保存

MDK-ARM/shoot/shoot.build_log.htm

@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\CUBEMX\shoot\MDK-ARM\shoot.uvprojx
-Project File Date:  10/03/2025
+Project File Date:  10/10/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'

MDK-ARM/shoot/shoot_shoot.dep

@@ -122,7 +122,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (..\User\task\user_task.h)(0x68D3E4B9)
-F (../Core/Src/can.c)(0x68DFE108)(-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/can.o -MD)
+F (../Core/Src/can.c)(0x68E86971)(-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/can.o -MD)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -218,7 +218,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
-F (../Core/Src/stm32f4xx_it.c)(0x68DFE109)(-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/stm32f4xx_it.o -MD)
+F (../Core/Src/stm32f4xx_it.c)(0x68E86971)(-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/stm32f4xx_it.o -MD)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@@ -249,7 +249,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
-I (..\Core\Inc\stm32f4xx_it.h)(0x68DFE109)
+I (..\Core\Inc\stm32f4xx_it.h)(0x68E86971)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
 I (..\Core\Inc\FreeRTOSConfig.h)(0x68D13FA3)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
@@ -947,8 +947,8 @@ 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)
 F (..\User\bsp\bsp.h)(0x68DFDF27)()
-F (..\User\bsp\can.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/can_1.o -MD)
+F (..\User\bsp\can.c)(0x68E86971)(-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/can_1.o -MD)
-I (..\User\bsp\can.h)(0x68DFDF27)
+I (..\User\bsp\can.h)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -995,7 +995,7 @@ 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 (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\bsp\can.h)(0x68DFDF27)()
+F (..\User\bsp\can.h)(0x68E86971)()
 F (..\User\bsp\mm.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/mm.o -MD)
 I (..\User\bsp\mm.h)(0x68DFDF27)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -1121,21 +1121,21 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 F (..\User\bsp\dwt.h)(0x68DFDF27)()
-F (..\User\device\device.h)(0x68DFDFA7)()
+F (..\User\device\device.h)(0x68E86971)()
 F (..\User\device\motor.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/motor.o -MD)
 I (..\User\device\motor.h)(0x68DFDF0A)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 F (..\User\device\motor.h)(0x68DFDF0A)()
-F (..\User\device\motor_rm.c)(0x68DFE466)(-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/motor_rm.o -MD)
+F (..\User\device\motor_rm.c)(0x68E86971)(-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/motor_rm.o -MD)
 I (..\User\device\motor_rm.h)(0x68DFDF0A)
 I (..\User\device\motor.h)(0x68DFDF0A)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\User\bsp\can.h)(0x68DFDF27)
+I (..\User\bsp\can.h)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -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)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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)()
@@ -1223,18 +1223,18 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\bsp\bsp.h)(0x68DFDF27)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 F (..\User\device\vofa.h)(0x68DFDF0A)()
 F (..\User\device\AT9S_Pro.c)(0x68CE6D5E)(-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.o -MD)
 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)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\bsp\uart.h)(0x68DFDF27)
 I (..\Core\Inc\usart.h)(0x68D13849)
@@ -1268,49 +1268,49 @@ 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)(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/user_math.o -MD)
+F (..\User\component\user_math.c)(0x68E881BF)(-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)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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)(0x68DFE123)()
+F (..\User\component\user_math.h)(0x68E86971)()
-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)
+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)
 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)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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\device\device.h)(0x68E86971)
 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)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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)
 F (..\User\component\filter.h)(0x68DFDF27)()
-F (..\User\component\pid.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/pid.o -MD)
+F (..\User\component\pid.c)(0x68E86971)(-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/pid.o -MD)
-I (..\User\component\pid.h)(0x68DFDF27)
+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)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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)(0x68DFDF27)()
+F (..\User\component\pid.h)(0x68E86971)()
-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)
+F (..\User\module\shoot_control.c)(0x68E8858C)(-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)(0x68E79B9A)
+I (..\User\module\shoot_control.h)(0x68E882B7)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@@ -1342,15 +1342,15 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 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)(0x68DFDF27)
+I (..\User\component\pid.h)(0x68E86971)
 I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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)
 I (..\User\device\motor.h)(0x68DFDF0A)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
-I (..\User\bsp\can.h)(0x68DFDF27)
+I (..\User\bsp\can.h)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\User\bsp\bsp.h)(0x68DFDF27)
 I (..\User\bsp\mm.h)(0x68DFDF27)
@@ -1367,21 +1367,21 @@ 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)(0x68E79B9A)()
+F (..\User\module\shoot_control.h)(0x68E882B7)()
-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)
+F (..\User\module\config.c)(0x68E885C4)(-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)(0x68E79B9A)
+I (..\User\module\config.h)(0x68E869ED)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\User\component\pid.h)(0x68DFDF27)
+I (..\User\component\pid.h)(0x68E86971)
 I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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)
 I (..\User\device\motor.h)(0x68DFDF0A)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (..\User\device\motor_rm.h)(0x68DFDF0A)
-I (..\User\bsp\can.h)(0x68DFDF27)
+I (..\User\bsp\can.h)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -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)(0x68E79B9A)
+I (..\User\module\shoot_control.h)(0x68E882B7)
-F (..\User\module\config.h)(0x68E79B9A)()
+F (..\User\module\config.h)(0x68E869ED)()
 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)
@@ -1443,10 +1443,10 @@ 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)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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\device\device.h)(0x68E86971)
 F (..\User\task\rc.c)(0x68D3FA78)(-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/rc.o -MD)
 I (..\User\task\user_task.h)(0x68D3E4B9)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
@@ -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)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
-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)
+F (..\User\task\shoot_ctrl.c)(0x68E8725A)(-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)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E86971)
 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\device\device.h)(0x68E86971)
-I (..\User\module\shoot_control.h)(0x68E79B9A)
+I (..\User\module\shoot_control.h)(0x68E882B7)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@@ -1518,16 +1518,16 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
 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\component\pid.h)(0x68DFDF27)
+I (..\User\component\pid.h)(0x68E86971)
 I (..\User\component\filter.h)(0x68DFDF27)
 I (..\User\device\motor_rm.h)(0x68DFDF0A)
 I (..\User\device\motor.h)(0x68DFDF0A)
-I (..\User\bsp\can.h)(0x68DFDF27)
+I (..\User\bsp\can.h)(0x68E86971)
 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)(0x68E79B9A)
+I (..\User\module\config.h)(0x68E869ED)
 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)

MDK-ARM/shoot/test.d

@@ -0,0 +1,89 @@
+shoot/test.o: ..\User\module\test.cpp \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\iostream \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__config \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\ios \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\iosfwd \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\wchar.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\stddef.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__nullptr \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\wchar.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__locale \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__availability \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\string \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\string_view \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__string \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\algorithm \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\initializer_list \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cstddef \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\version \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\type_traits \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cstring \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\string.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\utility \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__tuple \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cstdint \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\stdint.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__debug \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\memory \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\typeinfo \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\exception \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__memory\base.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__undef_macros \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cstdlib \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\stdlib.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdlib.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\new \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\limits \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\iterator \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__functional_base \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\tuple \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\stdexcept \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__memory\allocator_traits.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__memory\pointer_traits.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__memory\utilities.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\functional \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\bit \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__bits \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cstdio \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\stdio.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdio.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cwchar \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cwctype \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cctype \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\ctype.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\ctype.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\wctype.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\wctype.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\mutex \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__mutex_base \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\chrono \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\ctime \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\time.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\ratio \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\climits \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\limits.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\limits.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\system_error \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__errc \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cerrno \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\errno.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\errno.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__threading_support \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\locale.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\locale.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\support\arm\locale_arm.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\clocale \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\support\xlocale\__posix_l_fallback.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\support\xlocale\__strtonum_fallback.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\streambuf \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\istream \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\ostream \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\locale \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\cstdarg \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdarg.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__bsd_locale_fallbacks.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\bitset \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\libcxx\__bit_reference

User/component/user_math.c

@@ -48,11 +48,11 @@ inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
 inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); }
 
 /**
- * \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值
+* \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
- * 例如编码器：相差1.5PI其实等于相差-0.5PI
+ *例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
  *
- * \param sp 被操作的值
+ * \param sp 设定值
- * \param fb 变化量
+ * \param fb 反馈值
  * \param range 被操作的值变化范围，正数时起效
  *
  * \return 函数运行结果
@@ -71,8 +71,8 @@ inline float CircleError(float sp, float fb, float range) {
 }
 
 /**
- * \brief 循环加法，用于没有负数值，并在一定范围内变化的值
+ * \brief 循环加法，适用于被操作的值在（x,y）范围内循环的情况，range应设定为y-x
- * 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI
+ * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
  *
  * \param origin 被操作的值
  * \param delta 变化量

User/module/config.c

@@ -20,6 +20,7 @@ Config_RobotParam_t robot_config = {
 
     .shoot_param = {
 		.fric_num=6,
+		.extra_deceleration_ratio=1.0f,
         .num_trig_tooth=8,
         .shot_freq=20.0f,
         .shot_burst_num=1,

User/module/shoot_control.c

@@ -145,14 +145,15 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
  * \param cmd 包含射击指令的结构体
  * 
  * \return 函数运行结果
- */float dpos;
+ */
 int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
 {
     if (s == NULL  || s->anglecalu.num_to_shoot == 0) {
         return SHOOT_ERR_NULL; 
     }
     float dt = s->now - s->anglecalu.time_last_shoot;
-    dpos = CircleError(s->target_variable.target_angle, s->feedback.trig.rotor_abs_angle, M_2PI);
+	float dpos;
+    dpos = CircleError(s->target_variable.target_angle, s->feedback.trig_agl, M_2PI);
     if(dt >= 1.0f/s->param->shot_freq && cmd->firecmd && dpos<=1.0f)
     {
         s->anglecalu.time_last_shoot=s->now;
@@ -196,13 +197,12 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
     s->feedback.fric_avgrpm=rpm_sum/fric_num;
 	/* 更新拨弹电机反馈 */
     MOTOR_RM_Update(&s->param->trig_motor_param);
-	MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param);
+	s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->trig_motor_param); 
-		if(motor_fed!=NULL)
+	s->feedback.trig_agl=s->param->extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle; 
-		{
+	while(s->feedback.trig_agl>M_2PI)s->feedback.trig_agl-=M_2PI;
-			s->feedback.trig=motor_fed->feedback;
+	while(s->feedback.trig_agl<-M_2PI)s->feedback.trig_agl+=M_2PI;
-		}   
+    s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
-    s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
+    s->feedback.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM;
-    s->feedback.trig_rpm = s->feedback.trig.rotor_speed / MAX_TRIG_RPM;
     if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f;
     if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f;
     
@@ -247,8 +247,8 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                     MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
                 }
                 
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,pos,s->feedback.trig.rotor_abs_angle,0,s->dt);
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,pos,s->feedback.trig_agl,0,s->dt);
-                s->output.outomg_trig  =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+                s->output.outomg_trig  	=PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
 
@@ -264,9 +264,11 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 
             case SHOOT_STATE_READY:/*准备射击*/  
 					for(int i=fric_num;i<fric_num/i;i++)
-					{	/* 计算跟随输出、计算修正输出 */ 
+					{	
+						uint8_t level=s->param->fric_motor_param->level-1;
+						/* 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[i]*s->target_variable.target_rpm/MAX_FRIC_RPM,
+														s->param->ratio_multilevel[level]*s->target_variable.target_rpm/MAX_FRIC_RPM,
 														s->feedback.fric_rpm[i],
 														0,
 														s->dt);
@@ -284,8 +286,16 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 						MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
 					}
                 /* 设置拨弹电机输出 */
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,pos,s->feedback.trig.rotor_abs_angle,0,s->dt);
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,
-                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+													pos,
+													s->feedback.trig_agl,
+													0,
+													s->dt);
+                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
+													s->output.outagl_trig,
+													s->feedback.trig_rpm,
+													0,
+													s->dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
                 
@@ -321,9 +331,19 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
             case SHOOT_STATE_FIRE:/*射击*/
 				Shoot_CaluTargetAngle(s, cmd);
                 for(int i=0;i<fric_num;i++)
-                {	/* 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->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
+					uint8_t level=s->param->fric_motor_param->level-1;
-                    s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
+					/* 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,
+														s->feedback.fric_rpm[i],
+														0,
+														s->dt);
+					s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],
+														s->feedback.fric_avgrpm,
+														s->feedback.fric_rpm[i],
+														0,
+														s->dt);
                     /* 按比例缩放并加和输出 */
                     ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
                     s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
@@ -333,8 +353,16 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                     MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
                 }
                 /* 设置拨弹电机输出 */
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig.rotor_abs_angle,0,s->dt);
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,
-                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+													s->target_variable.target_angle,
+													s->feedback.trig_agl,
+													0,
+													s->dt);
+                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
+													s->output.outagl_trig,
+													s->feedback.trig_rpm,
+													0,
+													s->dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
 
@@ -342,7 +370,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                 if(!cmd->firecmd)
                     {
                         s->running_state=SHOOT_STATE_READY;
-						pos=s->feedback.trig.rotor_abs_angle;
+						pos=s->feedback.trig_agl;
                     }
                 break;
 
@@ -378,7 +406,7 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
     switch (s->jamdetection.jamfsm_state) {
         case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */
             /* 检测电流是否超过阈值 */
-            if (s->feedback.trig.torque_current/1000.0f > s->param->jam_threshold) {
+            if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jam_threshold) {
                 s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
                 s->jamdetection.jam_last_time = s->now; /* 记录怀疑开始时间 */
             }
@@ -388,7 +416,7 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 
         case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */
             /* 检测电流是否低于阈值 */
-            if (s->feedback.trig.torque_current/1000.0f < s->param->jam_threshold) {
+            if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jam_threshold) {
                 s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
                 break;
             } 
@@ -406,7 +434,7 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
             /* 清空待发射弹 */
             s->anglecalu.num_to_shoot=0;
             /* 修改拨弹盘目标角度 */
-            s->target_variable.target_angle = s->feedback.trig.rotor_abs_angle-(0.5f*M_2PI/s->param->num_trig_tooth);
+            s->target_variable.target_angle = s->feedback.trig_agl-(0.5f*M_2PI/s->param->num_trig_tooth);
             /* 切换状态 */
             s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL;
             /* 记录处理开始时间 */
@@ -416,7 +444,7 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
             /* 正常运行射击状态机 */
             Shoot_RunningFSM(s, cmd);
             /* 给予0.3秒响应时间并检测电流小于20A，认为堵塞已解除 */
-            if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->feedback.trig.torque_current/1000.0f < 20.0f) { 
+            if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) { 
                 s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
             }
             break;
@@ -443,12 +471,11 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
     if (s == NULL || param == NULL || target_freq <= 0.0f) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-
     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((size_t)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((size_t)fric_num * sizeof(float));
-    s->feedback.fric_rpm      = (float *)            BSP_Malloc(fric_num * sizeof(float));
+    s->feedback.fric_rpm      = (float *)            BSP_Malloc((size_t)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));

User/module/shoot_control.h

@@ -59,8 +59,10 @@ typedef struct{
 
 typedef struct {
   MOTOR_Feedback_t *fric; /* 摩擦轮电机反馈 */
-  MOTOR_Feedback_t trig; /* 拨弹电机反馈 */
+  MOTOR_RM_t trig; /* 拨弹电机反馈 */
 
+  float trig_agl;	/*计算所有减速比后的拨弹盘的角度*/
+	
   float *fil_fric_rpm; /* 滤波后的摩擦轮转速 */
   float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
 
@@ -96,13 +98,14 @@ typedef struct {
 
 /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
 typedef struct {
-  uint8_t fric_num;       /* 摩擦轮数量 */
+  size_t fric_num;       			/* 摩擦轮数量 */
 
-  float num_trig_tooth;  /* 拨弹盘每圈弹丸数量 */
+  float extra_deceleration_ratio;	/*电机出轴到拨盘的额外减速比；没有写1*/
-  float shot_freq;        /* 射击频率，单位Hz */
+  size_t num_trig_tooth;  			/* 拨弹盘每圈弹丸数量 */
-  uint8_t shot_burst_num; /* 多发模式一次射击的数量 */
+  float shot_freq;        			/* 射击频率，单位Hz */
+  size_t shot_burst_num; 			/* 多发模式一次射击的数量 */
 
-  uint8_t  num_multilevel;      /* 多级发射级数 (默认每级摩擦轮的数量相等)*/
+  size_t  num_multilevel;      /* 多级发射级数 (默认每级摩擦轮的数量相等)*/
   float *ratio_multilevel; /* 多级发射各级速度比例 */
 
   bool  jam_enable; /* 是否启用卡弹检测 */  //还没加到逻辑里

User/module/test.cpp

@@ -0,0 +1,2 @@
+
+  

User/task/shoot_ctrl.c

@@ -6,7 +6,6 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
 #include "component/at9s_pro_cmd.h"
 #include "module/shoot_control.h"
 #include "module/config.h"