric = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.lpfout_fric = (float *) BSP_Malloc(fric_num * sizeof(float));
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.fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float));
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->filter.fric.in = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
@ -573,8 +574,6 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
/* 归零变量 */
memset(&s->anglecalu,0,sizeof(s->anglecalu));
memset(&s->output,0,sizeof(s->output));
return SHOOT_OK;
}

2
User/task/shoot_ctrl.c
View File

@ -46,6 +46,8 @@ void Task_shoot_ctrl(void *argument) {
shoot_cmd.ready=shoot_ctrl_cmd_rc.shoot.ready;
shoot_cmd.firecmd=shoot_ctrl_cmd_rc.shoot.firecmd;
shoot_cmd.online=shoot_ctrl_cmd_rc.online;
shoot.target_variable.target_rpm=4000;
shoot.mode=shoot_ctrl_cmd_rc.mode;
Chassis_UpdateFeedback(&shoot);
Shoot_Control(&shoot,&shoot_cmd);
/* USER CODE END */