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base: xm:6fad9b04ea0b24d965bc9cd084bf24febe72c385
Branches Tags
xm:main
xm:hero
xm:会航参数保存
xm:动态分配版
xm:单环控摩擦轮
...
compare: xm:2729f42847ea6f73dc8f03a39146f3331bba4831
Branches Tags
xm:main
xm:hero
xm:会航参数保存
xm:动态分配版
xm:单环控摩擦轮

8 Commits
6fad9b04ea ... 2729f42847

Author SHA1 Message Date
yxming66
2729f42847 Merge branch '动态分配版' 2025-10-11 21:48:03 +08:00
yxming66
9750966ce7 最新版之会航中供中央测试保存 2025-10-11 20:41:46 +08:00
yxming66
4222caec54 测试可使 2025-10-11 16:36:07 +08:00
yxming66
4ab41bf908 还差热量计算 2025-10-10 22:21:33 +08:00
yxming66
4faae4f680 保存 2025-10-10 12:09:34 +08:00
yxming66
2f0ff4b31c 成功，但是debug看不全，保存 2025-10-09 21:47:56 +08:00
yxming66
97ad16edf6 保存 2025-10-09 18:53:10 +08:00
yxming66
7fbec09276 正在考虑config该咋写 2025-10-08 20:26:49 +08:00
26 changed files with 10074 additions and 7266 deletions
Show Stats Expand all files Collapse all files

5
.vscode/settings.json vendored
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@ -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"
}
}

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MDK-ARM/JLinkLog.txt
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378
MDK-ARM/shoot.uvguix.yxm23
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35
MDK-ARM/shoot.uvoptx
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@ -153,40 +153,7 @@
<Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>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>
<Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>

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MDK-ARM/shoot/config.o
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MDK-ARM/shoot/shoot.axf
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8
MDK-ARM/shoot/shoot.build_log.htm
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@ -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>

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MDK-ARM/shoot/shoot.hex
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MDK-ARM/shoot/shoot.htm
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3170
MDK-ARM/shoot/shoot.map
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3
MDK-ARM/shoot/shoot_control.d
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@ -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

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MDK-ARM/shoot/shoot_control.o
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MDK-ARM/shoot/shoot_ctrl.o
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206
MDK-ARM/shoot/shoot_shoot.dep
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@ -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)
I (..\User\bsp\can.h)(0x68DFDF27)
F (..\User\bsp\can.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/can_1.o -MD)
I (..\User\bsp\can.h)(0x68E86971)
I (..\Core\Inc\can.h)(0x68D13849)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@ -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)
I (..\User\component\user_math.h)(0x68DFE123)
F (..\User\component\user_math.c)(0x68E91641)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_math.o -MD)
I (..\User\component\user_math.h)(0x68E91641)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\component\user_math.h)(0x68DFE123)()
F (..\User\component\at9s_pro_cmd.c)(0x68DAC603)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/at9s_pro_cmd.o -MD)
F (..\User\component\user_math.h)(0x68E91641)()
F (..\User\component\at9s_pro_cmd.c)(0x68E869ED)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/at9s_pro_cmd.o -MD)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\user_math.h)(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)
I (..\User\component\pid.h)(0x68DFDF27)
F (..\User\component\pid.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/pid.o -MD)
I (..\User\component\pid.h)(0x68E86971)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\filter.h)(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\module\shoot_control.c)(0x68E62342)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD)
I (..\User\module\shoot_control.h)(0x68E621FB)
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)
F (..\User\component\pid.h)(0x68E86971)()
F (..\User\module\shoot_control.c)(0x68EA16C5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68DFDF27)
F (..\User\module\shoot_control.h)(0x68E621FB)()
F (..\User\module\config.c)(0x68E142A3)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD)
I (..\User\module\config.h)(0x68DABE70)
I (..\User\module\shoot_control.h)(0x68E91641)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\pid.h)(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)
F (..\User\module\config.h)(0x68DABE70)()
I (..\User\module\shoot_control.h)(0x68E91641)
F (..\User\module\config.h)(0x68E91582)()
F (..\User\task\init.c)(0x68D4AE2D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/init.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
@ -1443,10 +1443,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
I (..\User\component\user_math.h)(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\module\shoot_control.h)(0x68E621FB)
I (..\User\device\device.h)(0x68E86971)
I (..\User\module\shoot_control.h)(0x68E91641)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1518,16 +1518,16 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\User\component\pid.h)(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)

89
MDK-ARM/shoot/test.d Normal file
View File

@ -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

BIN
MDK-ARM/shoot/test.o Normal file
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BIN
MDK-ARM/shoot/user_math.o
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54
Ozone/shoot.jdebug.user
View File

@ -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
GraphedExpression="((shoot).target_variable).target_angle", Color=#e56a6f, Show=0
GraphedExpression="(((shoot).feedback).trig).rotor_abs_angle", Color=#35792b, Show=0
GraphedExpression="dpos", Color=#769dda, Show=0
GraphedExpression="((shoot).output).outagl_trig", Color=#b14f0d, Show=0
GraphedExpression="((shoot).output).outomg_trig", Color=#b3c38e, Show=0
GraphedExpression="(((shoot).feedback).trig).torque_current", Color=#ab7b05
GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#7fd3b7, Show=0
OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=402
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419
OpenDocument="math.h", FilePath="D:/cangming/ARM/ARMCLANG/include/math.h", Line=160
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=128
Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:125:9, State=BP_STATE_DISABLED
GraphedExpression="((((shoot).feedback).trig).feedback).torque_current", Color=#e56a6f
OpenDocument="mm.c", FilePath="D:/CUBEMX/shoot/User/bsp/mm.c", Line=0
OpenDocument="heap_4.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c", Line=103
OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=511
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=83
OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=885
OpenDocument="test.cpp", FilePath="D:/CUBEMX/shoot/User/module/test.cpp", Line=0
OpenDocument="stm32f4xx_it.c", FilePath="D:/CUBEMX/shoot/Core/Src/stm32f4xx_it.c", Line=82
OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=46
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161
OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=66
OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/shoot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=2072
OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=58
OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=39
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3627
OpenDocument="config.h", FilePath="D:/CUBEMX/shoot/User/module/config.h", Line=0
OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=393
OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=9
OpenDocument="pid.h", FilePath="D:/CUBEMX/shoot/User/component/pid.h", Line=0
OpenDocument="pid.c", FilePath="D:/CUBEMX/shoot/User/component/pid.c", Line=111
OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=108
OpenDocument="queue.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=2062
OpenDocument="filter.c", FilePath="D:/CUBEMX/shoot/User/component/filter.c", Line=49
OpenDocument="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="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=706, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=277, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=641, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=2560, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=FLOATING, x=997, y=976, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="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 Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;144;124;114;154;110;126;1570]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((((shoot).feedback).trig).feedback).torque_current"], ColWidths=[100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;114;124;114;124;110;126;1630]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1
WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1
WatchedExpression="feedback_current", Window=Watched Data 1
WatchedExpression="dpos", Window=Watched Data 1
WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
WatchedExpression="a", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot.feedback.fric[1]", RefreshRate=5, Window=Watched Data 1

26
User/component/user_math.c
View File

@ -48,11 +48,11 @@ inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); }
/**
* \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值
* 例如编码器：相差1.5PI其实等于相差-0.5PI
* \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
*例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
*
* \param sp 被操作的值
* \param fb 变化量
* \param sp 设定值
* \param fb 反馈值
* \param range 被操作的值变化范围，正数时起效
*
* \return 函数运行结果
@ -71,8 +71,8 @@ inline float CircleError(float sp, float fb, float range) {
}
/**
* \brief 循环加法，用于没有负数值，并在一定范围内变化的值
* 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI
* \brief 循环加法，适用于被操作的值在（x,y）范围内循环的情况，range应设定为y-x
* 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
*
* \param origin 被操作的值
* \param delta 变化量
@ -119,6 +119,20 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
return 60.0f * (float)bullet_speed / (M_2PI * fric_radius);
}
/**
* @brief 按比例缩放
*
* @param a 传入值1
* @param b 传入值2
*/
inline void ScaleSumTo1(float *a, float *b) {
float sum = *a + *b;
if (sum > 1.0f) {
float scale = 1.0f / sum;
*a *= scale;
*b *= scale;
}
}
// /**
// * @brief 断言失败处理
// *

7
User/component/user_math.h
View File

@ -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

110
User/module/config.c
View File

@ -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,
.jam_enable=true,
.shot_burst_num=10,
.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,
.p=0.0f,
.i=0.0f,
.d=0.00f,
.i_limit=0.0f,
.out_limit=0.0f,
.k=0.5f,
.p=1.8f,
.i=0.3f,
.d=0.1f,
.i_limit=0.15f,
.out_limit=1.0f,
.d_cutoff_freq=-1.0f,
.range=M_2PI,
},
.trig_omg_3508 = {
.k=0.0f,
.p=0.0f,
.k=1.0f,
.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,
},
@ -156,3 +117,42 @@ 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;
}

2
User/module/config.h
View File

@ -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

247
User/module/shoot_control.c
View File

@ -2,29 +2,48 @@
* 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_t *motor_fed = MOTOR_RM_GetMotor(&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].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);
if(motor_fed!=NULL)
{
s->feedback.trig=motor_fed->feedback;
s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->trig_motor_param);
s->feedback.trig_agl=s->param->extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle;
while(s->feedback.trig_agl<0)s->feedback.trig_agl+=M_2PI;
while(s->feedback.trig_agl>=M_2PI)s->feedback.trig_agl-=M_2PI;
if (s->feedback.trig.motor.reverse) {
s->feedback.trig_agl = M_2PI - s->feedback.trig_agl;
}
s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
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);
}
@ -231,16 +269,16 @@ 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.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
@ -256,21 +294,42 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
break;
case SHOOT_STATE_READY:/*准备射击*/
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{ /* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
Shoot_CaluTargetRPM(s,233);
for(int i=0;i<fric_num;i++)
{
uint8_t level=s->param->fric_motor_param->level-1;
float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm;
/* 计算跟随输出、计算修正输出 */
a=s->target_variable.target_rpm/MAX_FRIC_RPM;
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
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,pos,s->feedback.trig.rotor_abs_angle,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.outagl_trig =PID_Calc(&s->pid.trig,
pos,
s->feedback.trig_agl,
0,
s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,
s->output.outagl_trig,
s->feedback.trig_rpm,
0,
s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
@ -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++)
{ /* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
for(int i=0;i<fric_num;i++)
{
uint8_t level=s->param->fric_motor_param->level-1;
float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm;
/* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
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.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outagl_trig =PID_Calc(&s->pid.trig,
s->target_variable.target_angle,
s->feedback.trig_agl,
0,
s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,
s->output.outagl_trig,
s->feedback.trig_rpm,
0,
s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
@ -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;
@ -359,11 +438,11 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
if (s == NULL) {
return SHOOT_ERR_NULL; // 参数错误
}
if(s->param->jam_enable){
switch (s->jamdetection.jamfsm_state) {
case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */
/* 检测电流是否超过阈值 */
if (s->feedback.trig.torque_current/1000.0f > s->param->jam_threshold) {
if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jam_threshold) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
s->jamdetection.jam_last_time = s->now; /* 记录怀疑开始时间 */
}
@ -373,7 +452,7 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */
/* 检测电流是否低于阈值 */
if (s->feedback.trig.torque_current/1000.0f < s->param->jam_threshold) {
if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jam_threshold) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
break;
}
@ -391,7 +470,7 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
/* 清空待发射弹 */
s->anglecalu.num_to_shoot=0;
/* 修改拨弹盘目标角度 */
s->target_variable.target_angle = s->feedback.trig.rotor_abs_angle-(0.5f*M_2PI/s->param->num_trig_tooth);
s->target_variable.target_angle = s->feedback.trig_agl-(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 */
@ -401,7 +480,7 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
/* 正常运行射击状态机 */
Shoot_RunningFSM(s, cmd);
/* 给予0.3秒响应时间并检测电流小于20A，认为堵塞已解除 */
if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->feedback.trig.torque_current/1000.0f < 20.0f) {
if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
}
break;
@ -410,6 +489,12 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
break;
}
}
else{
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
s->jamdetection.jam_detected = false;
Shoot_RunningFSM(s, cmd);
}
return SHOOT_OK;
}
@ -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
}
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++){
MOTOR_RM_Register(&param->fric_motor_param[i]);
for(int i=0;i<fric_num;i++){
MOTOR_RM_Register(&param->fric_motor_param[i].param);
PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,&param->fric_err);
LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
@ -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->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
s->lask_wakeup = BSP_TIME_Get_us();
s->online = cmd->online;
//电机在线检测函数
s->now =BSP_TIME_Get_us() / 1000000.0f;
s->dt =(BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
s->lask_wakeup =BSP_TIME_Get_us();
s->online =cmd->online;
Shoot_JamDetectionFSM(s, cmd);
return SHOOT_OK;
}

74
User/module/shoot_control.h
View File

@ -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;
typedef struct {
bool online;
}Shoot_Mode_t;
typedef enum {
SHOOT_PROJECTILE_17MM,
SHOOT_PROJECTILE_42MM,
}Shoot_Projectile_t;
typedef struct {
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 trig; /* 拨弹电机反馈 */
MOTOR_Feedback_t *fric; /* 摩擦轮电机反馈 */
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_err[SHOOT_FRIC_NUM];
float out_fric[SHOOT_FRIC_NUM];
float lpfout_fric[SHOOT_FRIC_NUM];
float *out_follow;
float *out_err;
float *out_fric;
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 */
float shot_freq; /* 射击频率，单位Hz */
uint8_t shot_burst_num; /* 多发模式一次射击的数量 */
Shoot_Projectile_t proj;
size_t fric_num; /* 摩擦轮数量 */
uint8_t num_multilevel; /* 多级发射级数 (默认每级摩擦轮的数量相等)*/
float multilevel_ratio[1]; /* 多级发射各级速度比例 */
float extra_deceleration_ratio; /*电机出轴到拨盘的额外减速比；没有写1*/
size_t num_trig_tooth; /* 拨弹盘每圈弹丸数量 */
float shot_freq; /* 射击频率，单位Hz */
size_t shot_burst_num; /* 多发模式一次射击的数量 */
size_t num_multilevel; /* 多级发射级数 (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_err[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; /* 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 out[SHOOT_FRIC_NUM]; /* 输出值滤波器 */
LowPassFilter2p_t *in; /* 反馈值滤波器 */
LowPassFilter2p_t *out; /* 输出值滤波器 */
}fric;
struct{
LowPassFilter2p_t in; /* 反馈值滤波器 */

2
User/module/test.cpp Normal file
View File

@ -0,0 +1,2 @@

5
User/task/shoot_ctrl.c
View File

@ -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 */