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yxming66 2025-10-09 19:23:31 +08:00
parent 6fad9b04ea
commit 48f1d92767
19 changed files with 9492 additions and 6933 deletions
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5992
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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@ -186,6 +186,38 @@
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>131</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\User\module\shoot_control.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>134</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\User\module\shoot_control.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>

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MDK-ARM/shoot/at9s_pro_cmd.o
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MDK-ARM/shoot/config.o
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MDK-ARM/shoot/shoot.axf
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6
MDK-ARM/shoot/shoot.build_log.htm
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@ -28,6 +28,10 @@ Project File Date: 10/03/2025
*** 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 config.c...
linking...
Program Size: Code=31408 RO-data=660 RW-data=276 ZI-data=24076
FromELF: creating hex file...
"shoot\shoot.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -52,7 +56,7 @@ 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
</pre>
</body>
</html>

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MDK-ARM/shoot/shoot.hex
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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\string.h)(0x6035A4A8)
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)(0x68E797A0)(-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)
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\stddef.h)(0x6035A4A8)
F (..\User\component\pid.h)(0x68DFDF27)()
F (..\User\module\shoot_control.c)(0x68E62342)(-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)(0x68E621FB)
F (..\User\module\shoot_control.c)(0x68E79855)(-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)(0x68E79821)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
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 (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68DFDF27)
F (..\User\module\shoot_control.h)(0x68E621FB)()
F (..\User\module\config.c)(0x68E142A3)(-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)(0x68DABE70)
F (..\User\module\shoot_control.h)(0x68E79821)()
F (..\User\module\config.c)(0x68E79974)(-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)(0x68E7956E)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\pid.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\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\User\module\shoot_control.h)(0x68E621FB)
F (..\User\module\config.h)(0x68DABE70)()
I (..\User\module\shoot_control.h)(0x68E79821)
F (..\User\module\config.h)(0x68E7956E)()
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)
@ -1468,7 +1468,7 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68DFDFA7)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
F (..\User\task\shoot_ctrl.c)(0x68DFE330)(-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)(0x68E797F7)(-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)
@ -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\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68DFDFA7)
I (..\User\module\shoot_control.h)(0x68E621FB)
I (..\User\module\shoot_control.h)(0x68E79821)
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)(0x68DABE70)
I (..\User\module\config.h)(0x68E7956E)
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)

30
Ozone/shoot.jdebug.user
View File

@ -4,14 +4,9 @@
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:116:26, State=BP_STATE_DISABLED
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
GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#7fd3b7, Show=0
OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=402
GraphedExpression="dpos", Color=#e56a6f, Show=0
OpenDocument="rc.c", FilePath="D:/CUBEMX/shoot/User/task/rc.c", Line=0
OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=0
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=128
@ -21,16 +16,15 @@ OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/shoot/Drivers/STM32F4xx_
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=58
OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=39
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="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=1
OpenDocument="rc.c", FilePath="D:/CUBEMX/shoot/User/task/rc.c", Line=0
OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=402
OpenDocument="AT9S_Pro.c", FilePath="D:/CUBEMX/shoot/User/device/AT9S_Pro.c", Line=0
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
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=706, 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=695, 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=212, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=706, 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="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=695, 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="1094;240", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20"
@ -43,12 +37,14 @@ 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).target_variable).target_angle";" (((shoot).feedback).trig).rotor_abs_angle";" dpos";" ((shoot).output).outagl_trig";" ((shoot).output).outomg_trig";" (((shoot).feedback).trig).torque_current";" (((shoot).feedback).fric[0]).rotor_speed"], ColWidths=[100;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;124;114;154;110;126;1570]
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;124;124;114;124;110;126;1620]
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="dpos", Window=Watched Data 1
WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1
WatchedExpression="at9s", Window=Watched Data 1

8
User/component/at9s_pro_cmd.c
View File

@ -48,10 +48,10 @@ int8_t COMP_AT9S_CMD_ParseRc(const DEVICE_AT9S_t *rc, COMP_AT9S_CMD_t *at9s_cmd)
at9s_cmd->gimbal_yaw_ctrl_vec.w = at9s_cmd->ch_l_x;
at9s_cmd->gimbal_pit_ctrl_vec.w = at9s_cmd->ch_l_y;
if(rc->online == false ||rc->data.key_H == AT9S_CMD_SW_UP)at9s_cmd->mode = MODE_CMD_BREAKING_CONTROL;
else if(rc->data.key_E == AT9S_CMD_SW_DOWN)at9s_cmd->mode = MODE_CMD_ONLT_GIMBAL;
else if(rc->data.key_E == AT9S_CMD_SW_MID)at9s_cmd->mode = MODE_CMD_FOLLOW;
else if(rc->data.key_E == AT9S_CMD_SW_UP)at9s_cmd->mode = MODE_CMD_SPIN;
if(rc->online == false)at9s_cmd->mode = MODE_CMD_BREAKING_CONTROL;
else if(rc->data.key_E == AT9S_CMD_SW_DOWN)at9s_cmd->mode = 1;
else if(rc->data.key_E == AT9S_CMD_SW_MID)at9s_cmd->mode = 2;
else if(rc->data.key_E == AT9S_CMD_SW_UP)at9s_cmd->mode = 3;
if(rc->data.key_C == AT9S_CMD_SW_DOWN)at9s_cmd->ai = true;
else at9s_cmd->ai = false;

34
User/module/config.c
View File

@ -19,9 +19,9 @@ Config_RobotParam_t robot_config = {
.shoot_param = {
.num_trig_tooth=8,
.num_trig_tooth=4.5f,
.shot_freq=20.0f,
.shot_burst_num=1,
.shot_burst_num=5,
.jam_enable=true,
.jam_threshold=120.0f,
.jam_suspected_time=0.5f,
@ -30,44 +30,16 @@ Config_RobotParam_t robot_config = {
.can = BSP_CAN_2,
.id = 0x201,
.module = MOTOR_M3508,
.reverse = true,
.reverse = false,
.gear=false,
},
.fric_motor_param[1] = {
.can = BSP_CAN_2,
.id = 0x202,
.module = MOTOR_M3508,
.reverse = true,
.gear=false,
},
.fric_motor_param[2] = {
.can = BSP_CAN_2,
.id = 0x203,
.module = MOTOR_M3508,
.reverse = true,
.gear=false,
},
.fric_motor_param[3] = {
.can = BSP_CAN_2,
.id = 0x204,
.module = MOTOR_M3508,
.reverse = true,
.gear=false,
},
.fric_motor_param[4] = {
.can = BSP_CAN_2,
.id = 0x205,
.module = MOTOR_M3508,
.reverse = false,
.gear=false,
},
.fric_motor_param[5] = {
.can = BSP_CAN_2,
.id = 0x206,
.module = MOTOR_M3508,
.reverse = false,
.gear=false,
},
.trig_motor_param = {
.can = BSP_CAN_2,
.id = 0x207,

6
User/module/shoot_control.c
View File

@ -337,10 +337,8 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
}
}
/* 输出 */
for(int i=SHOOT_FRIC_NUM-1;i>3;i-=4)
{
MOTOR_RM_Ctrl(&s->param->fric_motor_param[i]);
}
MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
MOTOR_RM_Ctrl(&s->param->trig_motor_param);
last_firecmd = cmd->firecmd;
return SHOOT_OK;

2
User/module/shoot_control.h
View File

@ -21,7 +21,7 @@ extern "C" {
#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */
#define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */
#define SHOOT_FRIC_NUM (6) /* 摩擦轮数量 */
#define SHOOT_FRIC_NUM (2) /* 摩擦轮数量 */
#define MAX_FRIC_RPM 7000.0f
#define MAX_TRIG_RPM 5000.0f//这里可能也会影响最高发射频率，待测试
/* Exported macro ----------------------------------------------------------- */

3
User/task/shoot_ctrl.c
View File

@ -38,6 +38,8 @@ void Task_shoot_ctrl(void *argument) {
/* USER CODE INIT BEGIN */
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
Shoot_SetMode(&shoot,SHOOT_MODE_BURST);
shoot.target_variable.target_rpm=4000;
/* USER CODE INIT END */
while (1) {
@ -47,6 +49,7 @@ 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.mode=shoot_ctrl_cmd_rc.mode;
Chassis_UpdateFeedback(&shoot);
Shoot_Control(&shoot,&shoot_cmd);
/* USER CODE END */