Merge branch '动态分配版'

.vscode/settings.json

@@ -2,6 +2,9 @@
     "C_Cpp.errorSquiggles": "disabled",
     "files.associations": {
         "pid.h": "c",
-        "main.h": "c"
+        "main.h": "c",
+        "motor_rm.h": "c",
+        "filter.h": "c",
+        "user_math.h": "c"
     }
 }

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>
+      <Breakpoint/>
-        <Bp>
-          <Number>0</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>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>133</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
-          <Filename>..\User\module\shoot_control.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression></Expression>
-        </Bp>
-      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>

MDK-ARM/shoot/shoot.build_log.htm

@@ -22,12 +22,16 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\CUBEMX\shoot\MDK-ARM\shoot.uvprojx
-Project File Date:  10/03/2025
+Project File Date:  10/10/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
 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=32328 RO-data=660 RW-data=280 ZI-data=23744  
+FromELF: creating hex file...
 "shoot\shoot.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -52,7 +56,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:00
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>

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

@@ -122,7 +122,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (..\User\task\user_task.h)(0x68D3E4B9)
-F (../Core/Src/can.c)(0x68DFE108)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/can.o -MD)
+F (../Core/Src/can.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/can.o -MD)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -218,7 +218,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
-F (../Core/Src/stm32f4xx_it.c)(0x68DFE109)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/stm32f4xx_it.o -MD)
+F (../Core/Src/stm32f4xx_it.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/stm32f4xx_it.o -MD)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@@ -249,7 +249,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
-I (..\Core\Inc\stm32f4xx_it.h)(0x68DFE109)
+I (..\Core\Inc\stm32f4xx_it.h)(0x68E86971)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
 I (..\Core\Inc\FreeRTOSConfig.h)(0x68D13FA3)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
@@ -947,8 +947,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 F (..\User\bsp\bsp.h)(0x68DFDF27)()
-F (..\User\bsp\can.c)(0x68DFDF27)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/can_1.o -MD)
+F (..\User\bsp\can.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/can_1.o -MD)
-I (..\User\bsp\can.h)(0x68DFDF27)
+I (..\User\bsp\can.h)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -995,7 +995,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\bsp\can.h)(0x68DFDF27)()
+F (..\User\bsp\can.h)(0x68E86971)()
 F (..\User\bsp\mm.c)(0x68DFDF27)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/mm.o -MD)
 I (..\User\bsp\mm.h)(0x68DFDF27)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -1121,21 +1121,21 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 F (..\User\bsp\dwt.h)(0x68DFDF27)()
-F (..\User\device\device.h)(0x68DFDFA7)()
+F (..\User\device\device.h)(0x68E86971)()
 F (..\User\device\motor.c)(0x68DFDF27)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/motor.o -MD)
 I (..\User\device\motor.h)(0x68DFDF0A)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 F (..\User\device\motor.h)(0x68DFDF0A)()
-F (..\User\device\motor_rm.c)(0x68DFE466)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/motor_rm.o -MD)
+F (..\User\device\motor_rm.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/motor_rm.o -MD)
 I (..\User\device\motor_rm.h)(0x68DFDF0A)
 I (..\User\device\motor.h)(0x68DFDF0A)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\User\bsp\can.h)(0x68DFDF27)
+I (..\User\bsp\can.h)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -1181,7 +1181,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\bsp\time.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E91641)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 F (..\User\device\motor_rm.h)(0x68DFDF0A)()
@@ -1223,18 +1223,18 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\bsp\bsp.h)(0x68DFDF27)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 F (..\User\device\vofa.h)(0x68DFDF0A)()
 F (..\User\device\AT9S_Pro.c)(0x68CE6D5E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/at9s_pro.o -MD)
 I (..\User\device\AT9S_Pro.h)(0x68CE6AC0)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\component\user_math.h)(0x68DFE123)
+I (..\User\component\user_math.h)(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)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\bsp\uart.h)(0x68DFDF27)
 I (..\Core\Inc\usart.h)(0x68D13849)
@@ -1268,120 +1268,120 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\User\bsp\bsp.h)(0x68DFDF27)
 F (..\User\device\AT9S_Pro.h)(0x68CE6AC0)()
-F (..\User\component\user_math.c)(0x68DFDF27)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/user_math.o -MD)
+F (..\User\component\user_math.c)(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)(0x68DFE123)
+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)(0x68DFE123)()
+F (..\User\component\user_math.h)(0x68E91641)()
-F (..\User\component\at9s_pro_cmd.c)(0x68DAC603)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/at9s_pro_cmd.o -MD)
+F (..\User\component\at9s_pro_cmd.c)(0x68E869ED)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/at9s_pro_cmd.o -MD)
 I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\User\device\at9s_pro.h)(0x68CE6AC0)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\component\user_math.h)(0x68DFE123)
+I (..\User\component\user_math.h)(0x68E91641)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 F (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)()
 F (..\User\component\filter.c)(0x68DFDF27)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/filter.o -MD)
 I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68DFE123)
+I (..\User\component\user_math.h)(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)(0x68DFDF27)()
-F (..\User\component\pid.c)(0x68DFDF27)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/pid.o -MD)
+F (..\User\component\pid.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/pid.o -MD)
-I (..\User\component\pid.h)(0x68DFDF27)
+I (..\User\component\pid.h)(0x68E86971)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68DFE123)
+I (..\User\component\user_math.h)(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)(0x68DFDF27)()
+F (..\User\component\pid.h)(0x68E86971)()
-F (..\User\module\shoot_control.c)(0x68E62342)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/shoot_control.o -MD)
+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 (..\User\module\shoot_control.h)(0x68E621FB)
-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)(0x68DFDF27)
-I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68DFE123)
-I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (..\User\device\motor_rm.h)(0x68DFDF0A)
-I (..\User\device\motor.h)(0x68DFDF0A)
-I (..\User\device\device.h)(0x68DFDFA7)
-I (..\User\bsp\can.h)(0x68DFDF27)
-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 (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\bsp\time.h)(0x68DFDF27)
+I (..\User\module\shoot_control.h)(0x68E91641)
-F (..\User\module\shoot_control.h)(0x68E621FB)()
+I (..\Core\Inc\main.h)(0x68D1384A)
-F (..\User\module\config.c)(0x68E142A3)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/config.o -MD)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
-I (..\User\module\config.h)(0x68DABE70)
+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)(0x68DFDF27)
+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)(0x68DFE123)
+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)(0x68DFDF0A)
-I (..\User\device\device.h)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (..\User\device\motor_rm.h)(0x68DFDF0A)
-I (..\User\bsp\can.h)(0x68DFDF27)
+I (..\User\bsp\can.h)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@@ -1424,8 +1424,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (..\User\module\shoot_control.h)(0x68E621FB)
+I (..\User\module\shoot_control.h)(0x68E91641)
-F (..\User\module\config.h)(0x68DABE70)()
+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)(0x68DFE123)
+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)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 F (..\User\task\rc.c)(0x68D3FA78)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/rc.o -MD)
 I (..\User\task\user_task.h)(0x68D3E4B9)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
@@ -1462,13 +1462,13 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 I (..\User\device\at9s_pro.h)(0x68CE6AC0)
-I (..\User\component\user_math.h)(0x68DFE123)
+I (..\User\component\user_math.h)(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)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
 I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
-F (..\User\task\shoot_ctrl.c)(0x68DFE330)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User

-I./RTE/_shoot

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o shoot/shoot_ctrl.o -MD)
+F (..\User\task\shoot_ctrl.c)(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)(0x68DFE123)
+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)(0x68DFDFA7)
+I (..\User\device\device.h)(0x68E86971)
-I (..\User\module\shoot_control.h)(0x68E621FB)
+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)(0x68DFDF27)
+I (..\User\component\pid.h)(0x68E86971)
 I (..\User\component\filter.h)(0x68DFDF27)
 I (..\User\device\motor_rm.h)(0x68DFDF0A)
 I (..\User\device\motor.h)(0x68DFDF0A)
-I (..\User\bsp\can.h)(0x68DFDF27)
+I (..\User\bsp\can.h)(0x68E86971)
 I (..\Core\Inc\can.h)(0x68D13849)
 I (..\User\bsp\bsp.h)(0x68DFDF27)
 I (..\User\bsp\mm.h)(0x68DFDF27)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
-I (..\User\module\config.h)(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.user

@@ -3,37 +3,38 @@
 
 Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:146:32, State=BP_STATE_DISABLED
 Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:149:49, State=BP_STATE_DISABLED
-Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:116:26, State=BP_STATE_DISABLED
+Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:125:9, State=BP_STATE_DISABLED
-GraphedExpression="((shoot).target_variable).target_angle", Color=#e56a6f, Show=0
+GraphedExpression="((((shoot).feedback).trig).feedback).torque_current", Color=#e56a6f
-GraphedExpression="(((shoot).feedback).trig).rotor_abs_angle", Color=#35792b, Show=0
+OpenDocument="mm.c", FilePath="D:/CUBEMX/shoot/User/bsp/mm.c", Line=0
-GraphedExpression="dpos", Color=#769dda, Show=0
+OpenDocument="heap_4.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c", Line=103
-GraphedExpression="((shoot).output).outagl_trig", Color=#b14f0d, Show=0
+OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=511
-GraphedExpression="((shoot).output).outomg_trig", Color=#b3c38e, Show=0
+OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=83
-GraphedExpression="(((shoot).feedback).trig).torque_current", Color=#ab7b05
+OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=885
-GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#7fd3b7, Show=0
+OpenDocument="test.cpp", FilePath="D:/CUBEMX/shoot/User/module/test.cpp", Line=0
-OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=402
+OpenDocument="stm32f4xx_it.c", FilePath="D:/CUBEMX/shoot/Core/Src/stm32f4xx_it.c", Line=82
-OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419
+OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=46
-OpenDocument="math.h", FilePath="D:/cangming/ARM/ARMCLANG/include/math.h", Line=160
-OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=128
 OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161
-OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=66
+OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3627
-OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/shoot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=2072
+OpenDocument="config.h", FilePath="D:/CUBEMX/shoot/User/module/config.h", Line=0
-OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=58
+OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=393
-OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=39
+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="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=1
+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=148
+OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=231
 OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=706, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
+OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=641, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=212, 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=706, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=641, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=2560, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=FLOATING, x=997, y=976, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="1094;240", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20"
+OpenWindow="Timeline", DockArea=FLOATING, x=997, y=976, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="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;482]
@@ -43,12 +44,13 @@ TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Na
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
 TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;734]
 TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((shoot).target_variable).target_angle";" (((shoot).feedback).trig).rotor_abs_angle";" dpos";" ((shoot).output).outagl_trig";" ((shoot).output).outomg_trig";" (((shoot).feedback).trig).torque_current";" (((shoot).feedback).fric[0]).rotor_speed"], ColWidths=[100;100;100;100;100;100;100;100;100]
+TableHeader="Data Sampling 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;144;124;114;154;110;126;1570]
+TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;114;124;114;124;110;126;1630]
 TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
 WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="feedback_current", Window=Watched Data 1
+WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="dpos", Window=Watched Data 1
+WatchedExpression="a", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="shoot.feedback.fric[1]", RefreshRate=5, Window=Watched Data 1

User/component/user_math.c

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

@@ -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/module/config.c

@@ -19,55 +19,16 @@ Config_RobotParam_t robot_config = {
     
 
     .shoot_param = {
-        .num_trig_tooth=8,
+		.proj=SHOOT_PROJECTILE_17MM,
+		.fric_num=2,
+		.extra_deceleration_ratio=1.0f,
+        .num_trig_tooth=4,
         .shot_freq=20.0f,
-        .shot_burst_num=1,
+        .shot_burst_num=10,
-        .jam_enable=true,
+		.num_multilevel=1,
+        .jam_enable=false,
         .jam_threshold=120.0f, 
         .jam_suspected_time=0.5f, 
-        
-        .fric_motor_param[0] = {
-            .can = BSP_CAN_2,
-            .id = 0x201,
-            .module = MOTOR_M3508,
-            .reverse = true,
-            .gear=false,
-        },
-        .fric_motor_param[1] = {
-            .can = BSP_CAN_2,
-            .id = 0x202,
-            .module = MOTOR_M3508,
-            .reverse = true,
-            .gear=false,
-        },
-        .fric_motor_param[2] = {
-            .can = BSP_CAN_2,
-            .id = 0x203,
-            .module = MOTOR_M3508,
-            .reverse = true,
-            .gear=false,
-        },
-        .fric_motor_param[3] = {
-            .can = BSP_CAN_2,
-            .id = 0x204,
-            .module = MOTOR_M3508,
-            .reverse = true,
-            .gear=false,
-        },
-        .fric_motor_param[4] = {
-            .can = BSP_CAN_2,
-            .id = 0x205,
-            .module = MOTOR_M3508,
-            .reverse = false,
-            .gear=false,
-        },
-        .fric_motor_param[5] = {
-            .can = BSP_CAN_2,
-            .id = 0x206,
-            .module = MOTOR_M3508,
-            .reverse = false,
-            .gear=false,
-        },
         .trig_motor_param = {
             .can = BSP_CAN_2,
             .id = 0x207,
@@ -116,22 +77,22 @@ Config_RobotParam_t robot_config = {
             .range=-1.0f,
         },
         .trig_3508 = {
-            .k=0.0f,
+            .k=0.5f,
-            .p=0.0f,
+            .p=1.8f,
-            .i=0.0f,
+            .i=0.3f,
-            .d=0.00f,
+            .d=0.1f,
-            .i_limit=0.0f,
+            .i_limit=0.15f,
-            .out_limit=0.0f,
+            .out_limit=1.0f,
             .d_cutoff_freq=-1.0f,
             .range=M_2PI,
         },
         .trig_omg_3508 = {
-            .k=0.0f,
+            .k=1.0f,
-            .p=0.0f,
+            .p=1.0f,
             .i=0.0f,
             .d=0.0f,
             .i_limit=0.0f,
-            .out_limit=0.0f,
+            .out_limit=1.0f,
             .d_cutoff_freq=-1.0f,
             .range=-1.0f,
         },
@@ -155,4 +116,43 @@ Config_RobotParam_t robot_config = {
  */
 Config_RobotParam_t* Config_GetRobotParam(void) {
     return &robot_config;
+}
+
+/**
+ * @brief 初始化发射部分配置参数
+ * @return 初始化结果
+ */
+int8_t Config_ShootInit(void) {
+    int fric_num = robot_config.shoot_param.fric_num;
+	int num_multilevel = robot_config.shoot_param.num_multilevel;
+    robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
+    if (robot_config.shoot_param.fric_motor_param == NULL) {
+        BSP_Free(robot_config.shoot_param.fric_motor_param);
+        return -1; // 内存分配失败
+    }
+    robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float));
+    if (robot_config.shoot_param.ratio_multilevel == NULL) {
+        BSP_Free(robot_config.shoot_param.ratio_multilevel);
+        return -1; // 内存分配失败
+	}
+    /* 初始化摩擦轮电机参数 */
+    for (uint8_t i = 0; i < fric_num; i++) {
+        robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){
+            .can = BSP_CAN_2,
+            .id = 0x201 + i,
+            .module = MOTOR_M3508,
+			/*设置电机反装；example***********************
+			.reverse = (i == 0||1||3||5) ? true : false,*/
+            .reverse = (i == 1) ? true : false,
+            .gear = false,
+        };
+    }
+	/*规定电机属于哪级发射；example************************
+	robot_config.shoot_param.fric_motor_param[0].level=1;*/
+    robot_config.shoot_param.fric_motor_param[0].level=1;
+    robot_config.shoot_param.fric_motor_param[1].level=1;
+	/*规定各级摩擦轮转速比；example*********************
+	robot_config.shoot_param.ratio_multilevel[0]=1.0f;*/
+	robot_config.shoot_param.ratio_multilevel[0]=1.0f;
+    return SHOOT_OK;
 }

User/module/config.h

@@ -25,7 +25,7 @@ typedef struct {
  * @return 机器人配置参数指针
  */
 Config_RobotParam_t* Config_GetRobotParam(void);
-
+int8_t Config_ShootInit(void);
 #ifdef __cplusplus
 }
 #endif

User/module/shoot_control.c

@@ -1,30 +1,49 @@
 /*
  * 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);					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;			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 "shoot_control.h"
 #include <string.h>
-#include "can.h"
+#include "shoot_control.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
 #include "component/filter.h"
 #include "component/user_math.h"
-#include <math.h>
-#include "bsp/time.h"
-
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
+#define WONDERFUL_COMPENSATION_FORHERO 0.010478f//给英雄做的补偿
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 static bool last_firecmd;
 /* Private function  -------------------------------------------------------- */
-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;
-    }
-}
 
 /**
  * \brief 设置射击模式
@@ -56,7 +75,8 @@ int8_t Shoot_ResetIntegral(Shoot_t *s)
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    for(int i=0;i<SHOOT_FRIC_NUM;i++)
+    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]);
@@ -78,7 +98,8 @@ int8_t Shoot_ResetCalu(Shoot_t *s)
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    for(int i=0;i<SHOOT_FRIC_NUM;i++)
+    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]);
@@ -104,7 +125,8 @@ int8_t Shoot_ResetOutput(Shoot_t *s)
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    for(int i=0;i<SHOOT_FRIC_NUM;i++)
+    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;
@@ -130,7 +152,15 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    s->target_variable.target_rpm=4000.0f/MAX_FRIC_RPM;
+	switch(s->param->proj)
+	{
+		case SHOOT_PROJECTILE_17MM:
+		s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM;
+		break;
+		case SHOOT_PROJECTILE_42MM:
+		s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM;
+		break;	
+	}
     return SHOOT_OK;
 }
 
@@ -141,18 +171,21 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
  * \param cmd 包含射击指令的结构体
  * 
  * \return 函数运行结果
- */float dpos;
+ */
 int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
 {
     if (s == NULL  || s->anglecalu.num_to_shoot == 0) {
         return SHOOT_ERR_NULL; 
     }
     float dt = s->now - s->anglecalu.time_last_shoot;
-    dpos = CircleError(s->target_variable.target_angle, s->feedback.trig.rotor_abs_angle, M_2PI);
+	float dpos;
+    dpos = CircleError(s->target_variable.target_angle, s->feedback.trig_agl, M_2PI);
     if(dt >= 1.0f/s->param->shot_freq && cmd->firecmd && dpos<=1.0f)
     {
         s->anglecalu.time_last_shoot=s->now;
         CircleAdd(&s->target_variable.target_angle, M_2PI/s->param->num_trig_tooth, M_2PI);
+        if(s->param->trig_motor_param.module==MOTOR_M3508){ 
+		s->target_variable.target_angle+=WONDERFUL_COMPENSATION_FORHERO;}
 		s->anglecalu.num_to_shoot--;
     }
     return SHOOT_OK;
@@ -171,10 +204,11 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
         return SHOOT_ERR_NULL; // 参数错误
     }
     float rpm_sum=0.0f;
-    for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
+    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]);
+        MOTOR_RM_Update(&s->param->fric_motor_param[i].param);
-		MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]);
+		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;
@@ -188,16 +222,18 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
         /* 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/SHOOT_FRIC_NUM;
+    s->feedback.fric_avgrpm=rpm_sum/fric_num;
 	/* 更新拨弹电机反馈 */
     MOTOR_RM_Update(&s->param->trig_motor_param);
-	MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param);
+	s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->trig_motor_param); 
-		if(motor_fed!=NULL)
+	s->feedback.trig_agl=s->param->extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle; 
-		{
+	while(s->feedback.trig_agl<0)s->feedback.trig_agl+=M_2PI;
-			s->feedback.trig=motor_fed->feedback;
+	while(s->feedback.trig_agl>=M_2PI)s->feedback.trig_agl-=M_2PI;
-		}   
+	if (s->feedback.trig.motor.reverse) {
-    s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
+        s->feedback.trig_agl = M_2PI - s->feedback.trig_agl;
-    s->feedback.trig_rpm = s->feedback.trig.rotor_speed / MAX_TRIG_RPM;
+	}
+    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;
     
@@ -212,16 +248,18 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
  * \param cmd 包含射击指令的结构体
  *
  * \return 函数运行结果
- */
+ */float a;
 int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 {
     if (s == NULL || cmd == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
+    uint8_t fric_num = s->param->fric_num;
+	uint8_t num_multilevel = s->param->num_multilevel;
     if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
-        for(int i=0;i<SHOOT_FRIC_NUM;i++)
+        for(int i=0;i<fric_num;i++)
         {	
-            MOTOR_RM_Relax(&s->param->fric_motor_param[i]);
+            MOTOR_RM_Relax(&s->param->fric_motor_param[i].param);
         }
         MOTOR_RM_Relax(&s->param->trig_motor_param);
     }
@@ -231,17 +269,17 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
         {
 			
             case SHOOT_STATE_IDLE:/*熄火等待*/
-                for(int i=0;i<SHOOT_FRIC_NUM;i++)
+                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], s->output.lpfout_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.rotor_abs_angle,0,s->dt);
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,pos,s->feedback.trig_agl,0,s->dt);
-                s->output.outomg_trig  =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+                s->output.outomg_trig  	=PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
 
@@ -255,22 +293,43 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                     }
                 break;
 
-            case SHOOT_STATE_READY:/*准备射击*/  
+            case SHOOT_STATE_READY:/*准备射击*/
-                for(int i=0;i<SHOOT_FRIC_NUM;i++)
+                    Shoot_CaluTargetRPM(s,233);
-                {	/* 计算跟随输出、计算修正输出 */ 
+					for(int i=0;i<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);
+						uint8_t level=s->param->fric_motor_param->level-1;
-                    /* 按比例缩放并加和输出 */
+                        float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm;
-                    ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);                    
+						/* 计算跟随输出、计算修正输出 */
-                    s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
+						a=s->target_variable.target_rpm/MAX_FRIC_RPM;
-                    /* 滤波 */
+						s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
-                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
+														target_rpm,
-                    /* 设置输出 */
+														s->feedback.fric_rpm[i],
-                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[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.rotor_abs_angle,0,s->dt);
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,
-                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+													pos,
+													s->feedback.trig_agl,
+													0,
+													s->dt);
+                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
+													s->output.outagl_trig,
+													s->feedback.trig_rpm,
+													0,
+													s->dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
                 
@@ -305,21 +364,40 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 
             case SHOOT_STATE_FIRE:/*射击*/
 				Shoot_CaluTargetAngle(s, cmd);
-                for(int i=0;i<SHOOT_FRIC_NUM;i++)
+                for(int i=0;i<fric_num;i++)
-                {	/* 计算跟随输出、计算修正输出 */ 
+                {	
-                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
+					uint8_t level=s->param->fric_motor_param->level-1;
-                    s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
+                    float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm;
+					/* 计算跟随输出、计算修正输出 */ 
+                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
+														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], s->output.lpfout_fric[i]);
+                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
                 }
                 /* 设置拨弹电机输出 */
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig.rotor_abs_angle,0,s->dt);
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,
-                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+													s->target_variable.target_angle,
+													s->feedback.trig_agl,
+													0,
+													s->dt);
+                s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
+													s->output.outagl_trig,
+													s->feedback.trig_rpm,
+													0,
+													s->dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
                 MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
 
@@ -327,7 +405,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                 if(!cmd->firecmd)
                     {
                         s->running_state=SHOOT_STATE_READY;
-						pos=s->feedback.trig.rotor_abs_angle;
+						pos=s->feedback.trig_agl;
                     }
                 break;
 
@@ -337,9 +415,10 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
         }
     }
     /* 输出 */
-    for(int i=SHOOT_FRIC_NUM-1;i>3;i-=4)
+	MOTOR_RM_Ctrl(&s->param->fric_motor_param[0].param);
+    if(s->param->fric_num>4)
     {
-        MOTOR_RM_Ctrl(&s->param->fric_motor_param[i]);
+        MOTOR_RM_Ctrl(&s->param->fric_motor_param[4].param);
     }
     MOTOR_RM_Ctrl(&s->param->trig_motor_param);
     last_firecmd = cmd->firecmd;
@@ -359,56 +438,62 @@ 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) {
+        switch (s->jamdetection.jamfsm_state) {
-        case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */
+            case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */
-            /* 检测电流是否超过阈值 */
+                /* 检测电流是否超过阈值 */
-            if (s->feedback.trig.torque_current/1000.0f > s->param->jam_threshold) {
+                if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jam_threshold) {
-                s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
+                    s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
-                s->jamdetection.jam_last_time = s->now; /* 记录怀疑开始时间 */
+                    s->jamdetection.jam_last_time = s->now; /* 记录怀疑开始时间 */
-            }
+                }
-            /* 正常运行射击状态机 */
+                /* 正常运行射击状态机 */
-            Shoot_RunningFSM(s, cmd);
+                Shoot_RunningFSM(s, cmd);
-            break;
+                break;
 
-        case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */
+            case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */
-            /* 检测电流是否低于阈值 */
+                /* 检测电流是否低于阈值 */
-            if (s->feedback.trig.torque_current/1000.0f < s->param->jam_threshold) {
+                if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jam_threshold) {
+                    s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+                    break;
+                } 
+                /* 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;
-            } 
+        }
-            /* 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) {
+    else{   
-                s->jamdetection.jam_detected =true;
+        s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
-				s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED;
+        s->jamdetection.jam_detected = false;
-                break;
+        Shoot_RunningFSM(s, cmd);
-            }
-            /* 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.rotor_abs_angle-(0.5f*M_2PI/s->param->num_trig_tooth);
-            /* 切换状态 */
-            s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL;
-            /* 记录处理开始时间 */
-            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.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;
     }
 
     return SHOOT_OK;
@@ -428,12 +513,45 @@ 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
     }
-    s->param=param;
+    uint8_t fric_num = param->fric_num;
 
+    /* 分配内存 */
+    s->param=param;
+	s->output.out_follow      = (float *)            BSP_Malloc(fric_num * sizeof(float));
+    s->output.out_err         = (float *)            BSP_Malloc(fric_num * sizeof(float));
+    s->output.out_fric        = (float *)            BSP_Malloc(fric_num * sizeof(float));
+    s->output.lpfout_fric     = (float *)            BSP_Malloc(fric_num * sizeof(float));
+    s->feedback.fric          = (MOTOR_Feedback_t *) BSP_Malloc(fric_num * sizeof(MOTOR_Feedback_t));
+    s->feedback.fil_fric_rpm  = (float *)            BSP_Malloc(fric_num * sizeof(float));
+    s->feedback.fric_rpm      = (float *)            BSP_Malloc(fric_num * sizeof(float));  
+    s->pid.fric_follow        = (KPID_t *)           BSP_Malloc(fric_num * sizeof(KPID_t));
+    s->pid.fric_err           = (KPID_t *)           BSP_Malloc(fric_num * sizeof(KPID_t));
+    s->filter.fric.in         = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
+    s->filter.fric.out        = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
+
+    /* 内存分配失败 */
+    if (s->feedback.fric == NULL || s->feedback.fil_fric_rpm == NULL || s->feedback.fric_rpm == NULL ||
+        s->output.out_follow == NULL || s->output.out_err == NULL || s->output.out_fric == NULL ||
+        s->output.lpfout_fric == NULL || s->param->fric_motor_param == NULL || s->pid.fric_follow == NULL ||
+        s->pid.fric_err == NULL || s->filter.fric.in == NULL || s->filter.fric.out == NULL) {
+        BSP_Free(s->feedback.fric);
+        BSP_Free(s->feedback.fil_fric_rpm);
+        BSP_Free(s->feedback.fric_rpm);
+        BSP_Free(s->output.out_follow);
+        BSP_Free(s->output.out_err);
+        BSP_Free(s->output.out_fric);
+        BSP_Free(s->output.lpfout_fric);
+        BSP_Free(s->param->fric_motor_param);
+        BSP_Free(s->pid.fric_follow);
+        BSP_Free(s->pid.fric_err);
+        BSP_Free(s->filter.fric.in);
+        BSP_Free(s->filter.fric.out);
+        return SHOOT_ERR_MALLOC;}
+    
     BSP_CAN_Init();
     /* 初始化摩擦轮PID和滤波器 */
-    for(int i=0;i<SHOOT_FRIC_NUM;i++){
+    for(int i=0;i<fric_num;i++){
-	MOTOR_RM_Register(&param->fric_motor_param[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);
@@ -460,8 +578,6 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
 
 	/* 归零变量 */
     memset(&s->anglecalu,0,sizeof(s->anglecalu));
-    memset(&s->output,0,sizeof(s->output));
-
 	return SHOOT_OK;
 }
 
@@ -478,11 +594,10 @@ 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->now 		  	=BSP_TIME_Get_us() / 1000000.0f;
-    s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
+    s->dt 			=(BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
-    s->lask_wakeup = BSP_TIME_Get_us();
+    s->lask_wakeup	=BSP_TIME_Get_us();
-	s->online = cmd->online;
+	s->online 		=cmd->online;
-    //电机在线检测函数
     Shoot_JamDetectionFSM(s, cmd);
     return SHOOT_OK;
 }

User/module/shoot_control.h

@@ -18,10 +18,10 @@ extern "C" {
 #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CMD_ChassisMode_t */
+#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 SHOOT_FRIC_NUM (6) /* 摩擦轮数量 */
 #define MAX_FRIC_RPM 7000.0f
 #define MAX_TRIG_RPM 5000.0f//这里可能也会影响最高发射频率，待测试
 /* Exported macro ----------------------------------------------------------- */
@@ -31,34 +31,47 @@ typedef enum {
     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;
+}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;
+}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_t;
+}Shoot_Mode_t;
+
+typedef enum {
+	SHOOT_PROJECTILE_17MM,
+	SHOOT_PROJECTILE_42MM,
+}Shoot_Projectile_t;
+
 typedef struct {
-  bool online;	
+  bool online;	                 /* 遥控器在线 */
-	
+  bool 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;
 
-} Shoot_CMD_t;
 typedef struct {
-  MOTOR_Feedback_t fric[SHOOT_FRIC_NUM]; /* 摩擦轮电机反馈 */
+  MOTOR_Feedback_t *fric; /* 摩擦轮电机反馈 */
-  MOTOR_Feedback_t trig; /* 拨弹电机反馈 */
+  MOTOR_RM_t trig; /* 拨弹电机反馈 */
 
-  float fil_fric_rpm[SHOOT_FRIC_NUM]; /* 滤波后的摩擦轮转速 */
+  float trig_agl;	/*计算所有减速比后的拨弹盘的角度*/
+	
+  float *fil_fric_rpm; /* 滤波后的摩擦轮转速 */
   float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
 
-  float fric_rpm[SHOOT_FRIC_NUM]; /* 归一化摩擦轮转速 */
+  float *fric_rpm; /* 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*/
 
@@ -76,10 +89,10 @@ typedef struct {
   Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态 */
 }Shoot_JamDetection_t;
 typedef struct {
-  float out_follow[SHOOT_FRIC_NUM];
+  float *out_follow;
-  float out_err[SHOOT_FRIC_NUM];
+  float *out_err;
-  float out_fric[SHOOT_FRIC_NUM];
+  float *out_fric;
-  float lpfout_fric[SHOOT_FRIC_NUM];
+  float *lpfout_fric;
 
   
   float outagl_trig;
@@ -90,18 +103,22 @@ typedef struct {
 
 /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
 typedef struct {
-  float num_trig_tooth;  /* 拨弹盘每圈弹丸数量 */
+  Shoot_Projectile_t proj;
-  float shot_freq;        /* 射击频率，单位Hz */
+  size_t fric_num;       			/* 摩擦轮数量 */
-  uint8_t shot_burst_num; /* 多发模式一次射击的数量 */
 
-  uint8_t  num_multilevel;      /* 多级发射级数 (默认每级摩擦轮的数量相等)*/
+  float extra_deceleration_ratio;	/*电机出轴到拨盘的额外减速比；没有写1*/
-  float multilevel_ratio[1]; /* 多级发射各级速度比例 */
+  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 (默认每级摩擦轮的数量相等)*/
+  float *ratio_multilevel; /* 多级发射各级速度比例 */
 
   bool  jam_enable; /* 是否启用卡弹检测 */  //还没加到逻辑里
-  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300A,根据实际测试调整)*/
+  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 */
-
+	
-  MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM];
+  Shoot_MOTOR_RM_Param_t *fric_motor_param;
   MOTOR_RM_Param_t trig_motor_param;
   
 
@@ -129,8 +146,7 @@ typedef struct {
  * 包含了初始化参数，中间变量，输出变量
  */
 typedef struct {
-  bool                      online;//待完善，电机或遥控器在线检测
+  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 */
@@ -152,8 +168,8 @@ typedef struct {
 
   /* 反馈控制用的PID */
   struct {
-    KPID_t                  fric_follow[SHOOT_FRIC_NUM];   /* 摩擦轮PID主结构体 */
+    KPID_t                  *fric_follow;   /* 摩擦轮PID主结构体 */
-    KPID_t                  fric_err[SHOOT_FRIC_NUM];      /* 摩擦轮PID主结构体 */
+    KPID_t                  *fric_err;      /* 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;
@@ -161,8 +177,8 @@ typedef struct {
   /* 滤波器 */
   struct {
     struct{
-    LowPassFilter2p_t       in[SHOOT_FRIC_NUM];            /* 反馈值滤波器 */
+    LowPassFilter2p_t       *in;            /* 反馈值滤波器 */
-    LowPassFilter2p_t       out[SHOOT_FRIC_NUM];           /* 输出值滤波器 */
+    LowPassFilter2p_t       *out;           /* 输出值滤波器 */
     }fric;
     struct{
     LowPassFilter2p_t       in;                            /* 反馈值滤波器 */

User/module/test.cpp

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

User/task/shoot_ctrl.c

@@ -6,7 +6,6 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
 #include "component/at9s_pro_cmd.h"
 #include "module/shoot_control.h"
 #include "module/config.h"
@@ -20,7 +19,6 @@ COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
 Shoot_t shoot;
 Shoot_CMD_t shoot_cmd;
 /* USER STRUCT BEGIN */
-
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -36,6 +34,7 @@ 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 */
+	Config_ShootInit();
 	Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
 	Shoot_SetMode(&shoot,SHOOT_MODE_BURST);
   /* USER CODE INIT END */
@@ -47,6 +46,8 @@ void Task_shoot_ctrl(void *argument) {
 	  shoot_cmd.ready=shoot_ctrl_cmd_rc.shoot.ready;
 	  shoot_cmd.firecmd=shoot_ctrl_cmd_rc.shoot.firecmd;
 	  shoot_cmd.online=shoot_ctrl_cmd_rc.online;
+	  shoot.target_variable.target_rpm=4000;
+	  shoot.mode=shoot_ctrl_cmd_rc.mode;
 	  Chassis_UpdateFeedback(&shoot);
 	  Shoot_Control(&shoot,&shoot_cmd);
     /* USER CODE END */