去掉了Config_ShootInit

This reverts commit f3a1791804.

.clangd

@@ -0,0 +1,11 @@
+CompileFlags:
+  Add:
+    - '-ferror-limit=0'
+    - '-Wno-implicit-int'
+  CompilationDatabase: build/Debug
+Diagnostics:
+  Suppress:
+    - unused-includes
+    - unknown_typename
+    - unknown_typename_suggest
+    - typename_requires_specqual

.gitignore

@@ -0,0 +1,3 @@
+build
+mx.scratch
+!.settings

.settings/bundles-lock.store.json

@@ -0,0 +1,147 @@
+{
+  "resolved": [
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "cmake",
+          "version": "4.0.1+st.3"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "13.3.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "13.3.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32",
+          "version": "13.3.1+st.9"
+        }
+      ]
+    },
+    {
+      "name": "gnu-tools-for-stm32-13_3_1-description",
+      "version": "1.0.1+st.1",
+      "platform": "all",
+      "selected_by": [
+        {
+          "name": "gnu-tools-for-stm32-13_3_1-description",
+          "version": ">=0.0.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.13.1+st.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.13.1+st.1"
+        }
+      ]
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "ninja",
+          "version": "1.13.1+st.1"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "darwin",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "19.1.2+st.3"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "x86_64-linux",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "19.1.2+st.3"
+        }
+      ]
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3",
+      "platform": "x86_64-windows",
+      "selected_by": [
+        {
+          "name": "st-arm-clangd",
+          "version": "19.1.2+st.3"
+        }
+      ]
+    }
+  ]
+}

.settings/bundles.store.json

@@ -0,0 +1,20 @@
+{
+  "bundles": [
+    {
+      "name": "cmake",
+      "version": "4.0.1+st.3"
+    },
+    {
+      "name": "ninja",
+      "version": "1.13.1+st.1"
+    },
+    {
+      "name": "gnu-tools-for-stm32",
+      "version": "13.3.1+st.9"
+    },
+    {
+      "name": "st-arm-clangd",
+      "version": "19.1.2+st.3"
+    }
+  ]
+}

.settings/ide.store.json

@@ -0,0 +1,6 @@
+{
+  "device": "STM32F407IGH6",
+  "core": "Cortex-M4",
+  "order": 0,
+  "toolchain": "GCC"
+}

.vscode/c_cpp_properties.json

@@ -0,0 +1,8 @@
+{
+    "configurations": [
+        {
+            "name": "STM32",
+            "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json"
+        }
+    ]
+}

.vscode/settings.json

@@ -1,6 +1,23 @@
 {
     "C_Cpp.errorSquiggles": "disabled",
     "files.associations": {
-        "pid.h": "c"
-    }
+        "pid.h": "c",
+        "main.h": "c",
+        "motor_rm.h": "c",
+        "filter.h": "c",
+        "user_math.h": "c"
+    },
+    "cmake.cmakePath": "cube-cmake",
+    "cmake.configureArgs": [
+        "-DCMAKE_COMMAND=cube-cmake"
+    ],
+    "cmake.preferredGenerators": [
+        "Ninja"
+    ],
+    "stm32cube-ide-clangd.path": "cube",
+    "stm32cube-ide-clangd.arguments": [
+        "starm-clangd",
+        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe",
+        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe"
+    ]
 }

CMakeLists.txt

@@ -0,0 +1,98 @@
+cmake_minimum_required(VERSION 3.22)
+
+#
+# This file is generated only once,
+# and is not re-generated if converter is called multiple times.
+#
+# User is free to modify the file as much as necessary
+#
+
+# Setup compiler settings
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_C_EXTENSIONS ON)
+
+
+# Define the build type
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Debug")
+endif()
+
+# Set the project name
+set(CMAKE_PROJECT_NAME shoot)
+
+# Enable compile command to ease indexing with e.g. clangd
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+
+# Core project settings
+project(${CMAKE_PROJECT_NAME})
+message("Build type: " ${CMAKE_BUILD_TYPE})
+
+# Enable CMake support for ASM and C languages
+enable_language(C ASM)
+
+# Create an executable object type
+add_executable(${CMAKE_PROJECT_NAME})
+
+# Add STM32CubeMX generated sources
+add_subdirectory(cmake/stm32cubemx)
+
+# Link directories setup
+target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined library search paths
+)
+
+# Add sources to executable
+target_sources(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user sources here
+    # User/bsp sources
+    User/bsp/can.c
+    User/bsp/dwt.c
+    User/bsp/mm.c
+    User/bsp/time.c
+    User/bsp/uart.c
+
+    # User/component sources
+    User/component/at9s_pro_cmd.c
+    User/component/filter.c
+    User/component/pid.c
+    User/component/user_math.c
+
+    # User/device sources
+    User/device/AT9S_Pro.c
+    User/device/motor.c
+    User/device/motor_rm.c
+    User/device/vofa.c
+
+    # User/module sources
+    User/module/config.c
+    User/module/shoot.c
+
+    # User/task sources
+    User/task/cmd.c
+    User/task/init.c
+    User/task/rc.c
+    User/task/shoot_ctrl.c
+    User/task/user_task.c
+)
+
+# Add include paths
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined include paths
+    User
+)
+
+# Add project symbols (macros)
+target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+    # Add user defined symbols
+)
+
+# Remove wrong libob.a library dependency when using cpp files
+list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
+
+# Add linked libraries
+target_link_libraries(${CMAKE_PROJECT_NAME}
+    stm32cubemx
+
+    # Add user defined libraries
+)

CMakePresets.json

@@ -0,0 +1,38 @@
+{
+    "version": 3,
+    "configurePresets": [
+        {
+            "name": "default",
+            "hidden": true,
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/build/${presetName}",
+		    "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake",
+            "cacheVariables": {
+            }
+        },
+        {
+            "name": "Debug",
+            "inherits": "default",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Debug"
+            }
+        },
+        {
+            "name": "Release",
+            "inherits": "default",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release"
+            }
+        }
+    ],
+    "buildPresets": [
+        {
+            "name": "Debug",
+            "configurePreset": "Debug"
+        },
+        {
+            "name": "Release",
+            "configurePreset": "Release"
+        }
+    ]
+}

Core/Inc/stm32f4xx_it.h

@@ -54,8 +54,10 @@ void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void SysTick_Handler(void);
 void DMA1_Stream1_IRQHandler(void);
+void CAN1_TX_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
+void CAN2_TX_IRQHandler(void);
 void CAN2_RX0_IRQHandler(void);
 void CAN2_RX1_IRQHandler(void);
 void DMA2_Stream6_IRQHandler(void);

Core/Src/can.c

@@ -122,6 +122,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* CAN1 interrupt Init */
+    HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
     HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
@@ -155,6 +157,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* CAN2 interrupt Init */
+    HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
@@ -186,6 +190,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
 
     /* CAN1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
@@ -211,6 +216,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
 
     /* CAN2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
   /* USER CODE BEGIN CAN2_MspDeInit 1 */

Core/Src/stm32f4xx_it.c

@@ -200,6 +200,20 @@ void DMA1_Stream1_IRQHandler(void)
   /* USER CODE END DMA1_Stream1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles CAN1 TX interrupts.
+  */
+void CAN1_TX_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN1_TX_IRQn 0 */
+
+  /* USER CODE END CAN1_TX_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan1);
+  /* USER CODE BEGIN CAN1_TX_IRQn 1 */
+
+  /* USER CODE END CAN1_TX_IRQn 1 */
+}
+
 /**
   * @brief This function handles CAN1 RX0 interrupts.
   */
@@ -228,6 +242,20 @@ void CAN1_RX1_IRQHandler(void)
   /* USER CODE END CAN1_RX1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles CAN2 TX interrupts.
+  */
+void CAN2_TX_IRQHandler(void)
+{
+  /* USER CODE BEGIN CAN2_TX_IRQn 0 */
+
+  /* USER CODE END CAN2_TX_IRQn 0 */
+  HAL_CAN_IRQHandler(&hcan2);
+  /* USER CODE BEGIN CAN2_TX_IRQn 1 */
+
+  /* USER CODE END CAN2_TX_IRQn 1 */
+}
+
 /**
   * @brief This function handles CAN2 RX0 interrupts.
   */

Core/Src/syscalls.c

@@ -0,0 +1,244 @@
+/**
+ ******************************************************************************
+ * @file      syscalls.c
+ * @author    Auto-generated by STM32CubeMX
+ * @brief     Minimal System calls file
+ *
+ *            For more information about which c-functions
+ *            need which of these lowlevel functions
+ *            please consult the Newlib or Picolibc libc-manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2020-2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#include <sys/stat.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+#include <signal.h>
+#include <time.h>
+#include <sys/time.h>
+#include <sys/times.h>
+
+
+/* Variables */
+extern int __io_putchar(int ch) __attribute__((weak));
+extern int __io_getchar(void) __attribute__((weak));
+
+
+char *__env[1] = { 0 };
+char **environ = __env;
+
+
+/* Functions */
+void initialise_monitor_handles()
+{
+}
+
+int _getpid(void)
+{
+  return 1;
+}
+
+int _kill(int pid, int sig)
+{
+  (void)pid;
+  (void)sig;
+  errno = EINVAL;
+  return -1;
+}
+
+void _exit (int status)
+{
+  _kill(status, -1);
+  while (1) {}    /* Make sure we hang here */
+}
+
+__attribute__((weak)) int _read(int file, char *ptr, int len)
+{
+  (void)file;
+  int DataIdx;
+
+  for (DataIdx = 0; DataIdx < len; DataIdx++)
+  {
+    *ptr++ = __io_getchar();
+  }
+
+  return len;
+}
+
+__attribute__((weak)) int _write(int file, char *ptr, int len)
+{
+  (void)file;
+  int DataIdx;
+
+  for (DataIdx = 0; DataIdx < len; DataIdx++)
+  {
+    __io_putchar(*ptr++);
+  }
+  return len;
+}
+
+int _close(int file)
+{
+  (void)file;
+  return -1;
+}
+
+
+int _fstat(int file, struct stat *st)
+{
+  (void)file;
+  st->st_mode = S_IFCHR;
+  return 0;
+}
+
+int _isatty(int file)
+{
+  (void)file;
+  return 1;
+}
+
+int _lseek(int file, int ptr, int dir)
+{
+  (void)file;
+  (void)ptr;
+  (void)dir;
+  return 0;
+}
+
+int _open(char *path, int flags, ...)
+{
+  (void)path;
+  (void)flags;
+  /* Pretend like we always fail */
+  return -1;
+}
+
+int _wait(int *status)
+{
+  (void)status;
+  errno = ECHILD;
+  return -1;
+}
+
+int _unlink(char *name)
+{
+  (void)name;
+  errno = ENOENT;
+  return -1;
+}
+
+clock_t _times(struct tms *buf)
+{
+  (void)buf;
+  return -1;
+}
+
+int _stat(const char *file, struct stat *st)
+{
+  (void)file;
+  st->st_mode = S_IFCHR;
+  return 0;
+}
+
+int _link(char *old, char *new)
+{
+  (void)old;
+  (void)new;
+  errno = EMLINK;
+  return -1;
+}
+
+int _fork(void)
+{
+  errno = EAGAIN;
+  return -1;
+}
+
+int _execve(char *name, char **argv, char **env)
+{
+  (void)name;
+  (void)argv;
+  (void)env;
+  errno = ENOMEM;
+  return -1;
+}
+
+// --- Picolibc Specific Section ---
+#if defined(__PICOLIBC__)
+
+/**
+ * @brief Picolibc helper function to output a character to a FILE stream.
+ *        This redirects the output to the low-level __io_putchar function.
+ * @param c Character to write.
+ * @param file FILE stream pointer (ignored).
+ * @retval int The character written.
+ */
+static int starm_putc(char c, FILE *file)
+{
+	(void) file;
+  __io_putchar(c);
+	return c;
+}
+
+/**
+ * @brief Picolibc helper function to input a character from a FILE stream.
+ *        This redirects the input from the low-level __io_getchar function.
+ * @param file FILE stream pointer (ignored).
+ * @retval int The character read, cast to an unsigned char then int.
+ */
+static int starm_getc(FILE *file)
+{
+	unsigned char c;
+	(void) file;
+  c = __io_getchar();
+	return c;
+}
+
+// Define and initialize the standard I/O streams for Picolibc.
+// FDEV_SETUP_STREAM connects the starm_putc and starm_getc helper functions to a FILE structure.
+// _FDEV_SETUP_RW indicates the stream is for reading and writing.
+static FILE __stdio = FDEV_SETUP_STREAM(starm_putc,
+					starm_getc,
+					NULL,
+					_FDEV_SETUP_RW);
+
+// Assign the standard stream pointers (stdin, stdout, stderr) to the initialized stream.
+// Picolibc uses these pointers for standard I/O operations (printf, scanf, etc.).
+FILE *const stdin = &__stdio;
+__strong_reference(stdin, stdout);
+__strong_reference(stdin, stderr);
+
+// Create strong aliases mapping standard C library function names (without underscore)
+// to the implemented system call stubs (with underscore). Picolibc uses these
+// standard names internally, so this linking is required.
+__strong_reference(_read, read);
+__strong_reference(_write, write);
+__strong_reference(_times, times);
+__strong_reference(_execve, execve);
+__strong_reference(_fork, fork);
+__strong_reference(_link, link);
+__strong_reference(_unlink, unlink);
+__strong_reference(_stat, stat);
+__strong_reference(_wait, wait);
+__strong_reference(_open, open);
+__strong_reference(_close, close);
+__strong_reference(_lseek, lseek);
+__strong_reference(_isatty, isatty);
+__strong_reference(_fstat, fstat);
+__strong_reference(_exit, exit);
+__strong_reference(_kill, kill);
+__strong_reference(_getpid, getpid);
+
+#endif //__PICOLIBC__

Core/Src/sysmem.c

@@ -0,0 +1,87 @@
+/**
+ ******************************************************************************
+ * @file      sysmem.c
+ * @author    Generated by STM32CubeMX
+ * @brief     System Memory calls file
+ *
+ *            For more information about which C functions
+ *            need which of these lowlevel functions
+ *            please consult the Newlib or Picolibc libc manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#include <errno.h>
+#include <stdint.h>
+#include <stddef.h>
+
+/**
+ * Pointer to the current high watermark of the heap usage
+ */
+static uint8_t *__sbrk_heap_end = NULL;
+
+/**
+ * @brief _sbrk() allocates memory to the newlib heap and is used by malloc
+ *        and others from the C library
+ *
+ * @verbatim
+ * ############################################################################
+ * #  .data  #  .bss  #       newlib heap       #          MSP stack          #
+ * #         #        #                         # Reserved by _Min_Stack_Size #
+ * ############################################################################
+ * ^-- RAM start      ^-- _end                             _estack, RAM end --^
+ * @endverbatim
+ *
+ * This implementation starts allocating at the '_end' linker symbol
+ * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
+ * The implementation considers '_estack' linker symbol to be RAM end
+ * NOTE: If the MSP stack, at any point during execution, grows larger than the
+ * reserved size, please increase the '_Min_Stack_Size'.
+ *
+ * @param incr Memory size
+ * @return Pointer to allocated memory
+ */
+void *_sbrk(ptrdiff_t incr)
+{
+  extern uint8_t _end; /* Symbol defined in the linker script */
+  extern uint8_t _estack; /* Symbol defined in the linker script */
+  extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
+  const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
+  const uint8_t *max_heap = (uint8_t *)stack_limit;
+  uint8_t *prev_heap_end;
+
+  /* Initialize heap end at first call */
+  if (NULL == __sbrk_heap_end)
+  {
+    __sbrk_heap_end = &_end;
+  }
+
+  /* Protect heap from growing into the reserved MSP stack */
+  if (__sbrk_heap_end + incr > max_heap)
+  {
+    errno = ENOMEM;
+    return (void *)-1;
+  }
+
+  prev_heap_end = __sbrk_heap_end;
+  __sbrk_heap_end += incr;
+
+  return (void *)prev_heap_end;
+}
+
+#if defined(__PICOLIBC__)
+  // Picolibc expects syscalls without the leading underscore.
+  // This creates a strong alias so that
+  // calls to `sbrk()` are resolved to our `_sbrk()` implementation.
+  __strong_reference(_sbrk, sbrk);
+#endif

MDK-ARM/shoot.uvoptx

@@ -153,40 +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>
-      <Breakpoint>
-        <Bp>
-          <Number>0</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>1</Number>
-          <Type>0</Type>
-          <LineNumber>130</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>
+      <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>

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:  09/30/2025
+Project File Date:  10/10/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
@@ -30,7 +30,7 @@ Build target 'shoot'
 Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'.
 compiling shoot_control.c...
 linking...
-Program Size: Code=32304 RO-data=660 RW-data=196 ZI-data=22068  
+Program Size: Code=32328 RO-data=660 RW-data=280 ZI-data=23744  
 FromELF: creating hex file...
 "shoot\shoot.axf" - 0 Error(s), 0 Warning(s).
 

MDK-ARM/shoot/shoot_control.d

@@ -1,4 +1,5 @@
 shoot/shoot_control.o: ..\User\module\shoot_control.c \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h \
   ..\User\module\shoot_control.h ..\Core\Inc\main.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
@@ -48,4 +49,4 @@ shoot/shoot_control.o: ..\User\module\shoot_control.c \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\time.h
+  ..\User\bsp\time.h

MDK-ARM/shoot/shoot_shoot.dep

@@ -1,6 +1,6 @@
 Dependencies for Project 'shoot', Target 'shoot': (DO NOT MODIFY !)
 CompilerVersion: 6160000::V6.16::ARMCLANG
-F (startup_stm32f407xx.s)(0x68D55132)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c

-gdwarf-3 -I ../Drivers/CMSIS/Include

-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

-Wa,armasm,--pd,"__UVISION_VERSION SETA 534" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"

-o shoot/startup_stm32f407xx.o)
+F (startup_stm32f407xx.s)(0x68DFE10E)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c

-gdwarf-3 -I ../Drivers/CMSIS/Include

-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

-Wa,armasm,--pd,"__UVISION_VERSION SETA 534" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"

-o shoot/startup_stm32f407xx.o)
 F (../Core/Src/main.c)(0x68D13FA3)(-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/main.o -MD)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -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)(0x68D13FA3)(-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)(0x68D55131)(-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)(0x68D55131)
+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)
@@ -259,10 +259,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 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\bsp\uart.h)(0x68D3FFDB)
+I (..\User\bsp\uart.h)(0x68DFDF27)
 I (..\Core\Inc\usart.h)(0x68D13849)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\bsp\bsp.h)(0x68D3FFDB)
+I (..\User\bsp\bsp.h)(0x68DFDF27)
 F (../Core/Src/stm32f4xx_hal_msp.c)(0x68D13FA3)(-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_hal_msp.o -MD)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -946,9 +946,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 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)(0x68D3FFDB)()
-F (..\User\bsp\can.c)(0x68D3FFDB)(-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)(0x68D3FFDB)
+F (..\User\bsp\bsp.h)(0x68DFDF27)()
+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)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -980,8 +980,8 @@ 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\bsp\bsp.h)(0x68D3FFDB)
-I (..\User\bsp\mm.h)(0x68D3FFDB)
+I (..\User\bsp\bsp.h)(0x68DFDF27)
+I (..\User\bsp\mm.h)(0x68DFDF27)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
@@ -995,9 +995,9 @@ 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)(0x68D3FFDB)()
-F (..\User\bsp\mm.c)(0x68D3FFDB)(-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)(0x68D3FFDB)
+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)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
@@ -1007,11 +1007,11 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
-F (..\User\bsp\mm.h)(0x68D3FFDB)()
-F (..\User\bsp\time.c)(0x68D3FFDB)(-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/time.o -MD)
-I (..\User\bsp\time.h)(0x68D3FFDB)
+F (..\User\bsp\mm.h)(0x68DFDF27)()
+F (..\User\bsp\time.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/time.o -MD)
+I (..\User\bsp\time.h)(0x68DFDF27)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\User\bsp\bsp.h)(0x68D3FFDB)
+I (..\User\bsp\bsp.h)(0x68DFDF27)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
@@ -1051,8 +1051,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-F (..\User\bsp\time.h)(0x68D3FFDB)()
-F (..\User\bsp\uart.c)(0x68D3FFDB)(-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/uart.o -MD)
+F (..\User\bsp\time.h)(0x68DFDF27)()
+F (..\User\bsp\uart.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/uart.o -MD)
 I (..\Core\Inc\usart.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -1084,12 +1084,12 @@ 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\bsp\uart.h)(0x68D3FFDB)
+I (..\User\bsp\uart.h)(0x68DFDF27)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\bsp\bsp.h)(0x68D3FFDB)
-F (..\User\bsp\uart.h)(0x68D3FFDB)()
-F (..\User\bsp\dwt.c)(0x68D3FFDB)(-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/dwt.o -MD)
-I (..\User\bsp\dwt.h)(0x68D3FFDB)
+I (..\User\bsp\bsp.h)(0x68DFDF27)
+F (..\User\bsp\uart.h)(0x68DFDF27)()
+F (..\User\bsp\dwt.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/dwt.o -MD)
+I (..\User\bsp\dwt.h)(0x68DFDF27)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@@ -1120,22 +1120,22 @@ 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 (..\User\bsp\dwt.h)(0x68D3FFDB)()
-F (..\User\device\device.h)(0x68D400B4)()
-F (..\User\device\motor.c)(0x68D3FFDB)(-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)(0x68D3FFBB)
-I (..\User\device\device.h)(0x68D400B4)
+F (..\User\bsp\dwt.h)(0x68DFDF27)()
+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)(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)(0x68D3FFBB)()
-F (..\User\device\motor_rm.c)(0x68DD3BCB)(-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)(0x68D3FFBB)
-I (..\User\device\motor.h)(0x68D3FFBB)
-I (..\User\device\device.h)(0x68D400B4)
+F (..\User\device\motor.h)(0x68DFDF0A)()
+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)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\User\bsp\can.h)(0x68D3FFDB)
+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)
@@ -1166,8 +1166,8 @@ 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\bsp\bsp.h)(0x68D3FFDB)
-I (..\User\bsp\mm.h)(0x68D3FFDB)
+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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
 I (..\Core\Inc\FreeRTOSConfig.h)(0x68D13FA3)
@@ -1180,16 +1180,16 @@ 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)
-I (..\User\bsp\time.h)(0x68D3FFDB)
-I (..\User\component\user_math.h)(0x68D3FFDB)
+I (..\User\bsp\time.h)(0x68DFDF27)
+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)(0x68D3FFBB)()
-F (..\User\device\vofa.c)(0x68D3FFDB)(-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/vofa.o -MD)
+F (..\User\device\motor_rm.h)(0x68DFDF0A)()
+F (..\User\device\vofa.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/vofa.o -MD)
 I (D:\cangming\ARM\ARMCLANG\include\stdio.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\device\vofa.h)(0x68D3FFBB)
-I (..\User\bsp\uart.h)(0x68D3FFDB)
+I (..\User\device\vofa.h)(0x68DFDF0A)
+I (..\User\bsp\uart.h)(0x68DFDF27)
 I (..\Core\Inc\usart.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -1222,21 +1222,21 @@ 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)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\bsp\bsp.h)(0x68D3FFDB)
-I (..\User\device\device.h)(0x68D400B4)
-F (..\User\device\vofa.h)(0x68D3FFBB)()
+I (..\User\bsp\bsp.h)(0x68DFDF27)
+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)(0x68D3FFDB)
+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)(0x68D400B4)
+I (..\User\device\device.h)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\bsp\uart.h)(0x68D3FFDB)
+I (..\User\bsp\uart.h)(0x68DFDF27)
 I (..\Core\Inc\usart.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -1266,122 +1266,122 @@ 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\bsp\bsp.h)(0x68D3FFDB)
+I (..\User\bsp\bsp.h)(0x68DFDF27)
 F (..\User\device\AT9S_Pro.h)(0x68CE6AC0)()
-F (..\User\component\user_math.c)(0x68DD1413)(-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)(0x68D3FFDB)
+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)(0x68D3FFDB)()
-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\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)
 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)(0x68D3FFDB)
+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)(0x68D400B4)
+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)(0x68D3FFDB)(-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)(0x68D3FFDB)
-I (..\User\component\user_math.h)(0x68D3FFDB)
+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)(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)
-F (..\User\component\filter.h)(0x68D3FFDB)()
-F (..\User\component\pid.c)(0x68DD0ECB)(-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)(0x68DD0ECB)
+F (..\User\component\filter.h)(0x68DFDF27)()
+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)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\User\component\filter.h)(0x68D3FFDB)
-I (..\User\component\user_math.h)(0x68D3FFDB)
+I (..\User\component\filter.h)(0x68DFDF27)
+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)(0x68DD0ECB)()
-F (..\User\module\shoot_control.c)(0x68DD4CBD)(-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)(0x68DD29DA)
-I (..\Core\Inc\main.h)(0x68D1384A)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
-I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F)
-I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F)
-I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F)
-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 (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\component\pid.h)(0x68DD0ECB)
-I (..\User\component\filter.h)(0x68D3FFDB)
-I (..\User\component\user_math.h)(0x68D3FFDB)
-I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (..\User\device\motor_rm.h)(0x68D3FFBB)
-I (..\User\device\motor.h)(0x68D3FFBB)
-I (..\User\device\device.h)(0x68D400B4)
-I (..\User\bsp\can.h)(0x68D3FFDB)
-I (..\Core\Inc\can.h)(0x68D13849)
-I (..\User\bsp\bsp.h)(0x68D3FFDB)
-I (..\User\bsp\mm.h)(0x68D3FFDB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
-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)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
-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)
+F (..\User\component\pid.h)(0x68E86971)()
+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\bsp\time.h)(0x68D3FFDB)
-F (..\User\module\shoot_control.h)(0x68DD29DA)()
-F (..\User\module\config.c)(0x68DD4776)(-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)
+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)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\User\component\pid.h)(0x68DD0ECB)
-I (..\User\component\filter.h)(0x68D3FFDB)
-I (..\User\component\user_math.h)(0x68D3FFDB)
+I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F)
+I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F)
+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 (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)(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)
+I (..\User\device\motor.h)(0x68DFDF0A)
+I (..\User\device\device.h)(0x68E86971)
+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 (..\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)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+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\bsp\time.h)(0x68DFDF27)
+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)(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)
-I (..\User\device\motor.h)(0x68D3FFBB)
-I (..\User\device\device.h)(0x68D400B4)
-I (..\User\device\motor_rm.h)(0x68D3FFBB)
-I (..\User\bsp\can.h)(0x68D3FFDB)
+I (..\User\device\motor.h)(0x68DFDF0A)
+I (..\User\device\device.h)(0x68E86971)
+I (..\User\device\motor_rm.h)(0x68DFDF0A)
+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)
@@ -1411,8 +1411,8 @@ 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\bsp\bsp.h)(0x68D3FFDB)
-I (..\User\bsp\mm.h)(0x68D3FFDB)
+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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
 I (..\Core\Inc\FreeRTOSConfig.h)(0x68D13FA3)
@@ -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)(0x68DD29DA)
-F (..\User\module\config.h)(0x68DABE70)()
+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)
@@ -1443,10 +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)(0x68D3FFDB)
+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)(0x68D400B4)
+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)(0x68D3FFDB)
+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)(0x68D400B4)
+I (..\User\device\device.h)(0x68E86971)
 I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
-F (..\User\task\shoot_ctrl.c)(0x68DC9C9B)(-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)(0x68D3FFDB)
+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)(0x68D400B4)
-I (..\User\module\shoot_control.h)(0x68DD29DA)
+I (..\User\device\device.h)(0x68E86971)
+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)
@@ -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)(0x68DD0ECB)
-I (..\User\component\filter.h)(0x68D3FFDB)
-I (..\User\device\motor_rm.h)(0x68D3FFBB)
-I (..\User\device\motor.h)(0x68D3FFBB)
-I (..\User\bsp\can.h)(0x68D3FFDB)
+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)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
-I (..\User\bsp\bsp.h)(0x68D3FFDB)
-I (..\User\bsp\mm.h)(0x68D3FFDB)
+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)(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)

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

Ozone/shoot.jdebug

@@ -32,7 +32,7 @@ void OnProjectLoad (void) {
   //
   // User settings
   //
-  Edit.SysVar (VAR_HSS_SPEED, "100 Hz");
+  Edit.SysVar (VAR_HSS_SPEED, "500 Hz");
   Project.SetOSPlugin ("FreeRTOSPlugin_Cortex-M");
   File.Open ("D:/CUBEMX/shoot/MDK-ARM/shoot/shoot.axf");
   Util.Error("==== 脚本已加载，路径请看标题栏", 0);

Ozone/shoot.jdebug.user

@@ -1,47 +1,56 @@
 
 
 
-Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:145:32, State=BP_STATE_DISABLED
-Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:148:22, State=BP_STATE_DISABLED
-Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:114, State=BP_STATE_DISABLED
-GraphedExpression="((shoot).output).outomg_trig", Color=#e56a6f, Show=0
-GraphedExpression="((shoot).output).outagl_trig", Color=#35792b, Show=0
-GraphedExpression="((shoot).target_variable).target_angle", Color=#769dda
-GraphedExpression="((shoot).feedback).trig_angle_cicle", Color=#b14f0d
-GraphedExpression="(((shoot).feedback).trig).torque_current", Color=#b3c38e, Show=0
-OpenDocument="motor.h", FilePath="D:/CUBEMX/shoot/User/device/motor.h", Line=0
-OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3652
-OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=66
-OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/shoot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1558
-OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=42
-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=854
-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="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=44
+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: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="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=120
+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="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="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="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=0, w=726, h=919, 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="Watched Data 1", DockArea=RIGHT, x=0, y=0, w=726, h=919, 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=1007, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="100 ms / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="927;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1328;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1344;0"
-OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=1007, h=536, 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"
+OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=2560, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
-TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;456]
-TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
-TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;286]
+TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;482]
+TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100]
 TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
 TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
 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="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((shoot).output).outomg_trig";" ((shoot).output).outagl_trig";" ((shoot).target_variable).target_angle";" ((shoot).feedback).trig_angle_cicle";" (((shoot).feedback).trig).torque_current"], ColWidths=[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;134;134;124;144;110;126;126]
+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).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="a", Window=Watched Data 1
+WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="a", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="shoot.feedback.fric[1]", RefreshRate=5, Window=Watched Data 1

STM32F407XX_FLASH.ld

@@ -0,0 +1,269 @@
+/*
+******************************************************************************
+**
+
+**  File        : LinkerScript.ld
+**
+**  Author		: STM32CubeMX
+**
+**  Abstract    : Linker script for STM32F407IGHx series
+**                1024Kbytes FLASH and 192Kbytes RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**
+**  Distribution: The file is distributed “as is,” without any warranty
+**                of any kind.
+**
+*****************************************************************************
+** @attention
+**
+** <h2><center>&copy; COPYRIGHT(c) 2025 STMicroelectronics</center></h2>
+**
+** Redistribution and use in source and binary forms, with or without modification,
+** are permitted provided that the following conditions are met:
+**   1. Redistributions of source code must retain the above copyright notice,
+**      this list of conditions and the following disclaimer.
+**   2. Redistributions in binary form must reproduce the above copyright notice,
+**      this list of conditions and the following disclaimer in the documentation
+**      and/or other materials provided with the distribution.
+**   3. Neither the name of STMicroelectronics nor the names of its contributors
+**      may be used to endorse or promote products derived from this software
+**      without specific prior written permission.
+**
+** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Specify the memory areas */
+MEMORY
+{
+RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 128K
+CCMRAM (xrw)      : ORIGIN = 0x10000000, LENGTH = 64K
+FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 1024K
+}
+
+/* Highest address of the user mode stack */
+_estack = ORIGIN(RAM) + LENGTH(RAM);    /* end of RAM */
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0x200;      /* required amount of heap  */
+_Min_Stack_Size = 0x400; /* required amount of stack */
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+
+  /* Constant data goes into FLASH */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM.extab (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(4);
+    *(.ARM.extab* .gnu.linkonce.armextab.*)
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(4);
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+    . = ALIGN(4);
+  } >FLASH
+
+  .preinit_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(4);
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+    . = ALIGN(4);
+  } >FLASH
+
+  .init_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(4);
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+    . = ALIGN(4);
+  } >FLASH
+
+  .fini_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(4);
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+    . = ALIGN(4);
+  } >FLASH
+
+  _siccmram = LOADADDR(.ccmram);
+
+  /* CCM-RAM section
+  *
+  * IMPORTANT NOTE!
+  * If initialized variables will be placed in this section,
+  * the startup code needs to be modified to copy the init-values.
+  */
+  .ccmram :
+  {
+    . = ALIGN(4);
+    _sccmram = .;       /* create a global symbol at ccmram start */
+    *(.ccmram)
+    *(.ccmram*)
+
+    . = ALIGN(4);
+    _eccmram = .;       /* create a global symbol at ccmram end */
+  } >CCMRAM AT> FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data :
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+    *(.RamFunc)        /* .RamFunc sections */
+    *(.RamFunc*)       /* .RamFunc* sections */
+
+    . = ALIGN(4);
+  } >RAM AT> FLASH
+
+ /* Initialized TLS data section */
+  .tdata : ALIGN(4)
+  {
+    *(.tdata .tdata.* .gnu.linkonce.td.*)
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+    PROVIDE(__data_end = .);
+    PROVIDE(__tdata_end = .);
+  } >RAM AT> FLASH
+
+  PROVIDE( __tdata_start = ADDR(.tdata) );
+  PROVIDE( __tdata_size = __tdata_end - __tdata_start );
+
+  PROVIDE( __data_start = ADDR(.data) );
+  PROVIDE( __data_size = __data_end - __data_start );
+
+  PROVIDE( __tdata_source = LOADADDR(.tdata) );
+  PROVIDE( __tdata_source_end = LOADADDR(.tdata) + SIZEOF(.tdata) );
+  PROVIDE( __tdata_source_size = __tdata_source_end - __tdata_source );
+
+  PROVIDE( __data_source = LOADADDR(.data) );
+  PROVIDE( __data_source_end = __tdata_source_end );
+  PROVIDE( __data_source_size = __data_source_end - __data_source );
+  /* Uninitialized data section */
+  .tbss (NOLOAD) : ALIGN(4)
+  {
+     /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.tbss .tbss.*)
+    . = ALIGN(4);
+    PROVIDE( __tbss_end = . );
+  } >RAM
+
+  PROVIDE( __tbss_start = ADDR(.tbss) );
+  PROVIDE( __tbss_size = __tbss_end - __tbss_start );
+  PROVIDE( __tbss_offset = ADDR(.tbss) - ADDR(.tdata) );
+
+  PROVIDE( __tls_base = __tdata_start );
+  PROVIDE( __tls_end = __tbss_end );
+  PROVIDE( __tls_size = __tls_end - __tls_base );
+  PROVIDE( __tls_align = MAX(ALIGNOF(.tdata), ALIGNOF(.tbss)) );
+  PROVIDE( __tls_size_align = (__tls_size + __tls_align - 1) & ~(__tls_align - 1) );
+  PROVIDE( __arm32_tls_tcb_offset = MAX(8, __tls_align) );
+  PROVIDE( __arm64_tls_tcb_offset = MAX(16, __tls_align) );
+
+  .bss (NOLOAD) : ALIGN(4)
+  {
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+      . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+      PROVIDE( __bss_end = .);
+  } >RAM
+  PROVIDE( __non_tls_bss_start = ADDR(.bss) );
+
+  PROVIDE( __bss_start = __tbss_start );
+  PROVIDE( __bss_size = __bss_end - __bss_start );
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack (NOLOAD) :
+  {
+    . = ALIGN(8);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+  } >RAM
+
+
+
+  /* Remove information from the standard libraries */
+  /DISCARD/ :
+  {
+    libc.a:* ( * )
+    libm.a:* ( * )
+    libgcc.a:* ( * )
+  }
+
+}

User/bsp/can.c

@@ -37,16 +37,21 @@ static osMutexId_t queue_mutex = NULL;
 static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
 static bool inited = false;
 static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
+static BSP_CAN_TxQueue_t tx_queues[BSP_CAN_NUM]; /* 每个CAN的发送队列 */
 
 /* Private function prototypes ---------------------------------------------- */
 static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
 static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
 static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
-static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
 static void BSP_CAN_RxFifo0Callback(void);
 static void BSP_CAN_RxFifo1Callback(void);
+static void BSP_CAN_TxCompleteCallback(void);
 static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
 static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
+static void BSP_CAN_TxQueueInit(BSP_CAN_t can);
+static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
+static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
+static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can);
 
 /* Private functions -------------------------------------------------------- */
 /* USER FUNCTION BEGIN */
@@ -121,29 +126,7 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
     return BSP_OK;
 }
 
-/**
- * @brief 删除指定CAN ID的消息队列
- * @note 内部函数，已包含互斥锁保护
- */
-static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id) {
-    if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
-        return BSP_ERR_TIMEOUT;
-    }
-    BSP_CAN_QueueNode_t **current = &queue_list;
-    while (*current != NULL) {
-        if ((*current)->can == can && (*current)->can_id == can_id) {
-            BSP_CAN_QueueNode_t *to_delete = *current;
-            *current = (*current)->next;
-            osMessageQueueDelete(to_delete->queue);
-            BSP_Free(to_delete);
-            osMutexRelease(queue_mutex);
-            return BSP_OK;
-        }
-        current = &(*current)->next;
-    }
-    osMutexRelease(queue_mutex);
-    return BSP_ERR;  // 未找到
-}
+
 /**
  * @brief 获取帧类型
  */
@@ -163,6 +146,106 @@ static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_
     return original_id;
 }
 
+/**
+ * @brief 初始化发送队列
+ */
+static void BSP_CAN_TxQueueInit(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return;
+    
+    tx_queues[can].head = 0;
+    tx_queues[can].tail = 0;
+}
+
+/**
+ * @brief 向发送队列添加消息（无锁）
+ */
+static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
+    if (can >= BSP_CAN_NUM || msg == NULL) return false;
+    
+    BSP_CAN_TxQueue_t *queue = &tx_queues[can];
+    uint32_t next_head = (queue->head + 1) % BSP_CAN_TX_QUEUE_SIZE;
+    
+    // 队列满
+    if (next_head == queue->tail) {
+        return false;
+    }
+    
+    // 复制消息
+    queue->buffer[queue->head] = *msg;
+    
+    // 更新头指针（原子操作）
+    queue->head = next_head;
+    
+    return true;
+}
+
+
+/**
+ * @brief 从发送队列取出消息（无锁）
+ */
+static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
+    if (can >= BSP_CAN_NUM || msg == NULL) return false;
+    
+    BSP_CAN_TxQueue_t *queue = &tx_queues[can];
+    
+    // 队列空
+    if (queue->head == queue->tail) {
+        return false;
+    }
+    
+    // 复制消息
+    *msg = queue->buffer[queue->tail];
+    
+    // 更新尾指针（原子操作）
+    queue->tail = (queue->tail + 1) % BSP_CAN_TX_QUEUE_SIZE;
+    
+    return true;
+}
+
+/**
+ * @brief 检查发送队列是否为空
+ */
+static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return true;
+    
+    return tx_queues[can].head == tx_queues[can].tail;
+}
+
+/**
+ * @brief 处理所有CAN实例的发送队列
+ */
+static void BSP_CAN_TxCompleteCallback(void) {
+    // 处理所有CAN实例的发送队列
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        BSP_CAN_t can = (BSP_CAN_t)i;
+        CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
+        if (hcan == NULL) continue;
+        
+        BSP_CAN_TxMessage_t msg;
+        uint32_t mailbox;
+        
+        // 尝试发送队列中的消息
+        while (!BSP_CAN_TxQueueIsEmpty(can)) {
+            // 检查是否有空闲邮箱
+            if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
+                break; // 没有空闲邮箱，等待下次中断
+            }
+            
+            // 从队列中取出消息
+            if (!BSP_CAN_TxQueuePop(can, &msg)) {
+                break;
+            }
+            
+            // 发送消息
+            if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) {
+                // 发送失败，消息已经从队列中移除，直接丢弃
+                break;
+            }
+        }
+    }
+}
+
+
 /**
  * @brief FIFO0接收处理函数
  */
@@ -347,7 +430,12 @@ int8_t BSP_CAN_Init(void) {
     
     // 清零回调函数数组
     memset(CAN_Callback, 0, sizeof(CAN_Callback));
-    
+        
+    // 初始化发送队列
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        BSP_CAN_TxQueueInit((BSP_CAN_t)i);
+    }
+
     // 初始化ID解析器为默认解析器
     id_parser = BSP_CAN_DefaultIdParser;
     
@@ -377,6 +465,9 @@ int8_t BSP_CAN_Init(void) {
 
     // 自动注册CAN1接收回调函数
     BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);
+    BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);
 
     // 激活CAN1中断
     HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | 
@@ -390,48 +481,19 @@ int8_t BSP_CAN_Init(void) {
 
     // 自动注册CAN2接收回调函数
     BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);
+    BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);
+    BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);
 
     // 激活CAN2中断
-    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);
+    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | 
+                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断
 
     
     inited = true;
     return BSP_OK;
 }
 
-int8_t BSP_CAN_DeInit(void) {
-    if (!inited) {
-        return BSP_ERR;
-    }
-    
-    // 删除所有队列
-    if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) == osOK) {
-        BSP_CAN_QueueNode_t *current = queue_list;
-        while (current != NULL) {
-            BSP_CAN_QueueNode_t *next = current->next;
-            osMessageQueueDelete(current->queue);
-            BSP_Free(current);
-            current = next;
-        }
-        queue_list = NULL;
-        osMutexRelease(queue_mutex);
-    }
-    
-    // 删除互斥锁
-    if (queue_mutex != NULL) {
-        osMutexDelete(queue_mutex);
-        queue_mutex = NULL;
-    }
-    
-    // 清零回调函数数组
-    memset(CAN_Callback, 0, sizeof(CAN_Callback));
-    
-    // 重置ID解析器
-    id_parser = NULL;
-    
-    inited = false;
-    return BSP_OK;
-}
 
 CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
     if (can >= BSP_CAN_NUM) {
@@ -487,44 +549,58 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
         return BSP_ERR_NULL;
     }
     
-    CAN_TxHeaderTypeDef header = {0};
-    uint32_t mailbox;
+    // 准备发送消息
+    BSP_CAN_TxMessage_t tx_msg = {0};
     
     switch (format) {
         case BSP_CAN_FORMAT_STD_DATA:
-            header.StdId = id;
-            header.IDE = CAN_ID_STD;
-            header.RTR = CAN_RTR_DATA;
+            tx_msg.header.StdId = id;
+            tx_msg.header.IDE = CAN_ID_STD;
+            tx_msg.header.RTR = CAN_RTR_DATA;
             break;
         case BSP_CAN_FORMAT_EXT_DATA:
-            header.ExtId = id;
-            header.IDE = CAN_ID_EXT;
-            header.RTR = CAN_RTR_DATA;
+            tx_msg.header.ExtId = id;
+            tx_msg.header.IDE = CAN_ID_EXT;
+            tx_msg.header.RTR = CAN_RTR_DATA;
             break;
         case BSP_CAN_FORMAT_STD_REMOTE:
-            header.StdId = id;
-            header.IDE = CAN_ID_STD;
-            header.RTR = CAN_RTR_REMOTE;
+            tx_msg.header.StdId = id;
+            tx_msg.header.IDE = CAN_ID_STD;
+            tx_msg.header.RTR = CAN_RTR_REMOTE;
             break;
         case BSP_CAN_FORMAT_EXT_REMOTE:
-            header.ExtId = id;
-            header.IDE = CAN_ID_EXT;
-            header.RTR = CAN_RTR_REMOTE;
+            tx_msg.header.ExtId = id;
+            tx_msg.header.IDE = CAN_ID_EXT;
+            tx_msg.header.RTR = CAN_RTR_REMOTE;
             break;
         default:
             return BSP_ERR;
     }
     
-    header.DLC = dlc;
-    header.TransmitGlobalTime = DISABLE;
+    tx_msg.header.DLC = dlc;
+    tx_msg.header.TransmitGlobalTime = DISABLE;
     
-    HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
-    
-    if (result != HAL_OK) {
-        return BSP_ERR;
+    // 复制数据
+    if (data != NULL && dlc > 0) {
+        memcpy(tx_msg.data, data, dlc);
     }
     
-    return BSP_OK;
+    // 尝试直接发送到邮箱
+    uint32_t mailbox;
+    if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) > 0) {
+        HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &tx_msg.header, tx_msg.data, &mailbox);
+        if (result == HAL_OK) {
+            return BSP_OK; // 发送成功
+        }
+    }
+    
+    // 邮箱满，尝试放入队列
+    if (BSP_CAN_TxQueuePush(can, &tx_msg)) {
+        return BSP_OK; // 成功放入队列
+    }
+    
+    // 队列也满，丢弃数据
+    return BSP_ERR; // 数据丢弃
 }
 
 int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
@@ -556,12 +632,6 @@ int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
     return BSP_CAN_CreateIdQueue(can, can_id, queue_size);
 }
 
-int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id) {
-    if (!inited) {
-        return BSP_ERR_INITED;
-    }
-    return BSP_CAN_DeleteIdQueue(can, can_id);
-}
 
 int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
     if (!inited) {
@@ -628,15 +698,6 @@ int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) {
     return BSP_OK;
 }
 
-int8_t BSP_CAN_UnregisterIdParser(void) {
-    if (!inited) {
-        return BSP_ERR_INITED;
-    }
-    
-    id_parser = BSP_CAN_DefaultIdParser;
-    return BSP_OK;
-}
-
 uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
     if (id_parser != NULL) {
         return id_parser(original_id, frame_type);
@@ -644,43 +705,4 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
     return BSP_CAN_DefaultIdParser(original_id, frame_type);
 }
 
-int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
-    if (!inited) {
-        return BSP_ERR_INITED;
-    }
-    if (can >= BSP_CAN_NUM) {
-        return BSP_ERR;
-    }
-    
-    CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
-    if (hcan == NULL) {
-        return BSP_ERR_NULL;
-    }
-    
-    uint32_t start_time = HAL_GetTick();
-    
-    // 如果超时时间为0，立即检查并返回
-    if (timeout == 0) {
-        uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
-        return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT;
-    }
-    
-    // 等待至少有一个邮箱空闲
-    while (true) {
-        uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
-        if (free_level > 0) {
-            return BSP_OK;
-        }
-        
-        // 检查超时
-        if (timeout != BSP_CAN_TIMEOUT_FOREVER) {
-            uint32_t elapsed = HAL_GetTick() - start_time;
-            if (elapsed >= timeout) {
-                return BSP_ERR_TIMEOUT;
-            }
-        }
-        
-        // 短暂延时，避免占用过多CPU
-        osDelay(1);
-    }
-}
+

User/bsp/can.h

@@ -21,6 +21,7 @@ extern "C" {
 #define BSP_CAN_DEFAULT_QUEUE_SIZE      10
 #define BSP_CAN_TIMEOUT_IMMEDIATE       0
 #define BSP_CAN_TIMEOUT_FOREVER         osWaitForever
+#define BSP_CAN_TX_QUEUE_SIZE           32    /* 发送队列大小 */
 
 /* USER DEFINE BEGIN */
 
@@ -102,6 +103,19 @@ typedef struct {
 /* ID解析回调函数类型 */
 typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
+/* CAN发送消息结构体 */
+typedef struct {
+    CAN_TxHeaderTypeDef header;         /* 发送头 */
+    uint8_t data[BSP_CAN_MAX_DLC];      /* 数据 */
+} BSP_CAN_TxMessage_t;
+
+/* 无锁环形队列结构体 */
+typedef struct {
+    BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE];  /* 缓冲区 */
+    volatile uint32_t head;             /* 队列头 */
+    volatile uint32_t tail;             /* 队列尾 */
+} BSP_CAN_TxQueue_t;
+
 /* USER STRUCT BEGIN */
 
 /* USER STRUCT END */
@@ -114,12 +128,6 @@ typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t
  */
 int8_t BSP_CAN_Init(void);
 
-/**
- * @brief 反初始化 CAN 模块
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_DeInit(void);
-
 /**
  * @brief 获取 CAN 句柄
  * @param can CAN 枚举
@@ -173,13 +181,20 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
  */
 int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
 
+
 /**
- * @brief 等待CAN发送邮箱空闲
+ * @brief 获取发送队列中待发送消息数量
+ * @param can CAN 枚举
+ * @return 队列中消息数量，-1表示错误
+ */
+int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can);
+
+/**
+ * @brief 清空发送队列
  * @param can CAN 枚举
- * @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
  * @return BSP_OK 成功，其他值失败
  */
-int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
+int8_t BSP_CAN_FlushTxQueue(BSP_CAN_t can);
 
 /**
  * @brief 注册 CAN ID 接收队列
@@ -190,13 +205,7 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
  */
 int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
 
-/**
- * @brief 注销 CAN ID 接收队列
- * @param can CAN 枚举
- * @param can_id 解析后的CAN ID
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id);
+
 
 /**
  * @brief 获取 CAN 消息
@@ -231,11 +240,6 @@ int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id);
  */
 int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser);
 
-/**
- * @brief 注销ID解析器
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_UnregisterIdParser(void);
 
 /**
  * @brief 解析CAN ID

User/component/pid.c

@@ -96,12 +96,11 @@ float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt) {
 
   /* 计算PD输出 */
   float output = (k_err * pid->param->p) - (d * pid->param->d);
-	pid->last.p_out = k_err * pid->param->p;
-  pid->last.d_out = d * pid->param->d;
+
   /* 计算I项 */
   const float i = pid->i + (k_err * dt);
   const float i_out = i * pid->param->i;
-  pid->last.i_out = i_out;
+  
   if (pid->param->i > SIGMA) {
     /* 检查是否饱和 */
     if (isfinite(i)) {

User/component/pid.h

@@ -52,9 +52,6 @@ typedef struct {
   struct {
     float err;  /* 上次误差 */
     float k_fb; /* 上次反馈值 */
-	float p_out;
-	float i_out;
-	float d_out;
     float out;  /* 上次输出 */
   } last;
 

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
- * 例如编码器：相差1.5PI其实等于相差-0.5PI
+* \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：（-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 fb 变化量
+ * \param sp 设定值
+ * \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
- * 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI
+ * \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：（-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
@@ -119,6 +119,20 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
   return 60.0f * (float)bullet_speed / (M_2PI * fric_radius);
 }
 
+/**
+ * @brief 按比例缩放
+ *
+ * @param a 传入值1
+ * @param b 传入值2
+ */
+inline void ScaleSumTo1(float *a, float *b) {
+    float sum = *a + *b;
+    if (sum > 1.0f) {
+        float scale = 1.0f / sum;
+        *a *= scale;
+        *b *= scale;
+    }
+}
 // /**
 //  * @brief 断言失败处理
 //  *

User/component/user_math.h

@@ -31,7 +31,7 @@ extern "C" {
 
 #ifndef __packed
   #define __packed __attribute__((__packed__))
-#endif /* __packed */
+	#endif /* __packed */
 
 #define max(a, b)           \
   ({                        \
@@ -120,6 +120,13 @@ void CircleReverse(float *origin);
  */
 float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
 
+/**
+ * @brief 按比例缩放
+ *
+ * @param a 传入值1
+ * @param b 传入值2
+ */
+void ScaleSumTo1(float *a, float *b);
 #ifdef __cplusplus
 }
 #endif

User/device/device.h

@@ -27,7 +27,6 @@ extern "C" {
 
 /* USER SIGNALS BEGIN */
 #define SIGNAL_AT9S_RAW_REDY (1u << 7)
-
 /* USER SIGNALS END */
 /*设备层通用Header*/
 typedef struct {

User/device/motor_rm.c

@@ -139,14 +139,13 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
         motor->feedback.rotor_speed = rotor_speed;
         motor->feedback.torque_current = torque_current;
     }
-    while (motor->feedback.rotor_abs_angle < 0) {
+	while (motor->feedback.rotor_abs_angle < 0) {
             motor->feedback.rotor_abs_angle += M_2PI;
         }
-        while (motor->feedback.rotor_abs_angle >= M_2PI) {
+    while (motor->feedback.rotor_abs_angle >= M_2PI) {
             motor->feedback.rotor_abs_angle -= M_2PI;
         }
     if (motor->motor.reverse) {
-        
         motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle;
         motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
         motor->feedback.torque_current = -motor->feedback.torque_current;
@@ -292,7 +291,6 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
         default:
             return DEVICE_ERR;
     }
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 

User/module/config.c

@@ -15,72 +15,146 @@
 
 // 机器人参数配置
 Config_RobotParam_t robot_config = {
-
-    
-
-    .shoot_param = {
-        .trig_step_angle=M_2PI/8,
-        .shot_delay_time=0.2f,
-        .shot_burst_num=4,
-        
-        .fric_motor_param[0] = {
-            .can = BSP_CAN_2,
-            .id = 0x201,
-            .module = MOTOR_M3508,
-            .reverse = false,
-            .gear=false,
-        },
-        .fric_motor_param[1] = {
-            .can = BSP_CAN_2,
-            .id = 0x202,
-            .module = MOTOR_M3508,
-            .reverse = true,
-            .gear=false,
+.shoot_param = {
+		.proj=SHOOT_PROJECTILE_42MM,
+		.fric_num=6,
+		.extra_deceleration_ratio=1.0f,
+        .num_trig_tooth=5,
+        .shot_freq=1.0f,
+        .shot_burst_num=3,
+		.num_multilevel=2,
+        .ratio_multilevel = {0.8f, 1.0f},
+        .fric_motor_param = {
+            {
+                .param = {
+                    .can = BSP_CAN_2,
+                    .id = 0x201,
+                    .module = MOTOR_M3508,
+                    .reverse = false,
+                    .gear = false,
+                },
+                .level=1,
+            },
+            {
+                .param = {
+                    .can = BSP_CAN_2,
+                    .id = 0x202,
+                    .module = MOTOR_M3508,
+                    .reverse = true,
+                    .gear = false,
+                },
+                .level=1,
+            },
+            {
+                .param = {
+                    .can = BSP_CAN_2,
+                    .id = 0x203,
+                    .module = MOTOR_M3508,
+                    .reverse = true,
+                    .gear = false,
+                },
+                .level=1,
+            },
+            {
+                .param = {
+                    .can = BSP_CAN_2,
+                    .id = 0x204,
+                    .module = MOTOR_M3508,
+                    .reverse = false,
+                    .gear = false,
+                },
+                .level=2,
+            },
+            {
+                .param = {
+                    .can = BSP_CAN_2,
+                    .id = 0x205,
+                    .module = MOTOR_M3508,
+                    .reverse = true,
+                    .gear = false,
+                },
+                .level=2,
+            },
+            {
+                .param = {
+                    .can = BSP_CAN_2,
+                    .id = 0x206,
+                    .module = MOTOR_M3508,
+                    .reverse = false,
+                    .gear = false,
+                },
+                .level=2,
+            }
         },
+
+        .jam_enable=true,
+        .jam_threshold=240.0f, 
+        .jam_suspected_time=0.5f, 
         .trig_motor_param = {
-            .can = BSP_CAN_2,
-            .id = 0x203,
-            .module = MOTOR_M2006,
+            .can = BSP_CAN_1,
+            .id = 0x207,
+            .module = MOTOR_M3508,
             .reverse = false,
             .gear=true,
         },
+        
         .fric_follow = {
             .k=1.0f,
             .p=1.8f,
-            .i=0.0f,
-            .d=0.0f,
-            .i_limit=0.0f,
+            .i=0.1f,
+            .d=0.05f,
+            .i_limit=0.1f,
             .out_limit=0.9f, 
             .d_cutoff_freq=30.0f,
             .range=-1.0f,
         },
         .fric_err = {
-            .k=1.0f,
+            .k=0.0f,
             .p=4.0f,
             .i=0.4f,
             .d=0.04f,
             .i_limit=0.25f,
-            .out_limit=0.25f, 
+            .out_limit=0.01f, 
             .d_cutoff_freq=40.0f,
             .range=-1.0f, 
         },
-        .trig = {
-            .k=1.0f,
+        .trig_2006 = {
+            .k=2.5f,
             .p=1.0f,
             .i=0.1f,
-            .d=0.05f,
-            .i_limit=0.8f,
-            .out_limit=0.5f,
+            .d=0.04f,
+            .i_limit=0.4f,
+            .out_limit=1.0f,
             .d_cutoff_freq=-1.0f,
             .range=M_2PI,
         },
-        .trig_omg = {
+        .trig_omg_2006 = {
             .k=1.0f,
             .p=1.5f,
             .i=0.3f,
             .d=0.5f,
             .i_limit=0.2f,
-            .out_limit=0.9f,
+            .out_limit=1.0f,
+            .d_cutoff_freq=-1.0f,
+            .range=-1.0f,
+        },
+        .trig_3508 = {
+            .k=0.5f,
+            .p=1.8f,
+            .i=0.3f,
+            .d=0.1f,
+            .i_limit=0.15f,
+            .out_limit=1.0f,
+            .d_cutoff_freq=-1.0f,
+            .range=M_2PI,
+        },
+        .trig_omg_3508 = {
+            .k=1.0f,
+            .p=1.0f,
+            .i=0.0f,
+            .d=0.0f,
+            .i_limit=0.0f,
+            .out_limit=1.0f,
             .d_cutoff_freq=-1.0f,
             .range=-1.0f,
         },
@@ -95,6 +169,7 @@ Config_RobotParam_t robot_config = {
     }
 };
 
+
 /* Private function prototypes ---------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
 

User/module/config.h

@@ -12,7 +12,7 @@ extern "C" {
 #include "component/pid.h"
 #include "device/motor.h"
 #include "device/motor_rm.h"
-#include "module/shoot_control.h"
+#include "module/shoot.h"
 
 typedef struct {
     Shoot_Params_t shoot_param;
@@ -25,7 +25,6 @@ typedef struct {
  * @return 机器人配置参数指针
  */
 Config_RobotParam_t* Config_GetRobotParam(void);
-
 #ifdef __cplusplus
 }
 #endif

User/module/shoot.c

@@ -0,0 +1,590 @@
+/*
+ * far♂蛇模块
+ */
+ 
+/********************************* 使用示例 **********************************/
+/*1.配置config参数以及Config_ShootInit函数参数*/
+/*2.
+COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
+Shoot_t shoot;
+Shoot_CMD_t shoot_cmd;
+
+void Task(void *argument) {
+
+	Config_ShootInit();
+	Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
+	Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);					关于模式选择：初始化一个模式
+	
+  while (1) {
+  
+	  shoot_cmd.online	=shoot_ctrl_cmd_rc.online;
+	  shoot_cmd.ready	=shoot_ctrl_cmd_rc.shoot.ready;
+	  shoot_cmd.firecmd	=shoot_ctrl_cmd_rc.shoot.firecmd;
+	  
+	  shoot.mode		=shoot_ctrl_cmd_rc.mode;			    关于模式选择：或者用遥控器随时切换模式，二选一
+	  
+	  Chassis_UpdateFeedback(&shoot);
+	  Shoot_Control(&shoot,&shoot_cmd);
+  }
+}
+*******************************************************************************/
+
+
+/* Includes ----------------------------------------------------------------- */
+#include <string.h>
+#include "shoot.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
+#include "component/filter.h"
+#include "component/user_math.h"
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+static bool last_firecmd;
+/* Private function  -------------------------------------------------------- */
+
+/**
+ * \brief 设置射击模式
+ *
+ * \param s 包含射击数据的结构体
+ * \param mode 要设置的模式
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+    s->mode=mode;
+	s->anglecalu.num_to_shoot=0;
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 重置PID积分
+ *
+ * \param s 包含射击数据的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_ResetIntegral(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+    uint8_t fric_num = s->param->fric_num;
+    for(int i=0;i<fric_num;i++)
+    {	
+        PID_ResetIntegral(&s->pid.fric_follow[i]);
+        PID_ResetIntegral(&s->pid.fric_err[i]);
+    }
+    PID_ResetIntegral(&s->pid.trig);
+    PID_ResetIntegral(&s->pid.trig_omg);
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 重置计算模块
+ *
+ * \param s 包含射击数据的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_ResetCalu(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+    uint8_t fric_num = s->param->fric_num;
+    for(int i=0;i<fric_num;i++)
+    {	
+        PID_Reset(&s->pid.fric_follow[i]);
+        PID_Reset(&s->pid.fric_err[i]);
+        LowPassFilter2p_Reset(&s->filter.fric.in[i], 0.0f);
+        LowPassFilter2p_Reset(&s->filter.fric.out[i], 0.0f);
+    }
+    PID_Reset(&s->pid.trig);
+    PID_Reset(&s->pid.trig_omg);
+    LowPassFilter2p_Reset(&s->filter.trig.in, 0.0f);
+    LowPassFilter2p_Reset(&s->filter.trig.out, 0.0f);
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 重置输出
+ *
+ * \param s 包含射击数据的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_ResetOutput(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+    uint8_t fric_num = s->param->fric_num;
+    for(int i=0;i<fric_num;i++)
+    {	
+        s->output.out_follow[i]=0.0f;
+        s->output.out_err[i]=0.0f;
+        s->output.out_fric[i]=0.0f;
+        s->output.lpfout_fric[i]=0.0f;
+    }
+	s->output.outagl_trig=0.0f;
+	s->output.outomg_trig=0.0f;
+    s->output.outlpf_trig=0.0f;
+    return SHOOT_OK;
+}
+//float last_angle=0.0f;
+//float speed=0.0f;
+//int8_t Shoot_CalufeedbackRPM(Shoot_t *s)
+//{
+//    if (s == NULL) {
+//        return SHOOT_ERR_NULL; // 参数错误
+//    }
+////    static 
+//    float err;
+//    err=CircleError(s->feedback.fric[0].rotor_abs_angle,last_angle,M_2PI);
+//    speed=err/s->dt/M_2PI*60.0f;
+//    last_angle=s->feedback.fric->rotor_abs_angle;
+
+
+//    return SHOOT_OK;
+//}
+
+/**
+ * \brief 根据目标弹丸速度计算摩擦轮目标转速
+ *
+ * \param s 包含射击数据的结构体
+ * \param target_speed 目标弹丸速度，单位m/s
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+	switch(s->param->proj)
+	{
+		case SHOOT_PROJECTILE_17MM:
+		s->target_variable.target_rpm=5000.0f;
+		break;
+		case SHOOT_PROJECTILE_42MM:
+		s->target_variable.target_rpm=3000.0f;
+		break;	
+	}
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
+ *
+ * \param s 包含发射数据的结构体
+ * \param cmd 包含射击指令的结构体
+ * 
+ * \return 函数运行结果
+ */
+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;
+	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;
+        CircleAdd(&s->target_variable.target_angle, M_2PI/s->param->num_trig_tooth, M_2PI);
+		s->anglecalu.num_to_shoot--;
+    }
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 更新射击模块的电机反馈信息
+ *
+ * \param s 包含射击数据的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_UpdateFeedback(Shoot_t *s)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+    float rpm_sum=0.0f;
+    uint8_t fric_num = s->param->fric_num;
+    for(int i = 0; i < fric_num; i++) {
+        /* 更新摩擦轮电机反馈 */
+        MOTOR_RM_Update(&s->param->fric_motor_param[i].param);
+		MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i].param);
+		if(motor_fed!=NULL)
+		{
+			s->feedback.fric[i]=motor_fed->motor.feedback;
+		}
+        /* 滤波摩擦轮电机转速反馈 */
+        s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
+        /* 归一化摩擦轮电机转速反馈 */
+        s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
+        if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f;
+        if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f;
+        /* 计算平均摩擦轮电机转速反馈 */
+        rpm_sum+=s->feedback.fric_rpm[i];
+    }
+    s->feedback.fric_avgrpm=rpm_sum/fric_num;
+	/* 更新拨弹电机反馈 */
+    MOTOR_RM_Update(&s->param->trig_motor_param);
+	s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->trig_motor_param); 
+	s->feedback.trig_agl=s->param->extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle; 
+	while(s->feedback.trig_agl<0)s->feedback.trig_agl+=M_2PI;
+	while(s->feedback.trig_agl>=M_2PI)s->feedback.trig_agl-=M_2PI;
+	if (s->feedback.trig.motor.reverse) {
+        s->feedback.trig_agl = M_2PI - s->feedback.trig_agl;
+	}
+    s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
+    s->feedback.trig_rpm = s->feedback.trig.feedback.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;
+    
+    s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed;
+	return SHOOT_OK;
+}
+
+/**
+ * \brief 射击模块运行状态机
+ *
+ * \param s 包含射击数据的结构体
+ * \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) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+    uint8_t fric_num = s->param->fric_num;
+    if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
+        for(int i=0;i<fric_num;i++)
+        {	
+            MOTOR_RM_Relax(&s->param->fric_motor_param[i].param);
+        }
+        MOTOR_RM_Relax(&s->param->trig_motor_param);
+    }
+    else{
+		static float pos;
+        switch(s->running_state)
+        {
+            case SHOOT_STATE_IDLE:/*熄火等待*/
+                for(int i=0;i<fric_num;i++)
+                {	/* 转速归零 */
+                    PID_ResetIntegral(&s->pid.fric_follow[i]);
+                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
+                    s->output.out_fric[i]=s->output.out_follow[i];
+                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
+                    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_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);
+
+                /* 检查状态机 */
+                if(cmd->ready)
+                    {   
+                        Shoot_ResetCalu(s);
+                        Shoot_ResetIntegral(s);
+                        Shoot_ResetOutput(s);
+                        s->running_state=SHOOT_STATE_READY;
+                    }
+                break;
+
+            case SHOOT_STATE_READY:/*准备射击*/
+					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/MAX_FRIC_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],
+														target_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];
+						/* 滤波 */
+						s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
+						/* 设置输出 */
+						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_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);
+                
+                /* 检查状态机 */
+                if(!cmd->ready)
+                    {
+                        Shoot_ResetCalu(s);
+                        Shoot_ResetOutput(s);
+                        s->running_state=SHOOT_STATE_IDLE;
+                    }
+                else if(last_firecmd==false&&cmd->firecmd==true)
+                    {
+                        s->running_state=SHOOT_STATE_FIRE;
+                        /* 根据模式设置待发射弹数 */
+                        switch(s->mode)
+                        {
+                            case SHOOT_MODE_SINGLE:
+                                s->anglecalu.num_to_shoot=1;
+                                break;
+                            case SHOOT_MODE_BURST:
+                                s->anglecalu.num_to_shoot=s->param->shot_burst_num;
+                                break;
+                            case SHOOT_MODE_CONTINUE:
+                                s->anglecalu.num_to_shoot=6666;
+                                break;
+                            default:
+                                s->anglecalu.num_to_shoot=0;
+                                break;
+                        }
+                    }
+                break;
+
+            case SHOOT_STATE_FIRE:/*射击*/
+				Shoot_CaluTargetAngle(s, 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/MAX_FRIC_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],
+														target_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];
+                    /* 滤波 */
+                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
+                    /* 设置输出 */
+                    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_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);
+
+                /* 检查状态机 */
+                if(!cmd->firecmd)
+                    {
+                        s->running_state=SHOOT_STATE_READY;
+						pos=s->feedback.trig_agl;
+                    }
+                break;
+
+            default:
+                s->running_state=SHOOT_STATE_IDLE;
+                break;
+        }
+    }
+    /* 输出 */
+	MOTOR_RM_Ctrl(&s->param->fric_motor_param[0].param);
+    if(s->param->fric_num>4)
+    {
+        MOTOR_RM_Ctrl(&s->param->fric_motor_param[4].param);
+    }
+    MOTOR_RM_Ctrl(&s->param->trig_motor_param);
+    last_firecmd = cmd->firecmd;
+    return SHOOT_OK;
+}
+
+/**
+ * \brief 射击模块堵塞检测状态机
+ *
+ * \param s 包含射击数据的结构体
+ * \param cmd 包含射击指令的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+    if(s->param->jam_enable){
+        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.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 */
+                }
+                /* 正常运行射击状态机 */
+                Shoot_RunningFSM(s, cmd);
+                break;
+
+            case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */
+                /* 检测电流是否低于阈值 */
+                if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jam_threshold) {
+                    s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+                    break;
+                } 
+                /* 检测高阈值状态是否超过设定怀疑时间 */
+                else if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) {
+                    s->jamdetection.jam_detected =true;
+	    			s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED;
+                    break;
+                }
+                /* 正常运行射击状态机 */
+                Shoot_RunningFSM(s, cmd);
+                break;
+
+            case SHOOT_JAMFSM_STATE_CONFIRMED:/* 确认堵塞 */
+                /* 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_agl-(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 */
+                s->jamdetection.jam_last_time = s->now; 
+
+            case SHOOT_JAMFSM_STATE_DEAL:/* 堵塞处理 */
+                /* 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.feedback.torque_current/1000.0f < 20.0f) { 
+                    s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+                }
+                break;
+
+            default:
+                s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+                break;
+        }
+    }
+    else{   
+        s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+        s->jamdetection.jam_detected = false;
+        Shoot_RunningFSM(s, cmd);
+    }
+
+    return SHOOT_OK;
+}
+/* Exported functions ------------------------------------------------------- */
+/**
+ * \brief 初始化射击模块
+ *
+ * \param s 包含射击数据的结构体
+ * \param param 包含射击参数的结构体
+ * \param target_freq 控制循环频率，单位Hz
+ *
+ * \return 函数运行结果
+ */
+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;
+
+    BSP_CAN_Init();
+    /* 初始化摩擦轮PID和滤波器 */
+    for(int i=0;i<fric_num;i++){
+	MOTOR_RM_Register(&param->fric_motor_param[i].param);
+    PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
+	PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,&param->fric_err);
+    LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
+    LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
+    }
+    /* 初始化拨弹PID和滤波器 */
+	MOTOR_RM_Register(&param->trig_motor_param);
+    switch(s->param->trig_motor_param.module)
+    {
+        case MOTOR_M3508:
+            PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig_3508);
+            PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg_3508);
+            break;
+        case MOTOR_M2006:
+            PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig_2006);
+            PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg_2006);
+            break;
+        default:
+            return SHOOT_ERR_MOTOR;
+        break;
+    }
+    LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
+    LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
+
+	/* 归零变量 */
+    memset(&s->anglecalu,0,sizeof(s->anglecalu));
+	return SHOOT_OK;
+}
+
+/**
+ * \brief 射击模块控制主函数
+ *
+ * \param s 包含射击数据的结构体
+ * \param cmd 包含射击指令的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
+{
+    if (s == NULL || cmd == NULL) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+    s->now 		  	=BSP_TIME_Get_us() / 1000000.0f;
+    s->dt 			=(BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
+    s->lask_wakeup	=BSP_TIME_Get_us();
+	s->online 		=cmd->online;
+    Shoot_CaluTargetRPM(s,233);
+    Shoot_JamDetectionFSM(s, cmd);
+//    Shoot_CalufeedbackRPM(s);
+    return SHOOT_OK;
+}
+
+
+
+
+
+
+
+

User/module/shoot.h

@@ -0,0 +1,246 @@
+/*
+ * far♂蛇模块
+ */
+
+#pragma once
+
+#include <stddef.h>
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "main.h"
+#include <stdbool.h>
+#include "component/pid.h"
+#include "device/motor_rm.h"
+
+
+/* Exported constants ------------------------------------------------------- */
+#define SHOOT_OK (0)        /* 运行正常 */
+#define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */    
+#define SHOOT_ERR_ERR (-2)  /* 运行时发现了其他错误 */
+#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的Mode */
+#define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */
+#define SHOOT_ERR_MALLOC (-5) /* 内存分配失败 */
+
+#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
+
+#define MAX_FRIC_NUM 6
+#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+    SHOOT_JAMFSM_STATE_NORMAL = 0,      /* 常规状态 */
+    SHOOT_JAMFSM_STATE_SUSPECTED,       /* 怀疑状态 */
+    SHOOT_JAMFSM_STATE_CONFIRMED,       /* 确认状态 */
+    SHOOT_JAMFSM_STATE_DEAL             /* 处理状态 */
+}Shoot_JamDetectionFSM_State_t;
+typedef enum {
+    SHOOT_STATE_IDLE = 0,      /* 熄火 */
+    SHOOT_STATE_READY,         /* 准备射击 */
+    SHOOT_STATE_FIRE           /* 射击 */
+}Shoot_Running_State_t;
+
+typedef enum {
+    SHOOT_MODE_SAFE = 0,       /* 安全模式 */
+    SHOOT_MODE_SINGLE,         /* 单发模式 */
+    SHOOT_MODE_BURST,          /* 多发模式 */
+    SHOOT_MODE_CONTINUE,       /* 连发模式 */
+    SHOOT_MODE_NUM
+}Shoot_Mode_t;
+
+typedef enum {
+	SHOOT_PROJECTILE_17MM,
+	SHOOT_PROJECTILE_42MM,
+}Shoot_Projectile_t;
+
+typedef struct {
+  bool online;	                 /* 遥控器在线 */
+  Shoot_Mode_t mode;             /* 射击模式 */
+  bool ready;                    /* 准备射击 */
+  bool firecmd;                  /* 射击指令 */
+}Shoot_CMD_t;
+
+typedef struct{
+	MOTOR_RM_Param_t param;
+	uint8_t level;         /*电机属于几级发射；1起始；num_multilevel大于1时有效，且不可大于num_multilevel*/
+}Shoot_MOTOR_RM_Param_t;
+
+typedef struct {
+  MOTOR_Feedback_t fric[MAX_FRIC_NUM]; /* 摩擦轮电机反馈 */
+  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[MAX_FRIC_NUM]; /* 滤波后的摩擦轮转速 */
+  float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
+
+  float fric_rpm[MAX_FRIC_NUM]; /* 归一化摩擦轮转速 */
+  float fric_avgrpm; /* 归一化摩擦轮平均转速*/
+  float trig_rpm; /* 归一化拨弹电机转速*/
+
+}Shoot_Feedback_t;
+
+typedef struct{
+  float   time_last_shoot;
+  uint16_t num_to_shoot;
+  uint16_t num_shooted;
+}Shoot_AngleCalu_t;
+
+typedef struct {
+  bool jam_detected; /* 卡弹检测结果 */
+  float jam_last_time;/* 用于记录怀疑状态或处理状态的开始时间 */
+  Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态 */
+}Shoot_JamDetection_t;
+typedef struct {
+  float out_follow[MAX_FRIC_NUM];
+  float out_err[MAX_FRIC_NUM];
+  float out_fric[MAX_FRIC_NUM];
+  float lpfout_fric[MAX_FRIC_NUM];
+
+  float outagl_trig;
+  float outomg_trig;
+  float outlpf_trig;
+}Shoot_Output_t;
+
+
+/* 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 {
+  Shoot_Projectile_t proj;
+
+  size_t fric_num;               /* 摩擦轮电机数量 */
+  float extra_deceleration_ratio;	/*电机出轴到拨盘的额外减速比；没有写1*/
+  size_t num_trig_tooth;  			/* 拨弹盘每圈弹丸数量 */
+  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 */
+
+  size_t num_multilevel;            /* 多级发射级数 */
+  float ratio_multilevel[MAX_NUM_MULTILEVEL]; /* 多级发射各级速度比例 */
+
+  bool  jam_enable; /* 是否启用卡弹检测 */ 
+  float jam_threshold;    /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/
+  float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */
+	
+  Shoot_MOTOR_RM_Param_t fric_motor_param[MAX_FRIC_NUM];
+  MOTOR_RM_Param_t trig_motor_param;
+  
+
+  KPID_Params_t fric_follow;            /* 摩擦轮电机PID控制参数，用于跟随目标速度 */
+  KPID_Params_t fric_err;               /* 摩擦轮电机PID控制参数，用于消除转速误差 */
+  KPID_Params_t trig_2006;              /* 拨弹电机PID控制参数 */
+  KPID_Params_t trig_omg_2006;          /* 拨弹电机PID控制参数 */
+  KPID_Params_t trig_3508;              /* 拨弹电机PID控制参数 */
+  KPID_Params_t trig_omg_3508;          /* 拨弹电机PID控制参数 */
+  /* 低通滤波器截止频率 */
+  struct {
+    struct{
+    float in;  /* 反馈值滤波器 */
+    float out; /* 输出值滤波器 */
+    }fric;
+    struct{
+    float in;  /* 反馈值滤波器 */
+    float out; /* 输出值滤波器 */
+    }trig;
+  } filter;
+} Shoot_Params_t;
+
+/*
+ * 运行的主结构体，所有这个文件里的函数都在操作这个结构体
+ * 包含了初始化参数，中间变量，输出变量
+ */
+typedef struct {
+  bool                      online;						   /*在线检测*/
+  float                     now;                           /* 当前时间，单位秒 */
+  uint64_t                  lask_wakeup;                   /* 上次唤醒时间，单位微秒 */
+  float                     dt;                            /* 两次唤醒间隔时间，单位秒 */
+  Shoot_Params_t            *param;                        /* 发射参数 */
+  /* 模块通用 */           
+  Shoot_Running_State_t     running_state;                 /* 运行状态机 */
+  Shoot_Mode_t              mode;                          /* 射击模式 */
+  /* 反馈信息 */           
+  Shoot_Feedback_t          feedback;                      /* 反馈信息 */
+  /* 控制信息*/          
+  Shoot_JamDetection_t      jamdetection;                  /* 卡弹检测控制信息 */
+  Shoot_AngleCalu_t         anglecalu;                     /* 角度计算控制信息 */
+  Shoot_Output_t            output;                        /* 输出信息 */
+  /* 目标控制量 */           
+  struct {           
+    float                   target_rpm;                    /* 目标摩擦轮转速 */
+    float                   target_angle;                  /* 目标拨弹位置 */
+  }target_variable;
+
+  /* 反馈控制用的PID */
+  struct {
+    KPID_t                  fric_follow[MAX_FRIC_NUM];   /* 摩擦轮PID主结构体 */
+    KPID_t                  fric_err[MAX_FRIC_NUM];      /* 摩擦轮PID主结构体 */
+    KPID_t                  trig;                          /* 拨弹PID主结构体 */
+    KPID_t                  trig_omg;                      /* 拨弹PID主结构体 */
+  } pid;
+
+  /* 滤波器 */
+  struct {
+    struct{
+    LowPassFilter2p_t       in[MAX_FRIC_NUM];            /* 反馈值滤波器 */
+    LowPassFilter2p_t       out[MAX_FRIC_NUM];           /* 输出值滤波器 */
+    }fric;
+    struct{
+    LowPassFilter2p_t       in;                            /* 反馈值滤波器 */
+    LowPassFilter2p_t       out;                           /* 输出值滤波器 */
+    }trig;
+  } filter;
+
+  float errtosee; /*调试用*/
+
+} Shoot_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * \brief 初始化发射
+ *
+ * \param s 包含发射数据的结构体
+ * \param param 包含发射参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq);
+
+/**
+ * \brief 设置发射模式
+ *
+ * \param s 包含发射数据的结构体
+ * \param mode 包含发射模式的枚举
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode);
+
+/**
+ * \brief 更新反馈
+ *
+ * \param s 包含发射数据的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_UpdateFeedback(Shoot_t *s);
+
+/**
+ * \brief 初始化发射
+ *
+ * \param s 包含发射数据的结构体
+ * \param cmd 包含发射命令的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+

User/module/shoot_control.c

@@ -1,303 +0,0 @@
-
-#include "shoot_control.h"
-#include <string.h>
-#include "can.h"
-#include "component/filter.h"
-#include "component/user_math.h"
-#include <math.h>
-#include "bsp/time.h"
-
-static bool last_firecmd;
-
-static inline void ScaleSumTo1(float *a, float *b) {
-    float sum = *a + *b;
-    if (sum > 1.0f) {
-        float scale = 1.0f / sum;
-        *a *= scale;
-        *b *= scale;
-    }
-}
-
-
-int8_t Shoot_SetMode(shoot_t *s, Shoot_Mode_t mode)
-{
-    if (s == NULL) {
-        return -1; // 参数错误
-    }
-    s->mode=mode;
-    return 0;
-}
-
-int8_t Shoot_ResetIntegral(shoot_t *s)
-{
-    if (s == NULL) {
-        return -1; // 参数错误
-    }
-    for(int i=0;i<SHOOT_FRIC_NUM;i++)
-    {	
-        PID_ResetIntegral(&s->pid.fric_follow[i]);
-        PID_ResetIntegral(&s->pid.fric_err[i]);
-    }
-    PID_ResetIntegral(&s->pid.trig);
-    PID_ResetIntegral(&s->pid.trig_omg);
-    return 0;
-}
-
-int8_t Shoot_ResetCalu(shoot_t *s)
-{
-    if (s == NULL) {
-        return -1; // 参数错误
-    }
-    for(int i=0;i<SHOOT_FRIC_NUM;i++)
-    {	
-        PID_Reset(&s->pid.fric_follow[i]);
-        PID_Reset(&s->pid.fric_err[i]);
-        LowPassFilter2p_Reset(&s->filter.fric.in[i], 0.0f);
-        LowPassFilter2p_Reset(&s->filter.fric.out[i], 0.0f);
-    }
-    PID_Reset(&s->pid.trig);
-    PID_Reset(&s->pid.trig_omg);
-    LowPassFilter2p_Reset(&s->filter.trig.in, 0.0f);
-    LowPassFilter2p_Reset(&s->filter.trig.out, 0.0f);
-    return 0;
-}
-
-int8_t Shoot_ResetOutput(shoot_t *s)
-{
-    if (s == NULL) {
-        return -1; // 参数错误
-    }
-    for(int i=0;i<SHOOT_FRIC_NUM;i++)
-    {	
-        s->output.out_follow[i]=0.0f;
-        s->output.out_err[i]=0.0f;
-        s->output.out_fric[i]=0.0f;
-        s->output.lpfout_fric[i]=0.0f;
-    }
-	s->output.outagl_trig=0.0f;
-	s->output.outomg_trig=0.0f;
-    s->output.outlpf_trig=0.0f;
-    return 0;
-}
-
-int8_t Shoot_CaluTargetRPM(shoot_t *s, float target_speed)
-{
-    if (s == NULL) {
-        return -1; // 参数错误
-    }
-    s->target_variable.target_rpm=4000.0f/MAX_FRIC_RPM;
-    return 0;
-}
-/**
- * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
- *
- * \param s 包含发射数据的结构体
- * \param num 需要发射的弹丸数量
- */
-int8_t Shoot_CaluTargetAngle(shoot_t *s, Shoot_CMD_t *cmd)
-{
-    if (s == NULL  || s->shoot_Anglecalu.num_to_shoot == 0) {
-        return -1; 
-    }
-    if(s->now - s->shoot_Anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd)
-    {
-        s->shoot_Anglecalu.time_last_shoot=s->now;
-        s->target_variable.target_angle += s->param->trig_step_angle;
-		if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI;
-		else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI;
-		s->shoot_Anglecalu.num_to_shoot--;
-    }
-    return 0;
-}
-
-int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq)
-{
-    if (s == NULL || param == NULL || target_freq <= 0.0f) {
-        return -1; // 参数错误
-    }
-    s->param=param;
-
-    BSP_CAN_Init();
-    for(int i=0;i<SHOOT_FRIC_NUM;i++){
-	MOTOR_RM_Register(&param->fric_motor_param[i]);
-    PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
-    LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
-    LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
-    }
-	MOTOR_RM_Register(&param->trig_motor_param);
-    PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig);
-    PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg);
-
-    LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
-    LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
-	
-    memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu));
-    memset(&s->output,0,sizeof(s->output));
-
-	return 0;
-}
-
-int8_t Chassis_UpdateFeedback(shoot_t *s)
-{
-    if (s == NULL) {
-        return -1; // 参数错误
-    }
-    float rpm_sum=0.0f;
-    for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
-        /* 更新摩擦电机反馈 */
-        MOTOR_RM_Update(&s->param->fric_motor_param[i]);
-		MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]);
-		if(motor_fed!=NULL)
-		{
-			s->feedback.fric[i]=motor_fed->motor.feedback;
-		}
-        /* 滤波反馈rpm */
-        s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
-        /* 归一化rpm */
-        s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
-        if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f;
-        if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f;
-        /* 计算平均rpm */
-        rpm_sum+=s->feedback.fric_rpm[i];
-    }
-    s->feedback.fric_avgrpm=rpm_sum/SHOOT_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);
-		if(motor_fed!=NULL)
-		{
-			s->feedback.trig=motor_fed->feedback;
-		}
-    /* 将多圈角度归化到单圈 (-M_PI, M_PI) */
-		s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle;
-		s->feedback.trig_angle_cicle = fmod(s->feedback.trig_angle_cicle, M_2PI); // 将角度限制在 [-2π, 2π]
-		if (s->feedback.trig_angle_cicle > M_PI) {
-		s->feedback.trig_angle_cicle -= M_2PI; // 调整到 [-π, π]
-		}else if (s->feedback.trig_angle_cicle < -M_PI) {
-		s->feedback.trig_angle_cicle += M_2PI; // 调整到 [-π, π]
-		}
-    
-    s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
-    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;  //如果单环效果好就删
-    if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f;
-    
-    s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed;
-	return 0;
-}
-
-int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
-{
-    if (s == NULL || cmd == NULL) {
-        return -1; // 参数错误
-    }
-    s->now = BSP_TIME_Get_us() / 1000000.0f;
-    s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
-    s->lask_wakeup = BSP_TIME_Get_us();
-	s->online = cmd->online;
-    if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
-        for(int i=0;i<SHOOT_FRIC_NUM;i++)
-        {	
-            MOTOR_RM_Relax(&s->param->fric_motor_param[i]);
-        }
-        MOTOR_RM_Relax(&s->param->trig_motor_param);
-    }
-    else{
-        switch(s->running_state)
-        {
-            case SHOOT_STATE_IDLE:/*熄火等待*/
-                for(int i=0;i<SHOOT_FRIC_NUM;i++)
-                {	
-                    PID_ResetIntegral(&s->pid.fric_follow[i]);
-                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
-                    s->output.out_fric[i]=s->output.out_follow[i];
-                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
-                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
-                }
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,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);
-                if(cmd->ready)
-                    {   
-                        Shoot_ResetCalu(s);
-                        Shoot_ResetIntegral(s);
-                        Shoot_ResetOutput(s);
-                        s->running_state=SHOOT_STATE_READY;
-                    }
-                break;
-            case SHOOT_STATE_READY:/*准备射击*/
-                
-                for(int i=0;i<SHOOT_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);
-                    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];
-                    /* 滤波 */
-                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
-                    /* 输出 */
-                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
-                }
-                /* 拨弹电机输出 */
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,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);
-                
-                /* 检查状态机 */
-                if(!cmd->ready)
-                    {
-                        Shoot_ResetCalu(s);
-                        Shoot_ResetOutput(s);
-                        s->running_state=SHOOT_STATE_IDLE;
-                    }
-                    else if(last_firecmd==false&&cmd->firecmd==true)
-                    {
-                        Shoot_ResetCalu(s);
-                        Shoot_ResetOutput(s);
-                        s->running_state=SHOOT_STATE_FIRE;
-                        s->shoot_Anglecalu.num_to_shoot+=s->param->shot_burst_num;
-					
-                    }
-                break;
-            case SHOOT_STATE_FIRE:
-				Shoot_CaluTargetAngle(s, cmd);
-                for(int i=0;i<SHOOT_FRIC_NUM;i++)
-                {	
-                    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);
-                    s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
-                    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];
-                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
-                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
-                }
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,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);
-                if(!cmd->firecmd)
-                    {
-                        Shoot_ResetCalu(s);
-                        Shoot_ResetOutput(s);
-                        s->running_state=SHOOT_STATE_READY;
-                    }
-                break;
-            default:
-                s->running_state=SHOOT_STATE_IDLE;
-                break;
-        }
-    }
-	MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
-    last_firecmd = cmd->firecmd;
-    return 0;
-}
-
-
-
-
-
-
-
-

User/module/shoot_control.h

@@ -1,200 +0,0 @@
-/*
- * far蛇模组
- */
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "main.h"
-#include <stdbool.h>
-#include "component/pid.h"
-#include "device/motor_rm.h"
-
-
-/* Exported constants ------------------------------------------------------- */
-#define SHOOT_OK (0)        /* 运行正常 */
-#define SHOOT_ERR (-1)      /* 运行时发现了其他错误 */
-#define SHOOT_ERR_NULL (-2) /* 运行时发现NULL指针 */
-#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ChassisMode_t */
-#define SHOOT_ERR_TYPE (-4) /* 运行时配置了错误的Chassis_Type_t */
-
-#define SHOOT_FRIC_NUM (2) /* 摩擦轮数量 */
-#define MAX_FRIC_RPM 7000.0f
-#define MAX_TRIG_RPM 5000.0f
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-
-typedef enum {
-    SHOOT_STATE_IDLE = 0,      // 熄火
-    SHOOT_STATE_READY,         // 准备射击
-    SHOOT_STATE_FIRE           // 射击
-} Shoot_State_t;
-
-typedef enum {
-    SHOOT_MODE_SAFE = 0,      // 安全模式
-    SHOOT_MODE_SINGLE,         // 单发模式
-    SHOOT_MODE_BURST,          // 多发模式
-    SHOOT_MODE_CONTINUE         // 连发模式
-} Shoot_Mode_t;
-typedef struct {
-  bool online;	
-	
-  bool ready;                    /* 准备射击 */
-  bool firecmd;                  /* 射击指令 */
-
-} Shoot_CMD_t;
-typedef struct {
-  MOTOR_Feedback_t fric[SHOOT_FRIC_NUM]; /* 摩擦轮电机反馈 */
-  MOTOR_Feedback_t trig; /* 拨弹电机反馈 */
-
-  float fil_fric_rpm[SHOOT_FRIC_NUM]; /* 滤波后的摩擦轮转速 */
-  float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
-
-  float trig_angle_cicle; /* 拨弹电机减速输出轴单圈角度（0~M_2PI） */
-
-  float fric_rpm[SHOOT_FRIC_NUM]; /* 归一化摩擦轮转速 */
-  float fric_avgrpm; /* 归一化摩擦轮平均转速*/
-  float trig_rpm; /* 归一化拨弹电机转速*/
-
-}Shoot_Feedback_t;
-
-typedef struct{
-  float   time_last_shoot;
-  uint8_t num_to_shoot;
-  uint8_t num_shooted;
-}Shoot_AngleCalu_t;
-
-typedef struct {
-  float out_follow[SHOOT_FRIC_NUM];
-  float out_err[SHOOT_FRIC_NUM];
-  float out_fric[SHOOT_FRIC_NUM];
-  float lpfout_fric[SHOOT_FRIC_NUM];
-
-  
-  float outagl_trig;
-  float outomg_trig;
-  float outlpf_trig;
-}Shoot_Output_t;
-
-
-/* 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 {
-  float trig_step_angle; /* 每发弹丸拨弹电机转动的角度 */
-  float shot_delay_time; /* 射击间隔时间，单位秒 */
-  uint8_t shot_burst_num; /* 多发模式下一次射击的发数 */
-
-  MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM];
-  MOTOR_RM_Param_t trig_motor_param;
-  
-
-  KPID_Params_t fric_follow;               /* 摩擦轮电机PID控制参数，用于跟随目标速度 */
-  KPID_Params_t fric_err;               /* 摩擦轮电机PID控制参数，用于消除转速误差 */
-  KPID_Params_t trig;              /* 拨弹电机PID控制参数 */
-  KPID_Params_t trig_omg;              /* 拨弹电机PID控制参数 */
-
-  /* 低通滤波器截止频率 */
-  struct {
-    struct{
-    float in;  /* 反馈值滤波器 */
-    float out; /* 输出值滤波器 */
-    }fric;
-    struct{
-    float in;  /* 反馈值滤波器 */
-    float out; /* 输出值滤波器 */
-    }trig;
-  } filter;
-} Shoot_Params_t;
-
-/*
- * 运行的主结构体，所有这个文件里的函数都在操作这个结构体
- * 包含了初始化参数，中间变量，输出变量
- */
-typedef struct {
-  bool online;
-
-  float    now;
-  uint64_t lask_wakeup;
-  float    dt;
-
-  Shoot_Params_t *param; /* */
-  /* 模块通用 */
-  Shoot_State_t running_state; /* 运行状态机 */
-  Shoot_Mode_t  mode;
-  /* 反馈信息 */
-  Shoot_Feedback_t feedback;
-  /* 控制信息*/
-  Shoot_AngleCalu_t shoot_Anglecalu;
-  Shoot_Output_t output;
-  /* 目标控制量 */
-  struct {
-    float target_rpm; /* 目标摩擦轮转速 */
-    float target_angle; /* 目标拨弹位置 */
-  }target_variable;
-
-  /* 反馈控制用的PID */
-  struct {
-    KPID_t fric_follow[SHOOT_FRIC_NUM]; /* */
-    KPID_t fric_err[SHOOT_FRIC_NUM];    /*  */
-    KPID_t trig;
-    KPID_t trig_omg;
-  } pid;
-
-  /* 滤波器 */
-  struct {
-        struct{
-    LowPassFilter2p_t in[SHOOT_FRIC_NUM];  /* 反馈值滤波器 */
-    LowPassFilter2p_t out[SHOOT_FRIC_NUM]; /* 输出值滤波器 */
-    }fric;
-    struct{
-    LowPassFilter2p_t in;  /* 反馈值滤波器 */
-    LowPassFilter2p_t out; /* 输出值滤波器 */
-    }trig;
-  } filter;
-
-  float errtosee; /*调试用*/
-
-} shoot_t;
-
-/* Exported functions prototypes -------------------------------------------- */
-
-/**
- * \brief 初始化发射
- *
- * \param s 包含发射数据的结构体
- * \param param 包含发射参数的结构体指针
- * \param target_freq 任务预期的运行频率
- *
- * \return 函数运行结果
- */
-int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq);
-
-/**
- * \brief 更新反馈
- *
- * \param s 包含发射数据的结构体
- *
- * \return 函数运行结果
- */
-int8_t Chassis_UpdateFeedback(shoot_t *s);
-
-/**
- * \brief 初始化发射
- *
- * \param s 包含发射数据的结构体
- * \param cmd 包含发射命令的结构体
- *
- * \return 函数运行结果
- */
-int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd);
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-

User/module/test.cpp

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

User/task/cmd.c

@@ -0,0 +1,74 @@
+/*
+    cmd Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/at9s_pro.h"
+#include "module/config.h"
+#include "module/shoot.h"
+
+//#define DEAD_AREA 0.05f
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+DEVICE_AT9S_t at9s_from_rc;
+Shoot_CMD_t cmd_for_shoot;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_cmd(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / CMD_FREQ;
+
+  osDelay(CMD_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+	osMessageQueueGet(task_runtime.msgq.cmd.rc, &at9s_from_rc, NULL, 0);
+
+	switch (at9s_from_rc.data.key_C) {
+    case AT9S_CMD_SW_DOWN:
+		  cmd_for_shoot.online = at9s_from_rc.online;
+      cmd_for_shoot.ready = true;
+      cmd_for_shoot.firecmd = true;
+      break;
+    case AT9S_CMD_SW_MID:
+		  cmd_for_shoot.online = at9s_from_rc.online;
+      cmd_for_shoot.ready = true;
+      cmd_for_shoot.firecmd = false;
+      break;
+    case AT9S_CMD_SW_UP:
+		  cmd_for_shoot.online = at9s_from_rc.online;
+      cmd_for_shoot.ready = false;
+      cmd_for_shoot.firecmd = false;
+      break;
+    default:
+		  cmd_for_shoot.online = at9s_from_rc.online;
+      cmd_for_shoot.ready = false;
+      cmd_for_shoot.firecmd = false;
+      break;
+    }
+    osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0);
+
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/config.yaml

@@ -12,3 +12,10 @@
   function: Task_rc
   name: rc
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_cmd
+  name: cmd
+  stack: 256

User/task/init.c

@@ -32,11 +32,12 @@ void Task_Init(void *argument) {
   /* 创建任务线程 */
   task_runtime.thread.shoot_ctrl = osThreadNew(Task_shoot_ctrl, NULL, &attr_shoot_ctrl);
   task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
+  task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
   task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
-  task_runtime.msgq.shoot.rc_cmd= osMessageQueueNew(3u, sizeof(COMP_AT9S_CMD_t), NULL);
+  task_runtime.msgq.shoot.cmd= osMessageQueueNew(3u, sizeof(COMP_AT9S_CMD_t), NULL);
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/rc.c

@@ -5,19 +5,21 @@
 
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
+/* USER INCLUDE BEGIN */
 #include "device/at9s_pro.h"
 #include "component/at9s_pro_cmd.h"
-/* USER INCLUDE BEGIN */
-
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
  uint8_t cmd_buffer[DEVICE_AT9S_FRAME_LEN];
  DEVICE_AT9S_t at9s;
  COMP_AT9S_CMD_t rc_cmd;
+/* USER STRUCT END */
+
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
 void Task_rc(void *argument) {
@@ -36,7 +38,7 @@ void Task_rc(void *argument) {
   /* USER CODE INIT END */
   
   while (1) {
-    tick += delay_tick; /* 计算下一个唤 醒时刻 */
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
     if (DEVICE_AT9S_WaitDmaCplt(10)) {
         DEVICE_AT9S_ParseRaw(cmd_buffer, &at9s);
@@ -44,8 +46,7 @@ void Task_rc(void *argument) {
         DEVICE_AT9S_StartDmaRecv(cmd_buffer);
     }
 	
-    osMessageQueuePut(task_runtime.msgq.shoot.rc_cmd, &rc_cmd, 0, 0);
-
+    osMessageQueuePut(task_runtime.msgq.cmd.rc, &at9s, 0, 0);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/shoot_ctrl.c

@@ -6,9 +6,8 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
 #include "component/at9s_pro_cmd.h"
-#include "module/shoot_control.h"
+#include "module/shoot.h"
 #include "module/config.h"
 /* USER INCLUDE END */
 
@@ -16,11 +15,9 @@
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
-COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
-shoot_t shoot;
-Shoot_CMD_t shoot_cmd;
 /* USER STRUCT BEGIN */
-
+Shoot_t shoot;
+Shoot_CMD_t shoot_cmd;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -37,17 +34,16 @@ void Task_shoot_ctrl(void *argument) {
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
 	Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
+	Shoot_SetMode(&shoot,SHOOT_MODE_BURST);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-	  osMessageQueueGet(task_runtime.msgq.shoot.rc_cmd, &shoot_ctrl_cmd_rc, NULL, 0);
-	  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;
-	  Chassis_UpdateFeedback(&shoot);
+	osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
+	  Shoot_UpdateFeedback(&shoot);
 	  Shoot_Control(&shoot,&shoot_cmd);
+	  
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/user_task.c

@@ -12,10 +12,15 @@ const osThreadAttr_t attr_init = {
 const osThreadAttr_t attr_shoot_ctrl = {
     .name = "shoot_ctrl",
     .priority = osPriorityNormal,
-    .stack_size = 512 * 4,
+    .stack_size = 256 * 4,
 };
 const osThreadAttr_t attr_rc = {
     .name = "rc",
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_cmd = {
+    .name = "cmd",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
 };

User/task/user_task.h

@@ -15,11 +15,13 @@ extern "C" {
 /* 任务运行频率 */
 #define SHOOT_CTRL_FREQ (500.0)
 #define RC_FREQ (500.0)
+#define CMD_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
 #define SHOOT_CTRL_INIT_DELAY (0)
 #define RC_INIT_DELAY (0)
+#define CMD_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -31,6 +33,7 @@ typedef struct {
     struct {
         osThreadId_t shoot_ctrl;
         osThreadId_t rc;
+        osThreadId_t cmd;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -38,7 +41,10 @@ typedef struct {
         osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
 
         struct{
-            osMessageQueueId_t rc_cmd; /* 来自遥控器的命令 */
+            osMessageQueueId_t rc; /* 来自遥控器的数据 */
+        }cmd;
+        struct{
+            osMessageQueueId_t cmd; /* 来自遥控器的命令 */
         }shoot;
 
 
@@ -61,18 +67,21 @@ typedef struct {
     struct {
         UBaseType_t shoot_ctrl;
         UBaseType_t rc;
+        UBaseType_t cmd;
     } stack_water_mark;
 
     /* 各任务运行频率 */
     struct {
         float shoot_ctrl;
         float rc;
+        float cmd;
     } freq;
 
     /* 任务最近运行时间 */
     struct {
         float shoot_ctrl;
         float rc;
+        float cmd;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -84,11 +93,13 @@ extern Task_Runtime_t task_runtime;
 extern const osThreadAttr_t attr_init;
 extern const osThreadAttr_t attr_shoot_ctrl;
 extern const osThreadAttr_t attr_rc;
+extern const osThreadAttr_t attr_cmd;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
 void Task_shoot_ctrl(void *argument);
 void Task_rc(void *argument);
+void Task_cmd(void *argument);
 
 #ifdef __cplusplus
 }

cmake/gcc-arm-none-eabi.cmake

@@ -0,0 +1,43 @@
+set(CMAKE_SYSTEM_NAME               Generic)
+set(CMAKE_SYSTEM_PROCESSOR          arm)
+
+set(CMAKE_C_COMPILER_ID GNU)
+set(CMAKE_CXX_COMPILER_ID GNU)
+
+# Some default GCC settings
+# arm-none-eabi- must be part of path environment
+set(TOOLCHAIN_PREFIX                arm-none-eabi-)
+
+set(CMAKE_C_COMPILER                ${TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_ASM_COMPILER              ${CMAKE_C_COMPILER})
+set(CMAKE_CXX_COMPILER              ${TOOLCHAIN_PREFIX}g++)
+set(CMAKE_LINKER                    ${TOOLCHAIN_PREFIX}g++)
+set(CMAKE_OBJCOPY                   ${TOOLCHAIN_PREFIX}objcopy)
+set(CMAKE_SIZE                      ${TOOLCHAIN_PREFIX}size)
+
+set(CMAKE_EXECUTABLE_SUFFIX_ASM     ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_C       ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_CXX     ".elf")
+
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+# MCU specific flags
+set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ")
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
+set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
+
+set(CMAKE_C_FLAGS_DEBUG "-O0 -g3")
+set(CMAKE_C_FLAGS_RELEASE "-Os -g0")
+set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
+set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
+
+set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --specs=nano.specs")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage")
+set(TOOLCHAIN_LINK_LIBRARIES "m")

cmake/starm-clang.cmake

@@ -0,0 +1,65 @@
+set(CMAKE_SYSTEM_NAME               Generic)
+set(CMAKE_SYSTEM_PROCESSOR          arm)
+
+set(CMAKE_C_COMPILER_ID Clang)
+set(CMAKE_CXX_COMPILER_ID Clang)
+
+# Some default llvm settings
+set(TOOLCHAIN_PREFIX                starm-)
+
+set(CMAKE_C_COMPILER                ${TOOLCHAIN_PREFIX}clang)
+set(CMAKE_ASM_COMPILER              ${CMAKE_C_COMPILER})
+set(CMAKE_CXX_COMPILER              ${TOOLCHAIN_PREFIX}clang++)
+set(CMAKE_LINKER                    ${TOOLCHAIN_PREFIX}clang)
+set(CMAKE_OBJCOPY                   ${TOOLCHAIN_PREFIX}objcopy)
+set(CMAKE_SIZE                      ${TOOLCHAIN_PREFIX}size)
+
+set(CMAKE_EXECUTABLE_SUFFIX_ASM     ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_C       ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_CXX     ".elf")
+
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+# STARM_TOOLCHAIN_CONFIG allows you to choose the toolchain configuration.
+# Possible values are:
+#  "STARM_HYBRID"   : Hybrid configuration using starm-clang Assemler and Compiler and GNU Linker
+#  "STARM_NEWLIB"   : starm-clang toolchain with NEWLIB C library
+#  "STARM_PICOLIBC" : starm-clang toolchain with PICOLIBC C library
+set(STARM_TOOLCHAIN_CONFIG "STARM_HYBRID")
+
+if(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
+  set(TOOLCHAIN_MULTILIBS "--multi-lib-config=\"$ENV{CLANG_GCC_CMSIS_COMPILER}/multilib.gnu_tools_for_stm32.yaml\" --gcc-toolchain=\"$ENV{GCC_TOOLCHAIN_ROOT}/..\"")
+elseif (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
+  set(TOOLCHAIN_MULTILIBS "--config=newlib.cfg")
+endif()
+
+# MCU specific flags
+set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ${TOOLCHAIN_MULTILIBS}")
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
+set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MP")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
+
+set(CMAKE_C_FLAGS_DEBUG "-O0 -g3")
+set(CMAKE_C_FLAGS_RELEASE "-Os -g0")
+set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
+set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
+
+set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
+
+if (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --gcc-specs=nano.specs")
+  set(TOOLCHAIN_LINK_LIBRARIES "m")
+elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-nosys")
+elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_PICOLIBC")
+  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-hosted")
+
+endif()
+
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -z noexecstack")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage ")

cmake/stm32cubemx/CMakeLists.txt

@@ -0,0 +1,115 @@
+cmake_minimum_required(VERSION 3.22)
+# Enable CMake support for ASM and C languages
+enable_language(C ASM)
+# STM32CubeMX generated symbols (macros)
+set(MX_Defines_Syms 
+	USE_HAL_DRIVER 
+	STM32F407xx
+    $<$<CONFIG:Debug>:DEBUG>
+)
+
+# STM32CubeMX generated include paths
+set(MX_Include_Dirs
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include
+)
+
+# STM32CubeMX generated application sources
+set(MX_Application_Src
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/can.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/syscalls.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../startup_stm32f407xx.s
+)
+
+# STM32 HAL/LL Drivers
+set(STM32_Drivers_Src
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
+)
+
+# Drivers Midllewares
+
+
+set(FreeRTOS_Src
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/list.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/queue.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
+)
+
+# Link directories setup
+set(MX_LINK_DIRS
+
+)
+# Project static libraries
+set(MX_LINK_LIBS 
+    STM32_Drivers
+    ${TOOLCHAIN_LINK_LIBRARIES}
+    FreeRTOS
	
+)
+# Interface library for includes and symbols
+add_library(stm32cubemx INTERFACE)
+target_include_directories(stm32cubemx INTERFACE ${MX_Include_Dirs})
+target_compile_definitions(stm32cubemx INTERFACE ${MX_Defines_Syms})
+
+# Create STM32_Drivers static library
+add_library(STM32_Drivers OBJECT)
+target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
+target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
+
+
+# Create FreeRTOS static library
+add_library(FreeRTOS OBJECT)
+target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
+target_link_libraries(FreeRTOS PUBLIC stm32cubemx)
+
+# Add STM32CubeMX generated application sources to the project
+target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${MX_Application_Src})
+
+# Link directories setup
+target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE ${MX_LINK_DIRS})
+
+# Add libraries to the project
+target_link_libraries(${CMAKE_PROJECT_NAME} ${MX_LINK_LIBS})
+
+# Add the map file to the list of files to be removed with 'clean' target
+set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES ADDITIONAL_CLEAN_FILES ${CMAKE_PROJECT_NAME}.map)
+
+# Validate that STM32CubeMX code is compatible with C standard
+if((CMAKE_C_STANDARD EQUAL 90) OR (CMAKE_C_STANDARD EQUAL 99))
+    message(ERROR "Generated code requires C11 or higher")
+endif()

shoot.ioc

@@ -81,8 +81,10 @@ MxDb.Version=DB.6.0.150
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -150,7 +152,7 @@ ProjectManager.ProjectName=shoot
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
-ProjectManager.TargetToolchain=MDK-ARM V5.32
+ProjectManager.TargetToolchain=CMake
 ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=

startup_stm32f407xx.s

@@ -0,0 +1,508 @@
+/**
+  ******************************************************************************
+  * @file      startup_stm32f407xx.s
+  * @author    MCD Application Team
+  * @brief     STM32F407xx Devices vector table for GCC based toolchains. 
+  *            This module performs:
+  *                - Set the initial SP
+  *                - Set the initial PC == Reset_Handler,
+  *                - Set the vector table entries with the exceptions ISR address
+  *                - Branches to main in the C library (which eventually
+  *                  calls main()).
+  *            After Reset the Cortex-M4 processor is in Thread mode,
+  *            priority is Privileged, and the Stack is set to Main.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+    
+  .syntax unified
+  .cpu cortex-m4
+  .fpu softvfp
+  .thumb
+
+.global  g_pfnVectors
+.global  Default_Handler
+
+/* start address for the initialization values of the .data section. 
+defined in linker script */
+.word  _sidata
+/* start address for the .data section. defined in linker script */  
+.word  _sdata
+/* end address for the .data section. defined in linker script */
+.word  _edata
+/* start address for the .bss section. defined in linker script */
+.word  _sbss
+/* end address for the .bss section. defined in linker script */
+.word  _ebss
+/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
+
+/**
+ * @brief  This is the code that gets called when the processor first
+ *          starts execution following a reset event. Only the absolutely
+ *          necessary set is performed, after which the application
+ *          supplied main() routine is called. 
+ * @param  None
+ * @retval : None
+*/
+
+    .section  .text.Reset_Handler
+  .weak  Reset_Handler
+  .type  Reset_Handler, %function
+Reset_Handler:  
+  ldr   sp, =_estack     /* set stack pointer */
+  
+/* Call the clock system initialization function.*/
+  bl  SystemInit  
+
+/* Copy the data segment initializers from flash to SRAM */  
+  ldr r0, =_sdata
+  ldr r1, =_edata
+  ldr r2, =_sidata
+  movs r3, #0
+  b LoopCopyDataInit
+
+CopyDataInit:
+  ldr r4, [r2, r3]
+  str r4, [r0, r3]
+  adds r3, r3, #4
+
+LoopCopyDataInit:
+  adds r4, r0, r3
+  cmp r4, r1
+  bcc CopyDataInit
+  
+/* Zero fill the bss segment. */
+  ldr r2, =_sbss
+  ldr r4, =_ebss
+  movs r3, #0
+  b LoopFillZerobss
+
+FillZerobss:
+  str  r3, [r2]
+  adds r2, r2, #4
+
+LoopFillZerobss:
+  cmp r2, r4
+  bcc FillZerobss
+
+/* Call static constructors */
+    bl __libc_init_array
+/* Call the application's entry point.*/
+  bl  main
+  bx  lr    
+.size  Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief  This is the code that gets called when the processor receives an 
+ *         unexpected interrupt.  This simply enters an infinite loop, preserving
+ *         the system state for examination by a debugger.
+ * @param  None     
+ * @retval None       
+*/
+    .section  .text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+  b  Infinite_Loop
+  .size  Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex M3. Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+* 
+*******************************************************************************/
+   .section  .isr_vector,"a",%progbits
+  .type  g_pfnVectors, %object
+    
+    
+g_pfnVectors:
+  .word  _estack
+  .word  Reset_Handler
+  .word  NMI_Handler
+  .word  HardFault_Handler
+  .word  MemManage_Handler
+  .word  BusFault_Handler
+  .word  UsageFault_Handler
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  SVC_Handler
+  .word  DebugMon_Handler
+  .word  0
+  .word  PendSV_Handler
+  .word  SysTick_Handler
+  
+  /* External Interrupts */
+  .word     WWDG_IRQHandler                   /* Window WatchDog              */                                        
+  .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */                        
+  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */            
+  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */                      
+  .word     FLASH_IRQHandler                  /* FLASH                        */                                          
+  .word     RCC_IRQHandler                    /* RCC                          */                                            
+  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */                        
+  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */                          
+  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */                          
+  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */                          
+  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */                          
+  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */                  
+  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */                   
+  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */                   
+  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */                   
+  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */                   
+  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */                   
+  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */                   
+  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */                   
+  .word     CAN1_TX_IRQHandler                /* CAN1 TX                      */                         
+  .word     CAN1_RX0_IRQHandler               /* CAN1 RX0                     */                          
+  .word     CAN1_RX1_IRQHandler               /* CAN1 RX1                     */                          
+  .word     CAN1_SCE_IRQHandler               /* CAN1 SCE                     */                          
+  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */                          
+  .word     TIM1_BRK_TIM9_IRQHandler          /* TIM1 Break and TIM9          */         
+  .word     TIM1_UP_TIM10_IRQHandler          /* TIM1 Update and TIM10        */         
+  .word     TIM1_TRG_COM_TIM11_IRQHandler     /* TIM1 Trigger and Commutation and TIM11 */
+  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */                          
+  .word     TIM2_IRQHandler                   /* TIM2                         */                   
+  .word     TIM3_IRQHandler                   /* TIM3                         */                   
+  .word     TIM4_IRQHandler                   /* TIM4                         */                   
+  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */                          
+  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */                          
+  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */                          
+  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */                            
+  .word     SPI1_IRQHandler                   /* SPI1                         */                   
+  .word     SPI2_IRQHandler                   /* SPI2                         */                   
+  .word     USART1_IRQHandler                 /* USART1                       */                   
+  .word     USART2_IRQHandler                 /* USART2                       */                   
+  .word     USART3_IRQHandler                 /* USART3                       */                   
+  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */                          
+  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */                 
+  .word     OTG_FS_WKUP_IRQHandler            /* USB OTG FS Wakeup through EXTI line */                       
+  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */         
+  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */         
+  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
+  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */                          
+  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */                          
+  .word     FSMC_IRQHandler                   /* FSMC                         */                   
+  .word     SDIO_IRQHandler                   /* SDIO                         */                   
+  .word     TIM5_IRQHandler                   /* TIM5                         */                   
+  .word     SPI3_IRQHandler                   /* SPI3                         */                   
+  .word     UART4_IRQHandler                  /* UART4                        */                   
+  .word     UART5_IRQHandler                  /* UART5                        */                   
+  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */                   
+  .word     TIM7_IRQHandler                   /* TIM7                         */
+  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */                   
+  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */                   
+  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */                   
+  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */                   
+  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */                   
+  .word     ETH_IRQHandler                    /* Ethernet                     */                   
+  .word     ETH_WKUP_IRQHandler               /* Ethernet Wakeup through EXTI line */                     
+  .word     CAN2_TX_IRQHandler                /* CAN2 TX                      */                          
+  .word     CAN2_RX0_IRQHandler               /* CAN2 RX0                     */                          
+  .word     CAN2_RX1_IRQHandler               /* CAN2 RX1                     */                          
+  .word     CAN2_SCE_IRQHandler               /* CAN2 SCE                     */                          
+  .word     OTG_FS_IRQHandler                 /* USB OTG FS                   */                   
+  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */                   
+  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */                   
+  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */                   
+  .word     USART6_IRQHandler                 /* USART6                       */                    
+  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */                          
+  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */                          
+  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */                   
+  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */                   
+  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */                         
+  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */                   
+  .word     DCMI_IRQHandler                   /* DCMI                         */                   
+  .word     0                                 /* CRYP crypto                  */                   
+  .word     HASH_RNG_IRQHandler               /* Hash and Rng                 */
+  .word     FPU_IRQHandler                    /* FPU                          */
+                         
+                         
+
+  .size  g_pfnVectors, .-g_pfnVectors
+
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler. 
+* As they are weak aliases, any function with the same name will override 
+* this definition.
+* 
+*******************************************************************************/
+   .weak      NMI_Handler
+   .thumb_set NMI_Handler,Default_Handler
+  
+   .weak      HardFault_Handler
+   .thumb_set HardFault_Handler,Default_Handler
+  
+   .weak      MemManage_Handler
+   .thumb_set MemManage_Handler,Default_Handler
+  
+   .weak      BusFault_Handler
+   .thumb_set BusFault_Handler,Default_Handler
+
+   .weak      UsageFault_Handler
+   .thumb_set UsageFault_Handler,Default_Handler
+
+   .weak      SVC_Handler
+   .thumb_set SVC_Handler,Default_Handler
+
+   .weak      DebugMon_Handler
+   .thumb_set DebugMon_Handler,Default_Handler
+
+   .weak      PendSV_Handler
+   .thumb_set PendSV_Handler,Default_Handler
+
+   .weak      SysTick_Handler
+   .thumb_set SysTick_Handler,Default_Handler              
+  
+   .weak      WWDG_IRQHandler                   
+   .thumb_set WWDG_IRQHandler,Default_Handler      
+                  
+   .weak      PVD_IRQHandler      
+   .thumb_set PVD_IRQHandler,Default_Handler
+               
+   .weak      TAMP_STAMP_IRQHandler            
+   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
+            
+   .weak      RTC_WKUP_IRQHandler                  
+   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
+            
+   .weak      FLASH_IRQHandler         
+   .thumb_set FLASH_IRQHandler,Default_Handler
+                  
+   .weak      RCC_IRQHandler      
+   .thumb_set RCC_IRQHandler,Default_Handler
+                  
+   .weak      EXTI0_IRQHandler         
+   .thumb_set EXTI0_IRQHandler,Default_Handler
+                  
+   .weak      EXTI1_IRQHandler         
+   .thumb_set EXTI1_IRQHandler,Default_Handler
+                     
+   .weak      EXTI2_IRQHandler         
+   .thumb_set EXTI2_IRQHandler,Default_Handler 
+                 
+   .weak      EXTI3_IRQHandler         
+   .thumb_set EXTI3_IRQHandler,Default_Handler
+                        
+   .weak      EXTI4_IRQHandler         
+   .thumb_set EXTI4_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream0_IRQHandler               
+   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
+         
+   .weak      DMA1_Stream1_IRQHandler               
+   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream2_IRQHandler               
+   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream3_IRQHandler               
+   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler 
+                 
+   .weak      DMA1_Stream4_IRQHandler              
+   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream5_IRQHandler               
+   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream6_IRQHandler               
+   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
+                  
+   .weak      ADC_IRQHandler      
+   .thumb_set ADC_IRQHandler,Default_Handler
+               
+   .weak      CAN1_TX_IRQHandler   
+   .thumb_set CAN1_TX_IRQHandler,Default_Handler
+            
+   .weak      CAN1_RX0_IRQHandler                  
+   .thumb_set CAN1_RX0_IRQHandler,Default_Handler
+                           
+   .weak      CAN1_RX1_IRQHandler                  
+   .thumb_set CAN1_RX1_IRQHandler,Default_Handler
+            
+   .weak      CAN1_SCE_IRQHandler                  
+   .thumb_set CAN1_SCE_IRQHandler,Default_Handler
+            
+   .weak      EXTI9_5_IRQHandler   
+   .thumb_set EXTI9_5_IRQHandler,Default_Handler
+            
+   .weak      TIM1_BRK_TIM9_IRQHandler            
+   .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
+            
+   .weak      TIM1_UP_TIM10_IRQHandler            
+   .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
+      
+   .weak      TIM1_TRG_COM_TIM11_IRQHandler      
+   .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
+      
+   .weak      TIM1_CC_IRQHandler   
+   .thumb_set TIM1_CC_IRQHandler,Default_Handler
+                  
+   .weak      TIM2_IRQHandler            
+   .thumb_set TIM2_IRQHandler,Default_Handler
+                  
+   .weak      TIM3_IRQHandler            
+   .thumb_set TIM3_IRQHandler,Default_Handler
+                  
+   .weak      TIM4_IRQHandler            
+   .thumb_set TIM4_IRQHandler,Default_Handler
+                  
+   .weak      I2C1_EV_IRQHandler   
+   .thumb_set I2C1_EV_IRQHandler,Default_Handler
+                     
+   .weak      I2C1_ER_IRQHandler   
+   .thumb_set I2C1_ER_IRQHandler,Default_Handler
+                     
+   .weak      I2C2_EV_IRQHandler   
+   .thumb_set I2C2_EV_IRQHandler,Default_Handler
+                  
+   .weak      I2C2_ER_IRQHandler   
+   .thumb_set I2C2_ER_IRQHandler,Default_Handler
+                           
+   .weak      SPI1_IRQHandler            
+   .thumb_set SPI1_IRQHandler,Default_Handler
+                        
+   .weak      SPI2_IRQHandler            
+   .thumb_set SPI2_IRQHandler,Default_Handler
+                  
+   .weak      USART1_IRQHandler      
+   .thumb_set USART1_IRQHandler,Default_Handler
+                     
+   .weak      USART2_IRQHandler      
+   .thumb_set USART2_IRQHandler,Default_Handler
+                     
+   .weak      USART3_IRQHandler      
+   .thumb_set USART3_IRQHandler,Default_Handler
+                  
+   .weak      EXTI15_10_IRQHandler               
+   .thumb_set EXTI15_10_IRQHandler,Default_Handler
+               
+   .weak      RTC_Alarm_IRQHandler               
+   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
+            
+   .weak      OTG_FS_WKUP_IRQHandler         
+   .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
+            
+   .weak      TIM8_BRK_TIM12_IRQHandler         
+   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
+         
+   .weak      TIM8_UP_TIM13_IRQHandler            
+   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
+         
+   .weak      TIM8_TRG_COM_TIM14_IRQHandler      
+   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
+      
+   .weak      TIM8_CC_IRQHandler   
+   .thumb_set TIM8_CC_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream7_IRQHandler               
+   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
+                     
+   .weak      FSMC_IRQHandler            
+   .thumb_set FSMC_IRQHandler,Default_Handler
+                     
+   .weak      SDIO_IRQHandler            
+   .thumb_set SDIO_IRQHandler,Default_Handler
+                     
+   .weak      TIM5_IRQHandler            
+   .thumb_set TIM5_IRQHandler,Default_Handler
+                     
+   .weak      SPI3_IRQHandler            
+   .thumb_set SPI3_IRQHandler,Default_Handler
+                     
+   .weak      UART4_IRQHandler         
+   .thumb_set UART4_IRQHandler,Default_Handler
+                  
+   .weak      UART5_IRQHandler         
+   .thumb_set UART5_IRQHandler,Default_Handler
+                  
+   .weak      TIM6_DAC_IRQHandler                  
+   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
+               
+   .weak      TIM7_IRQHandler            
+   .thumb_set TIM7_IRQHandler,Default_Handler
+         
+   .weak      DMA2_Stream0_IRQHandler               
+   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
+               
+   .weak      DMA2_Stream1_IRQHandler               
+   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream2_IRQHandler               
+   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
+            
+   .weak      DMA2_Stream3_IRQHandler               
+   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
+            
+   .weak      DMA2_Stream4_IRQHandler               
+   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
+            
+   .weak      ETH_IRQHandler      
+   .thumb_set ETH_IRQHandler,Default_Handler
+                  
+   .weak      ETH_WKUP_IRQHandler                  
+   .thumb_set ETH_WKUP_IRQHandler,Default_Handler
+            
+   .weak      CAN2_TX_IRQHandler   
+   .thumb_set CAN2_TX_IRQHandler,Default_Handler
+                           
+   .weak      CAN2_RX0_IRQHandler                  
+   .thumb_set CAN2_RX0_IRQHandler,Default_Handler
+                           
+   .weak      CAN2_RX1_IRQHandler                  
+   .thumb_set CAN2_RX1_IRQHandler,Default_Handler
+                           
+   .weak      CAN2_SCE_IRQHandler                  
+   .thumb_set CAN2_SCE_IRQHandler,Default_Handler
+                           
+   .weak      OTG_FS_IRQHandler      
+   .thumb_set OTG_FS_IRQHandler,Default_Handler
+                     
+   .weak      DMA2_Stream5_IRQHandler               
+   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream6_IRQHandler               
+   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream7_IRQHandler               
+   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
+                  
+   .weak      USART6_IRQHandler      
+   .thumb_set USART6_IRQHandler,Default_Handler
+                        
+   .weak      I2C3_EV_IRQHandler   
+   .thumb_set I2C3_EV_IRQHandler,Default_Handler
+                        
+   .weak      I2C3_ER_IRQHandler   
+   .thumb_set I2C3_ER_IRQHandler,Default_Handler
+                        
+   .weak      OTG_HS_EP1_OUT_IRQHandler         
+   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
+               
+   .weak      OTG_HS_EP1_IN_IRQHandler            
+   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
+               
+   .weak      OTG_HS_WKUP_IRQHandler         
+   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
+            
+   .weak      OTG_HS_IRQHandler      
+   .thumb_set OTG_HS_IRQHandler,Default_Handler
+                  
+   .weak      DCMI_IRQHandler            
+   .thumb_set DCMI_IRQHandler,Default_Handler
+                                   
+   .weak      HASH_RNG_IRQHandler                  
+   .thumb_set HASH_RNG_IRQHandler,Default_Handler   
+
+   .weak      FPU_IRQHandler                  
+   .thumb_set FPU_IRQHandler,Default_Handler