保存

2025-10-12 20:01:09 +08:00
47 changed files with 3819 additions and 9737 deletions
--- a/.clangd
+++ b/.clangd
@ -1,11 +0,0 @@
 CompileFlags:
  Add:
    - '-ferror-limit=0'
    - '-Wno-implicit-int'
  CompilationDatabase: build/Debug
 Diagnostics:
  Suppress:
    - unused-includes
    - unknown_typename
    - unknown_typename_suggest
    - typename_requires_specqual
--- a/.gitignore
+++ b/.gitignore
@ -1,3 +0,0 @@
 build
 mx.scratch
 !.settings
--- a/.mxproject
+++ b/.mxproject
--- a/.settings/bundles-lock.store.json
+++ b/.settings/bundles-lock.store.json
@ -1,147 +0,0 @@
 {
  "resolved": [
    {
      "name": "cmake",
      "version": "4.0.1+st.3",
      "platform": "darwin",
      "selected_by": [
        {
          "name": "cmake",
          "version": "4.0.1+st.3"
        }
      ]
    },
    {
      "name": "cmake",
      "version": "4.0.1+st.3",
      "platform": "x86_64-linux",
      "selected_by": [
        {
          "name": "cmake",
          "version": "4.0.1+st.3"
        }
      ]
    },
    {
      "name": "cmake",
      "version": "4.0.1+st.3",
      "platform": "x86_64-windows",
      "selected_by": [
        {
          "name": "cmake",
          "version": "4.0.1+st.3"
        }
      ]
    },
    {
      "name": "gnu-tools-for-stm32",
      "version": "13.3.1+st.9",
      "platform": "darwin",
      "selected_by": [
        {
          "name": "gnu-tools-for-stm32",
          "version": "13.3.1+st.9"
        }
      ]
    },
    {
      "name": "gnu-tools-for-stm32",
      "version": "13.3.1+st.9",
      "platform": "x86_64-linux",
      "selected_by": [
        {
          "name": "gnu-tools-for-stm32",
          "version": "13.3.1+st.9"
        }
      ]
    },
    {
      "name": "gnu-tools-for-stm32",
      "version": "13.3.1+st.9",
      "platform": "x86_64-windows",
      "selected_by": [
        {
          "name": "gnu-tools-for-stm32",
          "version": "13.3.1+st.9"
        }
      ]
    },
    {
      "name": "gnu-tools-for-stm32-13_3_1-description",
      "version": "1.0.1+st.1",
      "platform": "all",
      "selected_by": [
        {
          "name": "gnu-tools-for-stm32-13_3_1-description",
          "version": ">=0.0.1"
        }
      ]
    },
    {
      "name": "ninja",
      "version": "1.13.1+st.1",
      "platform": "darwin",
      "selected_by": [
        {
          "name": "ninja",
          "version": "1.13.1+st.1"
        }
      ]
    },
    {
      "name": "ninja",
      "version": "1.13.1+st.1",
      "platform": "x86_64-linux",
      "selected_by": [
        {
          "name": "ninja",
          "version": "1.13.1+st.1"
        }
      ]
    },
    {
      "name": "ninja",
      "version": "1.13.1+st.1",
      "platform": "x86_64-windows",
      "selected_by": [
        {
          "name": "ninja",
          "version": "1.13.1+st.1"
        }
      ]
    },
    {
      "name": "st-arm-clangd",
      "version": "19.1.2+st.3",
      "platform": "darwin",
      "selected_by": [
        {
          "name": "st-arm-clangd",
          "version": "19.1.2+st.3"
        }
      ]
    },
    {
      "name": "st-arm-clangd",
      "version": "19.1.2+st.3",
      "platform": "x86_64-linux",
      "selected_by": [
        {
          "name": "st-arm-clangd",
          "version": "19.1.2+st.3"
        }
      ]
    },
    {
      "name": "st-arm-clangd",
      "version": "19.1.2+st.3",
      "platform": "x86_64-windows",
      "selected_by": [
        {
          "name": "st-arm-clangd",
          "version": "19.1.2+st.3"
        }
      ]
    }
  ]
 }
--- a/.settings/bundles.store.json
+++ b/.settings/bundles.store.json
@ -1,20 +0,0 @@
 {
  "bundles": [
    {
      "name": "cmake",
      "version": "4.0.1+st.3"
    },
    {
      "name": "ninja",
      "version": "1.13.1+st.1"
    },
    {
      "name": "gnu-tools-for-stm32",
      "version": "13.3.1+st.9"
    },
    {
      "name": "st-arm-clangd",
      "version": "19.1.2+st.3"
    }
  ]
 }
--- a/.settings/ide.store.json
+++ b/.settings/ide.store.json
@ -1,6 +0,0 @@
 {
  "device": "STM32F407IGH6",
  "core": "Cortex-M4",
  "order": 0,
  "toolchain": "GCC"
 }
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@ -1,8 +0,0 @@
 {
    "configurations": [
        {
            "name": "STM32",
            "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json"
        }
    ]
 }
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -6,18 +6,5 @@
        "motor_rm.h": "c",
        "filter.h": "c",
        "user_math.h": "c"
-    },
+    }
    "cmake.cmakePath": "cube-cmake",
    "cmake.configureArgs": [
        "-DCMAKE_COMMAND=cube-cmake"
    ],
    "cmake.preferredGenerators": [
        "Ninja"
    ],
    "stm32cube-ide-clangd.path": "cube",
    "stm32cube-ide-clangd.arguments": [
        "starm-clangd",
        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe",
        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe"
    ]
 }
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,98 +0,0 @@
 cmake_minimum_required(VERSION 3.22)
 #
 # This file is generated only once,
 # and is not re-generated if converter is called multiple times.
 #
 # User is free to modify the file as much as necessary
 #
 # Setup compiler settings
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_C_EXTENSIONS ON)
 # Define the build type
 if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Debug")
 endif()
 # Set the project name
 set(CMAKE_PROJECT_NAME shoot)
 # Enable compile command to ease indexing with e.g. clangd
 set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 # Core project settings
 project(${CMAKE_PROJECT_NAME})
 message("Build type: " ${CMAKE_BUILD_TYPE})
 # Enable CMake support for ASM and C languages
 enable_language(C ASM)
 # Create an executable object type
 add_executable(${CMAKE_PROJECT_NAME})
 # Add STM32CubeMX generated sources
 add_subdirectory(cmake/stm32cubemx)
 # Link directories setup
 target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user defined library search paths
 )
 # Add sources to executable
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user sources here
    # User/bsp sources
    User/bsp/can.c
    User/bsp/dwt.c
    User/bsp/mm.c
    User/bsp/time.c
    User/bsp/uart.c
    # User/component sources
    User/component/at9s_pro_cmd.c
    User/component/filter.c
    User/component/pid.c
    User/component/user_math.c
    # User/device sources
    User/device/AT9S_Pro.c
    User/device/motor.c
    User/device/motor_rm.c
    User/device/vofa.c
    # User/module sources
    User/module/config.c
    User/module/shoot.c
    # User/task sources
    User/task/cmd.c
    User/task/init.c
    User/task/rc.c
    User/task/shoot_ctrl.c
    User/task/user_task.c
 )
 # Add include paths
 target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user defined include paths
    User
 )
 # Add project symbols (macros)
 target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
    # Add user defined symbols
 )
 # Remove wrong libob.a library dependency when using cpp files
 list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
 # Add linked libraries
 target_link_libraries(${CMAKE_PROJECT_NAME}
    stm32cubemx
    # Add user defined libraries
 )
--- a/CMakePresets.json
+++ b/CMakePresets.json
@ -1,38 +0,0 @@
 {
    "version": 3,
    "configurePresets": [
        {
            "name": "default",
            "hidden": true,
            "generator": "Ninja",
            "binaryDir": "${sourceDir}/build/${presetName}",
 		    "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake",
            "cacheVariables": {
            }
        },
        {
            "name": "Debug",
            "inherits": "default",
            "cacheVariables": {
                "CMAKE_BUILD_TYPE": "Debug"
            }
        },
        {
            "name": "Release",
            "inherits": "default",
            "cacheVariables": {
                "CMAKE_BUILD_TYPE": "Release"
            }
        }
    ],
    "buildPresets": [
        {
            "name": "Debug",
            "configurePreset": "Debug"
        },
        {
            "name": "Release",
            "configurePreset": "Release"
        }
    ]
 }
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@ -109,17 +109,17 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
      __HAL_RCC_CAN1_CLK_ENABLE();
    }
-    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
    /**CAN1 GPIO Configuration
-    PB8     ------> CAN1_RX
+    PD0     ------> CAN1_RX
-    PB9     ------> CAN1_TX
+    PD1     ------> CAN1_TX
    */
-    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
@ -184,10 +184,10 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
    }
    /**CAN1 GPIO Configuration
-    PB8     ------> CAN1_RX
+    PD0     ------> CAN1_RX
-    PB9     ------> CAN1_TX
+    PD1     ------> CAN1_TX
    */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@ -46,6 +46,7 @@ void MX_GPIO_Init(void)
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOG_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
--- a/Core/Src/syscalls.c
+++ b/Core/Src/syscalls.c
@ -1,244 +0,0 @@
 /**
 ******************************************************************************
 * @file      syscalls.c
 * @author    Auto-generated by STM32CubeMX
 * @brief     Minimal System calls file
 *
 *            For more information about which c-functions
 *            need which of these lowlevel functions
 *            please consult the Newlib or Picolibc libc-manual
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2020-2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
 /* Includes */
 #include <sys/stat.h>
 #include <stdlib.h>
 #include <errno.h>
 #include <stdio.h>
 #include <signal.h>
 #include <time.h>
 #include <sys/time.h>
 #include <sys/times.h>
 /* Variables */
 extern int __io_putchar(int ch) __attribute__((weak));
 extern int __io_getchar(void) __attribute__((weak));
 char *__env[1] = { 0 };
 char **environ = __env;
 /* Functions */
 void initialise_monitor_handles()
 {
 }
 int _getpid(void)
 {
  return 1;
 }
 int _kill(int pid, int sig)
 {
  (void)pid;
  (void)sig;
  errno = EINVAL;
  return -1;
 }
 void _exit (int status)
 {
  _kill(status, -1);
  while (1) {}    /* Make sure we hang here */
 }
 __attribute__((weak)) int _read(int file, char *ptr, int len)
 {
  (void)file;
  int DataIdx;
  for (DataIdx = 0; DataIdx < len; DataIdx++)
  {
    *ptr++ = __io_getchar();
  }
  return len;
 }
 __attribute__((weak)) int _write(int file, char *ptr, int len)
 {
  (void)file;
  int DataIdx;
  for (DataIdx = 0; DataIdx < len; DataIdx++)
  {
    __io_putchar(*ptr++);
  }
  return len;
 }
 int _close(int file)
 {
  (void)file;
  return -1;
 }
 int _fstat(int file, struct stat *st)
 {
  (void)file;
  st->st_mode = S_IFCHR;
  return 0;
 }
 int _isatty(int file)
 {
  (void)file;
  return 1;
 }
 int _lseek(int file, int ptr, int dir)
 {
  (void)file;
  (void)ptr;
  (void)dir;
  return 0;
 }
 int _open(char *path, int flags, ...)
 {
  (void)path;
  (void)flags;
  /* Pretend like we always fail */
  return -1;
 }
 int _wait(int *status)
 {
  (void)status;
  errno = ECHILD;
  return -1;
 }
 int _unlink(char *name)
 {
  (void)name;
  errno = ENOENT;
  return -1;
 }
 clock_t _times(struct tms *buf)
 {
  (void)buf;
  return -1;
 }
 int _stat(const char *file, struct stat *st)
 {
  (void)file;
  st->st_mode = S_IFCHR;
  return 0;
 }
 int _link(char *old, char *new)
 {
  (void)old;
  (void)new;
  errno = EMLINK;
  return -1;
 }
 int _fork(void)
 {
  errno = EAGAIN;
  return -1;
 }
 int _execve(char *name, char **argv, char **env)
 {
  (void)name;
  (void)argv;
  (void)env;
  errno = ENOMEM;
  return -1;
 }
 // --- Picolibc Specific Section ---
 #if defined(__PICOLIBC__)
 /**
 * @brief Picolibc helper function to output a character to a FILE stream.
 *        This redirects the output to the low-level __io_putchar function.
 * @param c Character to write.
 * @param file FILE stream pointer (ignored).
 * @retval int The character written.
 */
 static int starm_putc(char c, FILE *file)
 {
 	(void) file;
  __io_putchar(c);
 	return c;
 }
 /**
 * @brief Picolibc helper function to input a character from a FILE stream.
 *        This redirects the input from the low-level __io_getchar function.
 * @param file FILE stream pointer (ignored).
 * @retval int The character read, cast to an unsigned char then int.
 */
 static int starm_getc(FILE *file)
 {
 	unsigned char c;
 	(void) file;
  c = __io_getchar();
 	return c;
 }
 // Define and initialize the standard I/O streams for Picolibc.
 // FDEV_SETUP_STREAM connects the starm_putc and starm_getc helper functions to a FILE structure.
 // _FDEV_SETUP_RW indicates the stream is for reading and writing.
 static FILE __stdio = FDEV_SETUP_STREAM(starm_putc,
 					starm_getc,
 					NULL,
 					_FDEV_SETUP_RW);
 // Assign the standard stream pointers (stdin, stdout, stderr) to the initialized stream.
 // Picolibc uses these pointers for standard I/O operations (printf, scanf, etc.).
 FILE *const stdin = &__stdio;
 __strong_reference(stdin, stdout);
 __strong_reference(stdin, stderr);
 // Create strong aliases mapping standard C library function names (without underscore)
 // to the implemented system call stubs (with underscore). Picolibc uses these
 // standard names internally, so this linking is required.
 __strong_reference(_read, read);
 __strong_reference(_write, write);
 __strong_reference(_times, times);
 __strong_reference(_execve, execve);
 __strong_reference(_fork, fork);
 __strong_reference(_link, link);
 __strong_reference(_unlink, unlink);
 __strong_reference(_stat, stat);
 __strong_reference(_wait, wait);
 __strong_reference(_open, open);
 __strong_reference(_close, close);
 __strong_reference(_lseek, lseek);
 __strong_reference(_isatty, isatty);
 __strong_reference(_fstat, fstat);
 __strong_reference(_exit, exit);
 __strong_reference(_kill, kill);
 __strong_reference(_getpid, getpid);
 #endif //__PICOLIBC__
--- a/Core/Src/sysmem.c
+++ b/Core/Src/sysmem.c
@ -1,87 +0,0 @@
 /**
 ******************************************************************************
 * @file      sysmem.c
 * @author    Generated by STM32CubeMX
 * @brief     System Memory calls file
 *
 *            For more information about which C functions
 *            need which of these lowlevel functions
 *            please consult the Newlib or Picolibc libc manual
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
 /* Includes */
 #include <errno.h>
 #include <stdint.h>
 #include <stddef.h>
 /**
 * Pointer to the current high watermark of the heap usage
 */
 static uint8_t *__sbrk_heap_end = NULL;
 /**
 * @brief _sbrk() allocates memory to the newlib heap and is used by malloc
 *        and others from the C library
 *
 * @verbatim
 * ############################################################################
 * #  .data  #  .bss  #       newlib heap       #          MSP stack          #
 * #         #        #                         # Reserved by _Min_Stack_Size #
 * ############################################################################
 * ^-- RAM start      ^-- _end                             _estack, RAM end --^
 * @endverbatim
 *
 * This implementation starts allocating at the '_end' linker symbol
 * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
 * The implementation considers '_estack' linker symbol to be RAM end
 * NOTE: If the MSP stack, at any point during execution, grows larger than the
 * reserved size, please increase the '_Min_Stack_Size'.
 *
 * @param incr Memory size
 * @return Pointer to allocated memory
 */
 void *_sbrk(ptrdiff_t incr)
 {
  extern uint8_t _end; /* Symbol defined in the linker script */
  extern uint8_t _estack; /* Symbol defined in the linker script */
  extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
  const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
  const uint8_t *max_heap = (uint8_t *)stack_limit;
  uint8_t *prev_heap_end;
  /* Initialize heap end at first call */
  if (NULL == __sbrk_heap_end)
  {
    __sbrk_heap_end = &_end;
  }
  /* Protect heap from growing into the reserved MSP stack */
  if (__sbrk_heap_end + incr > max_heap)
  {
    errno = ENOMEM;
    return (void *)-1;
  }
  prev_heap_end = __sbrk_heap_end;
  __sbrk_heap_end += incr;
  return (void *)prev_heap_end;
 }
 #if defined(__PICOLIBC__)
  // Picolibc expects syscalls without the leading underscore.
  // This creates a strong alias so that
  // calls to `sbrk()` are resolved to our `_sbrk()` implementation.
  __strong_reference(_sbrk, sbrk);
 #endif
--- a/MDK-ARM/JLinkLog.txt
+++ b/MDK-ARM/JLinkLog.txt
--- a/MDK-ARM/shoot.uvguix.yxm23
+++ b/MDK-ARM/shoot.uvguix.yxm23
--- a/MDK-ARM/shoot/can.o
+++ b/MDK-ARM/shoot/can.o
--- a/MDK-ARM/shoot/config.o
+++ b/MDK-ARM/shoot/config.o
--- a/MDK-ARM/shoot/gpio.o
+++ b/MDK-ARM/shoot/gpio.o
--- a/MDK-ARM/shoot/shoot.axf
+++ b/MDK-ARM/shoot/shoot.axf
--- a/MDK-ARM/shoot/shoot.build_log.htm
+++ b/MDK-ARM/shoot/shoot.build_log.htm
@ -22,16 +22,12 @@ Dialog DLL:      TCM.DLL V1.48.0.0
 <h2>Project:</h2>
 D:\CUBEMX\shoot\MDK-ARM\shoot.uvprojx
-Project File Date:  10/10/2025
+Project File Date:  10/12/2025
 <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>
--- a/MDK-ARM/shoot/shoot.hex
+++ b/MDK-ARM/shoot/shoot.hex
--- a/MDK-ARM/shoot/shoot.htm
+++ b/MDK-ARM/shoot/shoot.htm
--- a/MDK-ARM/shoot/shoot.map
+++ b/MDK-ARM/shoot/shoot.map
--- a/MDK-ARM/shoot/shoot_control.o
+++ b/MDK-ARM/shoot/shoot_control.o
--- a/MDK-ARM/shoot/shoot_ctrl.o
+++ b/MDK-ARM/shoot/shoot_ctrl.o
--- a/MDK-ARM/shoot/shoot_shoot.dep
+++ b/MDK-ARM/shoot/shoot_shoot.dep
@ -1,6 +1,6 @@
 Dependencies for Project 'shoot', Target 'shoot': (DO NOT MODIFY !)
 CompilerVersion: 6160000::V6.16::ARMCLANG
-F (startup_stm32f407xx.s)(0x68DFE10E)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c

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

-I./RTE/_shoot

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

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

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

-o shoot/startup_stm32f407xx.o)
+F (startup_stm32f407xx.s)(0x68EB784A)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c

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

-I./RTE/_shoot

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

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

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

-o shoot/startup_stm32f407xx.o)
 F (../Core/Src/main.c)(0x68D13FA3)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

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

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

-I./RTE/_shoot

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

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

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

-o shoot/main.o -MD)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@ -47,7 +47,7 @@ I (..\Core\Inc\can.h)(0x68D13849)
 I (..\Core\Inc\dma.h)(0x68D13849)
 I (..\Core\Inc\usart.h)(0x68D13849)
 I (..\Core\Inc\gpio.h)(0x68D13849)
-F (../Core/Src/gpio.c)(0x68D13849)(-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/gpio.o -MD)
+F (../Core/Src/gpio.c)(0x68EB21AE)(-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/gpio.o -MD)
 I (..\Core\Inc\gpio.h)(0x68D13849)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
@ -121,8 +121,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\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)
+I (..\User\task\user_task.h)(0x68EB75B7)
-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)
+F (../Core/Src/can.c)(0x68EB21AF)(-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)
@ -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)(0x68E91641)
+I (..\User\component\user_math.h)(0x68EA60D8)
 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)()
@ -1230,7 +1230,7 @@ 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)(0x68E91641)
+I (..\User\component\user_math.h)(0x68EA60D8)
 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)
@ -1268,23 +1268,23 @@ 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)(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)
+F (..\User\component\user_math.c)(0x68EA60D8)(-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 (..\User\component\user_math.h)(0x68EA60D8)
 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)(0x68E91641)()
+F (..\User\component\user_math.h)(0x68EA60D8)()
-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)
+F (..\User\component\at9s_pro_cmd.c)(0x68EA60D8)(-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)(0x68E91641)
+I (..\User\component\user_math.h)(0x68EA60D8)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (..\User\device\device.h)(0x68E86971)
@ -1292,7 +1292,7 @@ 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)(0x68E91641)
+I (..\User\component\user_math.h)(0x68EA60D8)
 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)
@ -1303,15 +1303,15 @@ F (..\User\component\pid.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi
 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)(0x68E91641)
+I (..\User\component\user_math.h)(0x68EA60D8)
 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)(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)
+F (..\User\module\shoot_control.c)(0x68EB9807)(-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\module\shoot_control.h)(0x68E91641)
+I (..\User\module\shoot_control.h)(0x68EA60D8)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1345,7 +1345,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\component\pid.h)(0x68E86971)
 I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68E91641)
+I (..\User\component\user_math.h)(0x68EA60D8)
 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)
@ -1367,13 +1367,13 @@ 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\shoot_control.h)(0x68EA60D8)()
-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)
+F (..\User\module\config.c)(0x68EB9604)(-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 (..\User\module\config.h)(0x68EA60D8)
 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 (..\User\component\user_math.h)(0x68EA60D8)
 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)
@ -1424,10 +1424,10 @@ 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)(0x68E91641)
+I (..\User\module\shoot_control.h)(0x68EA60D8)
-F (..\User\module\config.h)(0x68E91582)()
+F (..\User\module\config.h)(0x68EA60D8)()
 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 (..\User\task\user_task.h)(0x68EB75B7)
 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)
@ -1443,12 +1443,12 @@ 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)(0x68E91641)
+I (..\User\component\user_math.h)(0x68EA60D8)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 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 (..\User\task\user_task.h)(0x68EB75B7)
 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)
@ -1462,14 +1462,14 @@ 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)(0x68E91641)
+I (..\User\component\user_math.h)(0x68EA60D8)
 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)(0x68E86971)
 I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
-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)
+F (..\User\task\shoot_ctrl.c)(0x68EB95EE)(-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 (..\User\task\user_task.h)(0x68EB75B7)
 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)
@ -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)(0x68E91641)
+I (..\User\component\user_math.h)(0x68EA60D8)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (..\User\device\device.h)(0x68E86971)
-I (..\User\module\shoot_control.h)(0x68E91641)
+I (..\User\module\shoot_control.h)(0x68EA60D8)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@ -1527,9 +1527,9 @@ 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)(0x68E91582)
+I (..\User\module\config.h)(0x68EA60D8)
 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 (..\User\task\user_task.h)(0x68EB75B7)
 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)
@ -1542,4 +1542,4 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-F (..\User\task\user_task.h)(0x68D3E4B9)()
+F (..\User\task\user_task.h)(0x68EB75B7)()
--- a/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
--- a/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
--- a/Ozone/shoot.jdebug.user
+++ b/Ozone/shoot.jdebug.user
@ -4,17 +4,18 @@
 Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:146:32, State=BP_STATE_DISABLED
 Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:149:49, State=BP_STATE_DISABLED
 Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:125:9, State=BP_STATE_DISABLED
-GraphedExpression="((((shoot).feedback).trig).feedback).torque_current", Color=#e56a6f
+GraphedExpression="speed", Color=#e56a6f
 GraphedExpression="(((shoot).feedback).fric)->rotor_speed", Color=#35792b
 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.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=118
 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="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3627
+OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3407
 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
@ -28,13 +29,13 @@ OpenDocument="rc.c", FilePath="D:/CUBEMX/shoot/User/task/rc.c", Line=0
 OpenDocument="motor.h", FilePath="D:/CUBEMX/shoot/User/device/motor.h", Line=21
 OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=231
 OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=641, 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=626, 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=277, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=292, 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="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=626, 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="974;0", 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="500 ms / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="973;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]
@ -44,8 +45,8 @@ 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).feedback).trig).feedback).torque_current"], ColWidths=[100;100;100]
+TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" speed";" (((shoot).feedback).fric)->rotor_speed"], ColWidths=[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;114;124;114;124;110;126;1630]
+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;134;110;126;1620]
 TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
 WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1
@ -53,4 +54,6 @@ WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="a", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="shoot.feedback.fric[1]", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="shoot.feedback.fric[1]", Window=Watched Data 1
 WatchedExpression="speed", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="last_angle", RefreshRate=5, Window=Watched Data 1
--- a/STM32F407XX_FLASH.ld
+++ b/STM32F407XX_FLASH.ld
@ -1,269 +0,0 @@
 /*
 ******************************************************************************
 **
 **  File        : LinkerScript.ld
 **
 **  Author		: STM32CubeMX
 **
 **  Abstract    : Linker script for STM32F407IGHx series
 **                1024Kbytes FLASH and 192Kbytes RAM
 **
 **                Set heap size, stack size and stack location according
 **                to application requirements.
 **
 **                Set memory bank area and size if external memory is used.
 **
 **  Target      : STMicroelectronics STM32
 **
 **  Distribution: The file is distributed “as is,” without any warranty
 **                of any kind.
 **
 *****************************************************************************
 ** @attention
 **
 ** <h2><center>&copy; COPYRIGHT(c) 2025 STMicroelectronics</center></h2>
 **
 ** Redistribution and use in source and binary forms, with or without modification,
 ** are permitted provided that the following conditions are met:
 **   1. Redistributions of source code must retain the above copyright notice,
 **      this list of conditions and the following disclaimer.
 **   2. Redistributions in binary form must reproduce the above copyright notice,
 **      this list of conditions and the following disclaimer in the documentation
 **      and/or other materials provided with the distribution.
 **   3. Neither the name of STMicroelectronics nor the names of its contributors
 **      may be used to endorse or promote products derived from this software
 **      without specific prior written permission.
 **
 ** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 ** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 ** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 ** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 ** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 ** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 ** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 ** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 ** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 ** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 **
 *****************************************************************************
 */
 /* Entry Point */
 ENTRY(Reset_Handler)
 /* Specify the memory areas */
 MEMORY
 {
 RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 128K
 CCMRAM (xrw)      : ORIGIN = 0x10000000, LENGTH = 64K
 FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 1024K
 }
 /* Highest address of the user mode stack */
 _estack = ORIGIN(RAM) + LENGTH(RAM);    /* end of RAM */
 /* Generate a link error if heap and stack don't fit into RAM */
 _Min_Heap_Size = 0x200;      /* required amount of heap  */
 _Min_Stack_Size = 0x400; /* required amount of stack */
 /* Define output sections */
 SECTIONS
 {
  /* The startup code goes first into FLASH */
  .isr_vector :
  {
    . = ALIGN(4);
    KEEP(*(.isr_vector)) /* Startup code */
    . = ALIGN(4);
  } >FLASH
  /* The program code and other data goes into FLASH */
  .text :
  {
    . = ALIGN(4);
    *(.text)           /* .text sections (code) */
    *(.text*)          /* .text* sections (code) */
    *(.glue_7)         /* glue arm to thumb code */
    *(.glue_7t)        /* glue thumb to arm code */
    *(.eh_frame)
    KEEP (*(.init))
    KEEP (*(.fini))
    . = ALIGN(4);
    _etext = .;        /* define a global symbols at end of code */
  } >FLASH
  /* Constant data goes into FLASH */
  .rodata :
  {
    . = ALIGN(4);
    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
    . = ALIGN(4);
  } >FLASH
  .ARM.extab (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
  {
    . = ALIGN(4);
    *(.ARM.extab* .gnu.linkonce.armextab.*)
    . = ALIGN(4);
  } >FLASH
  .ARM (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
  {
    . = ALIGN(4);
    __exidx_start = .;
    *(.ARM.exidx*)
    __exidx_end = .;
    . = ALIGN(4);
  } >FLASH
  .preinit_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
  {
    . = ALIGN(4);
    PROVIDE_HIDDEN (__preinit_array_start = .);
    KEEP (*(.preinit_array*))
    PROVIDE_HIDDEN (__preinit_array_end = .);
    . = ALIGN(4);
  } >FLASH
  .init_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
  {
    . = ALIGN(4);
    PROVIDE_HIDDEN (__init_array_start = .);
    KEEP (*(SORT(.init_array.*)))
    KEEP (*(.init_array*))
    PROVIDE_HIDDEN (__init_array_end = .);
    . = ALIGN(4);
  } >FLASH
  .fini_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
  {
    . = ALIGN(4);
    PROVIDE_HIDDEN (__fini_array_start = .);
    KEEP (*(SORT(.fini_array.*)))
    KEEP (*(.fini_array*))
    PROVIDE_HIDDEN (__fini_array_end = .);
    . = ALIGN(4);
  } >FLASH
  _siccmram = LOADADDR(.ccmram);
  /* CCM-RAM section
  *
  * IMPORTANT NOTE!
  * If initialized variables will be placed in this section,
  * the startup code needs to be modified to copy the init-values.
  */
  .ccmram :
  {
    . = ALIGN(4);
    _sccmram = .;       /* create a global symbol at ccmram start */
    *(.ccmram)
    *(.ccmram*)
    . = ALIGN(4);
    _eccmram = .;       /* create a global symbol at ccmram end */
  } >CCMRAM AT> FLASH
  /* used by the startup to initialize data */
  _sidata = LOADADDR(.data);
  /* Initialized data sections goes into RAM, load LMA copy after code */
  .data :
  {
    . = ALIGN(4);
    _sdata = .;        /* create a global symbol at data start */
    *(.data)           /* .data sections */
    *(.data*)          /* .data* sections */
    *(.RamFunc)        /* .RamFunc sections */
    *(.RamFunc*)       /* .RamFunc* sections */
    . = ALIGN(4);
  } >RAM AT> FLASH
 /* Initialized TLS data section */
  .tdata : ALIGN(4)
  {
    *(.tdata .tdata.* .gnu.linkonce.td.*)
    . = ALIGN(4);
    _edata = .;        /* define a global symbol at data end */
    PROVIDE(__data_end = .);
    PROVIDE(__tdata_end = .);
  } >RAM AT> FLASH
  PROVIDE( __tdata_start = ADDR(.tdata) );
  PROVIDE( __tdata_size = __tdata_end - __tdata_start );
  PROVIDE( __data_start = ADDR(.data) );
  PROVIDE( __data_size = __data_end - __data_start );
  PROVIDE( __tdata_source = LOADADDR(.tdata) );
  PROVIDE( __tdata_source_end = LOADADDR(.tdata) + SIZEOF(.tdata) );
  PROVIDE( __tdata_source_size = __tdata_source_end - __tdata_source );
  PROVIDE( __data_source = LOADADDR(.data) );
  PROVIDE( __data_source_end = __tdata_source_end );
  PROVIDE( __data_source_size = __data_source_end - __data_source );
  /* Uninitialized data section */
  .tbss (NOLOAD) : ALIGN(4)
  {
     /* This is used by the startup in order to initialize the .bss secion */
    _sbss = .;         /* define a global symbol at bss start */
    __bss_start__ = _sbss;
    *(.tbss .tbss.*)
    . = ALIGN(4);
    PROVIDE( __tbss_end = . );
  } >RAM
  PROVIDE( __tbss_start = ADDR(.tbss) );
  PROVIDE( __tbss_size = __tbss_end - __tbss_start );
  PROVIDE( __tbss_offset = ADDR(.tbss) - ADDR(.tdata) );
  PROVIDE( __tls_base = __tdata_start );
  PROVIDE( __tls_end = __tbss_end );
  PROVIDE( __tls_size = __tls_end - __tls_base );
  PROVIDE( __tls_align = MAX(ALIGNOF(.tdata), ALIGNOF(.tbss)) );
  PROVIDE( __tls_size_align = (__tls_size + __tls_align - 1) & ~(__tls_align - 1) );
  PROVIDE( __arm32_tls_tcb_offset = MAX(8, __tls_align) );
  PROVIDE( __arm64_tls_tcb_offset = MAX(16, __tls_align) );
  .bss (NOLOAD) : ALIGN(4)
  {
    *(.bss)
    *(.bss*)
    *(COMMON)
      . = ALIGN(4);
    _ebss = .;         /* define a global symbol at bss end */
    __bss_end__ = _ebss;
      PROVIDE( __bss_end = .);
  } >RAM
  PROVIDE( __non_tls_bss_start = ADDR(.bss) );
  PROVIDE( __bss_start = __tbss_start );
  PROVIDE( __bss_size = __bss_end - __bss_start );
  /* User_heap_stack section, used to check that there is enough RAM left */
  ._user_heap_stack (NOLOAD) :
  {
    . = ALIGN(8);
    PROVIDE ( end = . );
    PROVIDE ( _end = . );
    . = . + _Min_Heap_Size;
    . = . + _Min_Stack_Size;
    . = ALIGN(8);
  } >RAM
  /* Remove information from the standard libraries */
  /DISCARD/ :
  {
    libc.a:* ( * )
    libm.a:* ( * )
    libgcc.a:* ( * )
  }
 }
--- a/User/module/config.c
+++ b/User/module/config.c
@ -15,78 +15,17 @@
 // 机器人参数配置
 Config_RobotParam_t robot_config = {
-.shoot_param = {
+
    .shoot_param = {
 		.proj=SHOOT_PROJECTILE_42MM,
 		.fric_num=6,
 		.extra_deceleration_ratio=1.0f,
        .num_trig_tooth=5,
        .shot_freq=1.0f,
        .shot_burst_num=3,
-		.num_multilevel=2,
+		.num_multilevel=1,
        .ratio_multilevel = {0.8f, 1.0f},
        .fric_motor_param = {
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x201,
                    .module = MOTOR_M3508,
                    .reverse = false,
                    .gear = false,
                },
                .level=1,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x202,
                    .module = MOTOR_M3508,
                    .reverse = true,
                    .gear = false,
                },
                .level=1,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x203,
                    .module = MOTOR_M3508,
                    .reverse = true,
                    .gear = false,
                },
                .level=1,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x204,
                    .module = MOTOR_M3508,
                    .reverse = false,
                    .gear = false,
                },
                .level=2,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x205,
                    .module = MOTOR_M3508,
                    .reverse = true,
                    .gear = false,
                },
                .level=2,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x206,
                    .module = MOTOR_M3508,
                    .reverse = false,
                    .gear = false,
                },
                .level=2,
            }
        },
        .jam_enable=true,
        .jam_threshold=240.0f, 
        .jam_suspected_time=0.5f, 
@ -97,7 +36,6 @@ Config_RobotParam_t robot_config = {
            .reverse = false,
            .gear=true,
        },
        .fric_follow = {
            .k=1.0f,
            .p=1.8f,
@ -109,7 +47,7 @@ Config_RobotParam_t robot_config = {
            .range=-1.0f,
        },
        .fric_err = {
-            .k=0.0f,
+            .k=1.0f,
            .p=4.0f,
            .i=0.4f,
            .d=0.04f,
@ -169,7 +107,6 @@ Config_RobotParam_t robot_config = {
    }
 };
 /* Private function prototypes ---------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
@ -179,4 +116,47 @@ 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||i == 1) ? true : false,*/
            .reverse = (i == 1||i == 2||i == 4||i == 5) ? 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;
    robot_config.shoot_param.fric_motor_param[2].level=1;
    robot_config.shoot_param.fric_motor_param[3].level=1;
    robot_config.shoot_param.fric_motor_param[4].level=1;
    robot_config.shoot_param.fric_motor_param[5].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;
 }
--- a/User/module/config.h
+++ b/User/module/config.h
@ -12,7 +12,7 @@ extern "C" {
 #include "component/pid.h"
 #include "device/motor.h"
 #include "device/motor_rm.h"
-#include "module/shoot.h"
+#include "module/shoot_control.h"
 typedef struct {
    Shoot_Params_t shoot_param;
@ -25,6 +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
--- a/User/module/shoot_control.c
+++ b/User/module/shoot_control.c
@ -13,7 +13,7 @@ void Task(void *argument) {
 	Config_ShootInit();
 	Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
-	Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);					关于模式选择：初始化一个模式
+	Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);					初始化一个模式
  while (1) {
@ -21,7 +21,7 @@ void Task(void *argument) {
 	  shoot_cmd.ready	=shoot_ctrl_cmd_rc.shoot.ready;
 	  shoot_cmd.firecmd	=shoot_ctrl_cmd_rc.shoot.firecmd;
-	  shoot.mode		=shoot_ctrl_cmd_rc.mode;			    关于模式选择：或者用遥控器随时切换模式，二选一
+	  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);
@ -32,13 +32,14 @@ void Task(void *argument) {
 /* Includes ----------------------------------------------------------------- */
 #include <string.h>
-#include "shoot.h"
+#include "shoot_control.h"
 #include "bsp/mm.h"
 #include "bsp/time.h"
 #include "component/filter.h"
 #include "component/user_math.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;
@ -170,10 +171,10 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
 	switch(s->param->proj)
 	{
 		case SHOOT_PROJECTILE_17MM:
-		s->target_variable.target_rpm=5000.0f;
+		s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM;
 		break;
 		case SHOOT_PROJECTILE_42MM:
-		s->target_variable.target_rpm=3000.0f;
+		s->target_variable.target_rpm=3500.0f/MAX_FRIC_RPM;
 		break;	
 	}
    return SHOOT_OK;
@ -199,6 +200,8 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
    {
        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;
@ -211,7 +214,7 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
 *
 * \return 函数运行结果
 */
-int8_t Shoot_UpdateFeedback(Shoot_t *s)
+int8_t Chassis_UpdateFeedback(Shoot_t *s)
 {
    if (s == NULL) {
        return SHOOT_ERR_NULL; // 参数错误
@ -268,6 +271,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
        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<fric_num;i++)
        {	
@ -279,6 +283,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 		static float pos;
        switch(s->running_state)
        {
            case SHOOT_STATE_IDLE:/*熄火等待*/
                for(int i=0;i<fric_num;i++)
                {	/* 转速归零 */
@ -350,7 +355,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                        Shoot_ResetOutput(s);
                        s->running_state=SHOOT_STATE_IDLE;
                    }
-                else if(last_firecmd==false&&cmd->firecmd==true)
+                    else if(last_firecmd==false&&cmd->firecmd==true)
                    {
                        s->running_state=SHOOT_STATE_FIRE;
                        /* 根据模式设置待发射弹数 */
@ -525,6 +530,39 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
    }
    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<fric_num;i++){
@ -575,7 +613,7 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
    s->dt 			=(BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
    s->lask_wakeup	=BSP_TIME_Get_us();
 	s->online 		=cmd->online;
-    Shoot_CaluTargetRPM(s,233);
+//    Shoot_CaluTargetRPM(s,233);
    Shoot_JamDetectionFSM(s, cmd);
 //    Shoot_CalufeedbackRPM(s);
    return SHOOT_OK;
--- a/User/module/shoot_control.h
+++ b/User/module/shoot_control.h
@ -4,7 +4,6 @@
 #pragma once
 #include <stddef.h>
 #ifdef __cplusplus
 extern "C" {
 #endif
@ -25,9 +24,6 @@ extern "C" {
 #define MAX_FRIC_RPM 7000.0f
 #define MAX_TRIG_RPM 5000.0f//这里可能也会影响最高发射频率，待测试
 #define MAX_FRIC_NUM 6
 #define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 typedef enum {
@ -46,8 +42,7 @@ 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_CONTINUE        /* 连发模式 */
    SHOOT_MODE_NUM
 }Shoot_Mode_t;
 typedef enum {
@ -57,7 +52,7 @@ typedef enum {
 typedef struct {
  bool online;	                 /* 遥控器在线 */
-  Shoot_Mode_t mode;             /* 射击模式 */
+  bool mode;                     /* 射击模式 */
  bool ready;                    /* 准备射击 */
  bool firecmd;                  /* 射击指令 */
 }Shoot_CMD_t;
@ -68,15 +63,15 @@ typedef struct{
 }Shoot_MOTOR_RM_Param_t;
 typedef struct {
-  MOTOR_Feedback_t fric[MAX_FRIC_NUM]; /* 摩擦轮电机反馈 */
+  MOTOR_Feedback_t *fric; /* 摩擦轮电机反馈 */
  MOTOR_RM_t trig; /* 拨弹电机反馈 */
  float trig_agl;	/*计算所有减速比后的拨弹盘的角度*/
-  float fil_fric_rpm[MAX_FRIC_NUM]; /* 滤波后的摩擦轮转速 */
+  float *fil_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[MAX_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*/
@ -94,11 +89,12 @@ typedef struct {
  Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态 */
 }Shoot_JamDetection_t;
 typedef struct {
-  float out_follow[MAX_FRIC_NUM];
+  float *out_follow;
-  float out_err[MAX_FRIC_NUM];
+  float *out_err;
-  float out_fric[MAX_FRIC_NUM];
+  float *out_fric;
-  float lpfout_fric[MAX_FRIC_NUM];
+  float *lpfout_fric;
  float outagl_trig;
  float outomg_trig;
  float outlpf_trig;
@ -108,21 +104,21 @@ 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 {
  Shoot_Projectile_t proj;
  size_t fric_num;       			/* 摩擦轮数量 */
  size_t fric_num;               /* 摩擦轮电机数量 */
  float extra_deceleration_ratio;	/*电机出轴到拨盘的额外减速比；没有写1*/
  size_t num_trig_tooth;  			/* 拨弹盘每圈弹丸数量 */
  float shot_freq;        			/* 射击频率，单位Hz */
  size_t shot_burst_num; 			/* 多发模式一次射击的数量 */
-  size_t num_multilevel;            /* 多级发射级数 */
+  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[MAX_NUM_MULTILEVEL]; /* 多级发射各级速度比例 */
+  float *ratio_multilevel; /* 多级发射各级速度比例 */
-  bool  jam_enable; /* 是否启用卡弹检测 */ 
+  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235A,根据实际测试调整)*/
  float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */
-  Shoot_MOTOR_RM_Param_t fric_motor_param[MAX_FRIC_NUM];
+  Shoot_MOTOR_RM_Param_t *fric_motor_param;
  MOTOR_RM_Param_t trig_motor_param;
@ -172,8 +168,8 @@ typedef struct {
  /* 反馈控制用的PID */
  struct {
-    KPID_t                  fric_follow[MAX_FRIC_NUM];   /* 摩擦轮PID主结构体 */
+    KPID_t                  *fric_follow;   /* 摩擦轮PID主结构体 */
-    KPID_t                  fric_err[MAX_FRIC_NUM];      /* 摩擦轮PID主结构体 */
+    KPID_t                  *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;
@ -181,8 +177,8 @@ typedef struct {
  /* 滤波器 */
  struct {
    struct{
-    LowPassFilter2p_t       in[MAX_FRIC_NUM];            /* 反馈值滤波器 */
+    LowPassFilter2p_t       *in;            /* 反馈值滤波器 */
-    LowPassFilter2p_t       out[MAX_FRIC_NUM];           /* 输出值滤波器 */
+    LowPassFilter2p_t       *out;           /* 输出值滤波器 */
    }fric;
    struct{
    LowPassFilter2p_t       in;                            /* 反馈值滤波器 */
@ -224,7 +220,7 @@ int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode);
 *
 * \return 函数运行结果
 */
-int8_t Shoot_UpdateFeedback(Shoot_t *s);
+int8_t Chassis_UpdateFeedback(Shoot_t *s);
 /**
 * \brief 初始化发射
--- a/User/task/cmd.c
+++ b/User/task/cmd.c
@ -1,74 +0,0 @@
 /*
    cmd Task
 */
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "device/at9s_pro.h"
 #include "module/config.h"
 #include "module/shoot.h"
 //#define DEAD_AREA 0.05f
 /* USER INCLUDE END */
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
 DEVICE_AT9S_t at9s_from_rc;
 Shoot_CMD_t cmd_for_shoot;
 /* USER STRUCT END */
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
 void Task_cmd(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */
  /* 计算任务运行到指定频率需要等待的tick数 */
  const uint32_t delay_tick = osKernelGetTickFreq() / CMD_FREQ;
  osDelay(CMD_INIT_DELAY); /* 延时一段时间再开启任务 */
  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  /* USER CODE INIT BEGIN */
  /* USER CODE INIT END */
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
 	osMessageQueueGet(task_runtime.msgq.cmd.rc, &at9s_from_rc, NULL, 0);
 	switch (at9s_from_rc.data.key_C) {
    case AT9S_CMD_SW_DOWN:
 		  cmd_for_shoot.online = at9s_from_rc.online;
      cmd_for_shoot.ready = true;
      cmd_for_shoot.firecmd = true;
      break;
    case AT9S_CMD_SW_MID:
 		  cmd_for_shoot.online = at9s_from_rc.online;
      cmd_for_shoot.ready = true;
      cmd_for_shoot.firecmd = false;
      break;
    case AT9S_CMD_SW_UP:
 		  cmd_for_shoot.online = at9s_from_rc.online;
      cmd_for_shoot.ready = false;
      cmd_for_shoot.firecmd = false;
      break;
    default:
 		  cmd_for_shoot.online = at9s_from_rc.online;
      cmd_for_shoot.ready = false;
      cmd_for_shoot.firecmd = false;
      break;
    }
    osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
 }
--- a/User/task/config.yaml
+++ b/User/task/config.yaml
@ -12,10 +12,3 @@
  function: Task_rc
  name: rc
  stack: 256
 - delay: 0
  description: ''
  freq_control: true
  frequency: 500.0
  function: Task_cmd
  name: cmd
  stack: 256
--- a/User/task/init.c
+++ b/User/task/init.c
@ -32,12 +32,11 @@ void Task_Init(void *argument) {
  /* 创建任务线程 */
  task_runtime.thread.shoot_ctrl = osThreadNew(Task_shoot_ctrl, NULL, &attr_shoot_ctrl);
  task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
  task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
  // 创建消息队列
  /* USER MESSAGE BEGIN */
  task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
-  task_runtime.msgq.shoot.cmd= osMessageQueueNew(3u, sizeof(COMP_AT9S_CMD_t), NULL);
+  task_runtime.msgq.shoot.rc_cmd= osMessageQueueNew(3u, sizeof(COMP_AT9S_CMD_t), NULL);
  /* USER MESSAGE END */
  osKernelUnlock(); // 解锁内核
--- a/User/task/rc.c
+++ b/User/task/rc.c
@ -5,21 +5,19 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "device/at9s_pro.h"
 #include "component/at9s_pro_cmd.h"
 /* USER INCLUDE BEGIN */
 /* USER INCLUDE END */
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
 uint8_t cmd_buffer[DEVICE_AT9S_FRAME_LEN];
 DEVICE_AT9S_t at9s;
 COMP_AT9S_CMD_t rc_cmd;
 /* USER STRUCT END */
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
 void Task_rc(void *argument) {
@ -38,7 +36,7 @@ void Task_rc(void *argument) {
  /* USER CODE INIT END */
  while (1) {
-    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    tick += delay_tick; /* 计算下一个唤 醒时刻 */
    /* USER CODE BEGIN */
    if (DEVICE_AT9S_WaitDmaCplt(10)) {
        DEVICE_AT9S_ParseRaw(cmd_buffer, &at9s);
@ -46,7 +44,8 @@ void Task_rc(void *argument) {
        DEVICE_AT9S_StartDmaRecv(cmd_buffer);
    }
-    osMessageQueuePut(task_runtime.msgq.cmd.rc, &at9s, 0, 0);
+    osMessageQueuePut(task_runtime.msgq.shoot.rc_cmd, &rc_cmd, 0, 0);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
--- a/User/task/shoot_ctrl.c
+++ b/User/task/shoot_ctrl.c
@ -7,7 +7,7 @@
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "component/at9s_pro_cmd.h"
-#include "module/shoot.h"
+#include "module/shoot_control.h"
 #include "module/config.h"
 /* USER INCLUDE END */
@ -15,9 +15,10 @@
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN */
+COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
 Shoot_t shoot;
 Shoot_CMD_t shoot_cmd;
 /* USER STRUCT BEGIN */
 /* USER STRUCT END */
 /* Private function --------------------------------------------------------- */
@ -33,6 +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 */
@ -40,10 +42,13 @@ void Task_shoot_ctrl(void *argument) {
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
-	osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
+	  osMessageQueueGet(task_runtime.msgq.shoot.rc_cmd, &shoot_ctrl_cmd_rc, NULL, 0);
-	  Shoot_UpdateFeedback(&shoot);
+	  shoot_cmd.ready=shoot_ctrl_cmd_rc.shoot.ready;
 	  shoot_cmd.firecmd=shoot_ctrl_cmd_rc.shoot.firecmd;
 	  shoot_cmd.online=shoot_ctrl_cmd_rc.online;
 	  shoot.mode=shoot_ctrl_cmd_rc.mode;
 	  Chassis_UpdateFeedback(&shoot);
 	  Shoot_Control(&shoot,&shoot_cmd);
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@ -12,15 +12,10 @@ const osThreadAttr_t attr_init = {
 const osThreadAttr_t attr_shoot_ctrl = {
    .name = "shoot_ctrl",
    .priority = osPriorityNormal,
-    .stack_size = 256 * 4,
+    .stack_size = 512 * 4,
 };
 const osThreadAttr_t attr_rc = {
    .name = "rc",
    .priority = osPriorityNormal,
    .stack_size = 256 * 4,
 };
 const osThreadAttr_t attr_cmd = {
    .name = "cmd",
    .priority = osPriorityNormal,
    .stack_size = 256 * 4,
 };
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@ -15,13 +15,11 @@ extern "C" {
 /* 任务运行频率 */
 #define SHOOT_CTRL_FREQ (500.0)
 #define RC_FREQ (500.0)
 #define CMD_FREQ (500.0)
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
 #define SHOOT_CTRL_INIT_DELAY (0)
 #define RC_INIT_DELAY (0)
 #define CMD_INIT_DELAY (0)
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@ -33,7 +31,6 @@ typedef struct {
    struct {
        osThreadId_t shoot_ctrl;
        osThreadId_t rc;
        osThreadId_t cmd;
    } thread;
    /* USER MESSAGE BEGIN */
@ -41,10 +38,7 @@ typedef struct {
        osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
        struct{
-            osMessageQueueId_t rc; /* 来自遥控器的数据 */
+            osMessageQueueId_t rc_cmd; /* 来自遥控器的命令 */
        }cmd;
        struct{
            osMessageQueueId_t cmd; /* 来自遥控器的命令 */
        }shoot;
@ -67,21 +61,18 @@ typedef struct {
    struct {
        UBaseType_t shoot_ctrl;
        UBaseType_t rc;
        UBaseType_t cmd;
    } stack_water_mark;
    /* 各任务运行频率 */
    struct {
        float shoot_ctrl;
        float rc;
        float cmd;
    } freq;
    /* 任务最近运行时间 */
    struct {
        float shoot_ctrl;
        float rc;
        float cmd;
    } last_up_time;
 } Task_Runtime_t;
@ -93,13 +84,11 @@ extern Task_Runtime_t task_runtime;
 extern const osThreadAttr_t attr_init;
 extern const osThreadAttr_t attr_shoot_ctrl;
 extern const osThreadAttr_t attr_rc;
 extern const osThreadAttr_t attr_cmd;
 /* 任务函数声明 */
 void Task_Init(void *argument);
 void Task_shoot_ctrl(void *argument);
 void Task_rc(void *argument);
 void Task_cmd(void *argument);
 #ifdef __cplusplus
 }
--- a/cmake/gcc-arm-none-eabi.cmake
+++ b/cmake/gcc-arm-none-eabi.cmake
@ -1,43 +0,0 @@
 set(CMAKE_SYSTEM_NAME               Generic)
 set(CMAKE_SYSTEM_PROCESSOR          arm)
 set(CMAKE_C_COMPILER_ID GNU)
 set(CMAKE_CXX_COMPILER_ID GNU)
 # Some default GCC settings
 # arm-none-eabi- must be part of path environment
 set(TOOLCHAIN_PREFIX                arm-none-eabi-)
 set(CMAKE_C_COMPILER                ${TOOLCHAIN_PREFIX}gcc)
 set(CMAKE_ASM_COMPILER              ${CMAKE_C_COMPILER})
 set(CMAKE_CXX_COMPILER              ${TOOLCHAIN_PREFIX}g++)
 set(CMAKE_LINKER                    ${TOOLCHAIN_PREFIX}g++)
 set(CMAKE_OBJCOPY                   ${TOOLCHAIN_PREFIX}objcopy)
 set(CMAKE_SIZE                      ${TOOLCHAIN_PREFIX}size)
 set(CMAKE_EXECUTABLE_SUFFIX_ASM     ".elf")
 set(CMAKE_EXECUTABLE_SUFFIX_C       ".elf")
 set(CMAKE_EXECUTABLE_SUFFIX_CXX     ".elf")
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 # MCU specific flags
 set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
 set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
 set(CMAKE_C_FLAGS_DEBUG "-O0 -g3")
 set(CMAKE_C_FLAGS_RELEASE "-Os -g0")
 set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
 set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0")
 set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
 set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --specs=nano.specs")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage")
 set(TOOLCHAIN_LINK_LIBRARIES "m")
--- a/cmake/starm-clang.cmake
+++ b/cmake/starm-clang.cmake
@ -1,65 +0,0 @@
 set(CMAKE_SYSTEM_NAME               Generic)
 set(CMAKE_SYSTEM_PROCESSOR          arm)
 set(CMAKE_C_COMPILER_ID Clang)
 set(CMAKE_CXX_COMPILER_ID Clang)
 # Some default llvm settings
 set(TOOLCHAIN_PREFIX                starm-)
 set(CMAKE_C_COMPILER                ${TOOLCHAIN_PREFIX}clang)
 set(CMAKE_ASM_COMPILER              ${CMAKE_C_COMPILER})
 set(CMAKE_CXX_COMPILER              ${TOOLCHAIN_PREFIX}clang++)
 set(CMAKE_LINKER                    ${TOOLCHAIN_PREFIX}clang)
 set(CMAKE_OBJCOPY                   ${TOOLCHAIN_PREFIX}objcopy)
 set(CMAKE_SIZE                      ${TOOLCHAIN_PREFIX}size)
 set(CMAKE_EXECUTABLE_SUFFIX_ASM     ".elf")
 set(CMAKE_EXECUTABLE_SUFFIX_C       ".elf")
 set(CMAKE_EXECUTABLE_SUFFIX_CXX     ".elf")
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
 # STARM_TOOLCHAIN_CONFIG allows you to choose the toolchain configuration.
 # Possible values are:
 #  "STARM_HYBRID"   : Hybrid configuration using starm-clang Assemler and Compiler and GNU Linker
 #  "STARM_NEWLIB"   : starm-clang toolchain with NEWLIB C library
 #  "STARM_PICOLIBC" : starm-clang toolchain with PICOLIBC C library
 set(STARM_TOOLCHAIN_CONFIG "STARM_HYBRID")
 if(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
  set(TOOLCHAIN_MULTILIBS "--multi-lib-config=\"$ENV{CLANG_GCC_CMSIS_COMPILER}/multilib.gnu_tools_for_stm32.yaml\" --gcc-toolchain=\"$ENV{GCC_TOOLCHAIN_ROOT}/..\"")
 elseif (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
  set(TOOLCHAIN_MULTILIBS "--config=newlib.cfg")
 endif()
 # MCU specific flags
 set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ${TOOLCHAIN_MULTILIBS}")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
 set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MP")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
 set(CMAKE_C_FLAGS_DEBUG "-O0 -g3")
 set(CMAKE_C_FLAGS_RELEASE "-Os -g0")
 set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
 set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0")
 set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
 set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
 if (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID")
  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --gcc-specs=nano.specs")
  set(TOOLCHAIN_LINK_LIBRARIES "m")
 elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB")
  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-nosys")
 elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_PICOLIBC")
  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-hosted")
 endif()
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -z noexecstack")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage ")
--- a/cmake/stm32cubemx/CMakeLists.txt
+++ b/cmake/stm32cubemx/CMakeLists.txt
@ -1,115 +0,0 @@
 cmake_minimum_required(VERSION 3.22)
 # Enable CMake support for ASM and C languages
 enable_language(C ASM)
 # STM32CubeMX generated symbols (macros)
 set(MX_Defines_Syms 
 	USE_HAL_DRIVER 
 	STM32F407xx
    $<$<CONFIG:Debug>:DEBUG>
 )
 # STM32CubeMX generated include paths
 set(MX_Include_Dirs
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include
 )
 # STM32CubeMX generated application sources
 set(MX_Application_Src
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/can.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/syscalls.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../startup_stm32f407xx.s
 )
 # STM32 HAL/LL Drivers
 set(STM32_Drivers_Src
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
 )
 # Drivers Midllewares
 set(FreeRTOS_Src
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/list.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/queue.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
 )
 # Link directories setup
 set(MX_LINK_DIRS
 )
 # Project static libraries
 set(MX_LINK_LIBS 
    STM32_Drivers
    ${TOOLCHAIN_LINK_LIBRARIES}
    FreeRTOS
	
 )
 # Interface library for includes and symbols
 add_library(stm32cubemx INTERFACE)
 target_include_directories(stm32cubemx INTERFACE ${MX_Include_Dirs})
 target_compile_definitions(stm32cubemx INTERFACE ${MX_Defines_Syms})
 # Create STM32_Drivers static library
 add_library(STM32_Drivers OBJECT)
 target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
 target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
 # Create FreeRTOS static library
 add_library(FreeRTOS OBJECT)
 target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
 target_link_libraries(FreeRTOS PUBLIC stm32cubemx)
 # Add STM32CubeMX generated application sources to the project
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${MX_Application_Src})
 # Link directories setup
 target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE ${MX_LINK_DIRS})
 # Add libraries to the project
 target_link_libraries(${CMAKE_PROJECT_NAME} ${MX_LINK_LIBS})
 # Add the map file to the list of files to be removed with 'clean' target
 set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES ADDITIONAL_CLEAN_FILES ${CMAKE_PROJECT_NAME}.map)
 # Validate that STM32CubeMX code is compatible with C standard
 if((CMAKE_C_STANDARD EQUAL 90) OR (CMAKE_C_STANDARD EQUAL 99))
    message(ERROR "Generated code requires C11 or higher")
 endif()
--- a/shoot.ioc
+++ b/shoot.ioc
@ -58,20 +58,20 @@ Mcu.IP8=USART6
 Mcu.IPNb=9
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
-Mcu.Pin0=PB8
+Mcu.Pin0=PB5
-Mcu.Pin1=PB5
+Mcu.Pin1=PG14
 Mcu.Pin10=PH0-OSC_IN
 Mcu.Pin11=PH1-OSC_OUT
 Mcu.Pin12=VP_FREERTOS_VS_CMSIS_V2
 Mcu.Pin13=VP_SYS_VS_Systick
-Mcu.Pin2=PG14
+Mcu.Pin2=PA14
-Mcu.Pin3=PA14
+Mcu.Pin3=PA13
-Mcu.Pin4=PA13
+Mcu.Pin4=PB6
-Mcu.Pin5=PB9
+Mcu.Pin5=PD0
-Mcu.Pin6=PB6
+Mcu.Pin6=PC11
-Mcu.Pin7=PC11
+Mcu.Pin7=PC10
-Mcu.Pin8=PC10
+Mcu.Pin8=PG9
-Mcu.Pin9=PG9
+Mcu.Pin9=PD1
 Mcu.PinsNb=14
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
@ -108,14 +108,16 @@ PB5.Mode=CAN_Activate
 PB5.Signal=CAN2_RX
 PB6.Mode=CAN_Activate
 PB6.Signal=CAN2_TX
 PB8.Mode=CAN_Activate
 PB8.Signal=CAN1_RX
 PB9.Mode=CAN_Activate
 PB9.Signal=CAN1_TX
 PC10.Mode=Asynchronous
 PC10.Signal=USART3_TX
 PC11.Mode=Asynchronous
 PC11.Signal=USART3_RX
 PD0.Locked=true
 PD0.Mode=CAN_Activate
 PD0.Signal=CAN1_RX
 PD1.Locked=true
 PD1.Mode=CAN_Activate
 PD1.Signal=CAN1_TX
 PG14.Mode=Asynchronous
 PG14.Signal=USART6_TX
 PG9.Mode=Asynchronous
@ -152,7 +154,7 @@ ProjectManager.ProjectName=shoot
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
-ProjectManager.TargetToolchain=CMake
+ProjectManager.TargetToolchain=MDK-ARM V5.32
 ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
--- a/startup_stm32f407xx.s
+++ b/startup_stm32f407xx.s
@ -1,508 +0,0 @@
 /**
  ******************************************************************************
  * @file      startup_stm32f407xx.s
  * @author    MCD Application Team
  * @brief     STM32F407xx Devices vector table for GCC based toolchains. 
  *            This module performs:
  *                - Set the initial SP
  *                - Set the initial PC == Reset_Handler,
  *                - Set the vector table entries with the exceptions ISR address
  *                - Branches to main in the C library (which eventually
  *                  calls main()).
  *            After Reset the Cortex-M4 processor is in Thread mode,
  *            priority is Privileged, and the Stack is set to Main.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2017 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
  .syntax unified
  .cpu cortex-m4
  .fpu softvfp
  .thumb
 .global  g_pfnVectors
 .global  Default_Handler
 /* start address for the initialization values of the .data section. 
 defined in linker script */
 .word  _sidata
 /* start address for the .data section. defined in linker script */  
 .word  _sdata
 /* end address for the .data section. defined in linker script */
 .word  _edata
 /* start address for the .bss section. defined in linker script */
 .word  _sbss
 /* end address for the .bss section. defined in linker script */
 .word  _ebss
 /* stack used for SystemInit_ExtMemCtl; always internal RAM used */
 /**
 * @brief  This is the code that gets called when the processor first
 *          starts execution following a reset event. Only the absolutely
 *          necessary set is performed, after which the application
 *          supplied main() routine is called. 
 * @param  None
 * @retval : None
 */
    .section  .text.Reset_Handler
  .weak  Reset_Handler
  .type  Reset_Handler, %function
 Reset_Handler:  
  ldr   sp, =_estack     /* set stack pointer */
 /* Call the clock system initialization function.*/
  bl  SystemInit  
 /* Copy the data segment initializers from flash to SRAM */  
  ldr r0, =_sdata
  ldr r1, =_edata
  ldr r2, =_sidata
  movs r3, #0
  b LoopCopyDataInit
 CopyDataInit:
  ldr r4, [r2, r3]
  str r4, [r0, r3]
  adds r3, r3, #4
 LoopCopyDataInit:
  adds r4, r0, r3
  cmp r4, r1
  bcc CopyDataInit
 /* Zero fill the bss segment. */
  ldr r2, =_sbss
  ldr r4, =_ebss
  movs r3, #0
  b LoopFillZerobss
 FillZerobss:
  str  r3, [r2]
  adds r2, r2, #4
 LoopFillZerobss:
  cmp r2, r4
  bcc FillZerobss
 /* Call static constructors */
    bl __libc_init_array
 /* Call the application's entry point.*/
  bl  main
  bx  lr    
 .size  Reset_Handler, .-Reset_Handler
 /**
 * @brief  This is the code that gets called when the processor receives an 
 *         unexpected interrupt.  This simply enters an infinite loop, preserving
 *         the system state for examination by a debugger.
 * @param  None     
 * @retval None       
 */
    .section  .text.Default_Handler,"ax",%progbits
 Default_Handler:
 Infinite_Loop:
  b  Infinite_Loop
  .size  Default_Handler, .-Default_Handler
 /******************************************************************************
 *
 * The minimal vector table for a Cortex M3. Note that the proper constructs
 * must be placed on this to ensure that it ends up at physical address
 * 0x0000.0000.
 * 
 *******************************************************************************/
   .section  .isr_vector,"a",%progbits
  .type  g_pfnVectors, %object
 g_pfnVectors:
  .word  _estack
  .word  Reset_Handler
  .word  NMI_Handler
  .word  HardFault_Handler
  .word  MemManage_Handler
  .word  BusFault_Handler
  .word  UsageFault_Handler
  .word  0
  .word  0
  .word  0
  .word  0
  .word  SVC_Handler
  .word  DebugMon_Handler
  .word  0
  .word  PendSV_Handler
  .word  SysTick_Handler
  /* External Interrupts */
  .word     WWDG_IRQHandler                   /* Window WatchDog              */                                        
  .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */                        
  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */            
  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */                      
  .word     FLASH_IRQHandler                  /* FLASH                        */                                          
  .word     RCC_IRQHandler                    /* RCC                          */                                            
  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */                        
  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */                          
  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */                          
  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */                          
  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */                          
  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */                  
  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */                   
  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */                   
  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */                   
  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */                   
  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */                   
  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */                   
  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */                   
  .word     CAN1_TX_IRQHandler                /* CAN1 TX                      */                         
  .word     CAN1_RX0_IRQHandler               /* CAN1 RX0                     */                          
  .word     CAN1_RX1_IRQHandler               /* CAN1 RX1                     */                          
  .word     CAN1_SCE_IRQHandler               /* CAN1 SCE                     */                          
  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */                          
  .word     TIM1_BRK_TIM9_IRQHandler          /* TIM1 Break and TIM9          */         
  .word     TIM1_UP_TIM10_IRQHandler          /* TIM1 Update and TIM10        */         
  .word     TIM1_TRG_COM_TIM11_IRQHandler     /* TIM1 Trigger and Commutation and TIM11 */
  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */                          
  .word     TIM2_IRQHandler                   /* TIM2                         */                   
  .word     TIM3_IRQHandler                   /* TIM3                         */                   
  .word     TIM4_IRQHandler                   /* TIM4                         */                   
  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */                          
  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */                          
  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */                          
  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */                            
  .word     SPI1_IRQHandler                   /* SPI1                         */                   
  .word     SPI2_IRQHandler                   /* SPI2                         */                   
  .word     USART1_IRQHandler                 /* USART1                       */                   
  .word     USART2_IRQHandler                 /* USART2                       */                   
  .word     USART3_IRQHandler                 /* USART3                       */                   
  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */                          
  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */                 
  .word     OTG_FS_WKUP_IRQHandler            /* USB OTG FS Wakeup through EXTI line */                       
  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */         
  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */         
  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */                          
  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */                          
  .word     FSMC_IRQHandler                   /* FSMC                         */                   
  .word     SDIO_IRQHandler                   /* SDIO                         */                   
  .word     TIM5_IRQHandler                   /* TIM5                         */                   
  .word     SPI3_IRQHandler                   /* SPI3                         */                   
  .word     UART4_IRQHandler                  /* UART4                        */                   
  .word     UART5_IRQHandler                  /* UART5                        */                   
  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */                   
  .word     TIM7_IRQHandler                   /* TIM7                         */
  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */                   
  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */                   
  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */                   
  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */                   
  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */                   
  .word     ETH_IRQHandler                    /* Ethernet                     */                   
  .word     ETH_WKUP_IRQHandler               /* Ethernet Wakeup through EXTI line */                     
  .word     CAN2_TX_IRQHandler                /* CAN2 TX                      */                          
  .word     CAN2_RX0_IRQHandler               /* CAN2 RX0                     */                          
  .word     CAN2_RX1_IRQHandler               /* CAN2 RX1                     */                          
  .word     CAN2_SCE_IRQHandler               /* CAN2 SCE                     */                          
  .word     OTG_FS_IRQHandler                 /* USB OTG FS                   */                   
  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */                   
  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */                   
  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */                   
  .word     USART6_IRQHandler                 /* USART6                       */                    
  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */                          
  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */                          
  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */                   
  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */                   
  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */                         
  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */                   
  .word     DCMI_IRQHandler                   /* DCMI                         */                   
  .word     0                                 /* CRYP crypto                  */                   
  .word     HASH_RNG_IRQHandler               /* Hash and Rng                 */
  .word     FPU_IRQHandler                    /* FPU                          */
  .size  g_pfnVectors, .-g_pfnVectors
 /*******************************************************************************
 *
 * Provide weak aliases for each Exception handler to the Default_Handler. 
 * As they are weak aliases, any function with the same name will override 
 * this definition.
 * 
 *******************************************************************************/
   .weak      NMI_Handler
   .thumb_set NMI_Handler,Default_Handler
   .weak      HardFault_Handler
   .thumb_set HardFault_Handler,Default_Handler
   .weak      MemManage_Handler
   .thumb_set MemManage_Handler,Default_Handler
   .weak      BusFault_Handler
   .thumb_set BusFault_Handler,Default_Handler
   .weak      UsageFault_Handler
   .thumb_set UsageFault_Handler,Default_Handler
   .weak      SVC_Handler
   .thumb_set SVC_Handler,Default_Handler
   .weak      DebugMon_Handler
   .thumb_set DebugMon_Handler,Default_Handler
   .weak      PendSV_Handler
   .thumb_set PendSV_Handler,Default_Handler
   .weak      SysTick_Handler
   .thumb_set SysTick_Handler,Default_Handler              
   .weak      WWDG_IRQHandler                   
   .thumb_set WWDG_IRQHandler,Default_Handler      
   .weak      PVD_IRQHandler      
   .thumb_set PVD_IRQHandler,Default_Handler
   .weak      TAMP_STAMP_IRQHandler            
   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
   .weak      RTC_WKUP_IRQHandler                  
   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
   .weak      FLASH_IRQHandler         
   .thumb_set FLASH_IRQHandler,Default_Handler
   .weak      RCC_IRQHandler      
   .thumb_set RCC_IRQHandler,Default_Handler
   .weak      EXTI0_IRQHandler         
   .thumb_set EXTI0_IRQHandler,Default_Handler
   .weak      EXTI1_IRQHandler         
   .thumb_set EXTI1_IRQHandler,Default_Handler
   .weak      EXTI2_IRQHandler         
   .thumb_set EXTI2_IRQHandler,Default_Handler 
   .weak      EXTI3_IRQHandler         
   .thumb_set EXTI3_IRQHandler,Default_Handler
   .weak      EXTI4_IRQHandler         
   .thumb_set EXTI4_IRQHandler,Default_Handler
   .weak      DMA1_Stream0_IRQHandler               
   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
   .weak      DMA1_Stream1_IRQHandler               
   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
   .weak      DMA1_Stream2_IRQHandler               
   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
   .weak      DMA1_Stream3_IRQHandler               
   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler 
   .weak      DMA1_Stream4_IRQHandler              
   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
   .weak      DMA1_Stream5_IRQHandler               
   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
   .weak      DMA1_Stream6_IRQHandler               
   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
   .weak      ADC_IRQHandler      
   .thumb_set ADC_IRQHandler,Default_Handler
   .weak      CAN1_TX_IRQHandler   
   .thumb_set CAN1_TX_IRQHandler,Default_Handler
   .weak      CAN1_RX0_IRQHandler                  
   .thumb_set CAN1_RX0_IRQHandler,Default_Handler
   .weak      CAN1_RX1_IRQHandler                  
   .thumb_set CAN1_RX1_IRQHandler,Default_Handler
   .weak      CAN1_SCE_IRQHandler                  
   .thumb_set CAN1_SCE_IRQHandler,Default_Handler
   .weak      EXTI9_5_IRQHandler   
   .thumb_set EXTI9_5_IRQHandler,Default_Handler
   .weak      TIM1_BRK_TIM9_IRQHandler            
   .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
   .weak      TIM1_UP_TIM10_IRQHandler            
   .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
   .weak      TIM1_TRG_COM_TIM11_IRQHandler      
   .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
   .weak      TIM1_CC_IRQHandler   
   .thumb_set TIM1_CC_IRQHandler,Default_Handler
   .weak      TIM2_IRQHandler            
   .thumb_set TIM2_IRQHandler,Default_Handler
   .weak      TIM3_IRQHandler            
   .thumb_set TIM3_IRQHandler,Default_Handler
   .weak      TIM4_IRQHandler            
   .thumb_set TIM4_IRQHandler,Default_Handler
   .weak      I2C1_EV_IRQHandler   
   .thumb_set I2C1_EV_IRQHandler,Default_Handler
   .weak      I2C1_ER_IRQHandler   
   .thumb_set I2C1_ER_IRQHandler,Default_Handler
   .weak      I2C2_EV_IRQHandler   
   .thumb_set I2C2_EV_IRQHandler,Default_Handler
   .weak      I2C2_ER_IRQHandler   
   .thumb_set I2C2_ER_IRQHandler,Default_Handler
   .weak      SPI1_IRQHandler            
   .thumb_set SPI1_IRQHandler,Default_Handler
   .weak      SPI2_IRQHandler            
   .thumb_set SPI2_IRQHandler,Default_Handler
   .weak      USART1_IRQHandler      
   .thumb_set USART1_IRQHandler,Default_Handler
   .weak      USART2_IRQHandler      
   .thumb_set USART2_IRQHandler,Default_Handler
   .weak      USART3_IRQHandler      
   .thumb_set USART3_IRQHandler,Default_Handler
   .weak      EXTI15_10_IRQHandler               
   .thumb_set EXTI15_10_IRQHandler,Default_Handler
   .weak      RTC_Alarm_IRQHandler               
   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
   .weak      OTG_FS_WKUP_IRQHandler         
   .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
   .weak      TIM8_BRK_TIM12_IRQHandler         
   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
   .weak      TIM8_UP_TIM13_IRQHandler            
   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
   .weak      TIM8_TRG_COM_TIM14_IRQHandler      
   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
   .weak      TIM8_CC_IRQHandler   
   .thumb_set TIM8_CC_IRQHandler,Default_Handler
   .weak      DMA1_Stream7_IRQHandler               
   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
   .weak      FSMC_IRQHandler            
   .thumb_set FSMC_IRQHandler,Default_Handler
   .weak      SDIO_IRQHandler            
   .thumb_set SDIO_IRQHandler,Default_Handler
   .weak      TIM5_IRQHandler            
   .thumb_set TIM5_IRQHandler,Default_Handler
   .weak      SPI3_IRQHandler            
   .thumb_set SPI3_IRQHandler,Default_Handler
   .weak      UART4_IRQHandler         
   .thumb_set UART4_IRQHandler,Default_Handler
   .weak      UART5_IRQHandler         
   .thumb_set UART5_IRQHandler,Default_Handler
   .weak      TIM6_DAC_IRQHandler                  
   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
   .weak      TIM7_IRQHandler            
   .thumb_set TIM7_IRQHandler,Default_Handler
   .weak      DMA2_Stream0_IRQHandler               
   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
   .weak      DMA2_Stream1_IRQHandler               
   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
   .weak      DMA2_Stream2_IRQHandler               
   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
   .weak      DMA2_Stream3_IRQHandler               
   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
   .weak      DMA2_Stream4_IRQHandler               
   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
   .weak      ETH_IRQHandler      
   .thumb_set ETH_IRQHandler,Default_Handler
   .weak      ETH_WKUP_IRQHandler                  
   .thumb_set ETH_WKUP_IRQHandler,Default_Handler
   .weak      CAN2_TX_IRQHandler   
   .thumb_set CAN2_TX_IRQHandler,Default_Handler
   .weak      CAN2_RX0_IRQHandler                  
   .thumb_set CAN2_RX0_IRQHandler,Default_Handler
   .weak      CAN2_RX1_IRQHandler                  
   .thumb_set CAN2_RX1_IRQHandler,Default_Handler
   .weak      CAN2_SCE_IRQHandler                  
   .thumb_set CAN2_SCE_IRQHandler,Default_Handler
   .weak      OTG_FS_IRQHandler      
   .thumb_set OTG_FS_IRQHandler,Default_Handler
   .weak      DMA2_Stream5_IRQHandler               
   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
   .weak      DMA2_Stream6_IRQHandler               
   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
   .weak      DMA2_Stream7_IRQHandler               
   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
   .weak      USART6_IRQHandler      
   .thumb_set USART6_IRQHandler,Default_Handler
   .weak      I2C3_EV_IRQHandler   
   .thumb_set I2C3_EV_IRQHandler,Default_Handler
   .weak      I2C3_ER_IRQHandler   
   .thumb_set I2C3_ER_IRQHandler,Default_Handler
   .weak      OTG_HS_EP1_OUT_IRQHandler         
   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
   .weak      OTG_HS_EP1_IN_IRQHandler            
   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
   .weak      OTG_HS_WKUP_IRQHandler         
   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
   .weak      OTG_HS_IRQHandler      
   .thumb_set OTG_HS_IRQHandler,Default_Handler
   .weak      DCMI_IRQHandler            
   .thumb_set DCMI_IRQHandler,Default_Handler
   .weak      HASH_RNG_IRQHandler                  
   .thumb_set HASH_RNG_IRQHandler,Default_Handler   
   .weak      FPU_IRQHandler                  
   .thumb_set FPU_IRQHandler,Default_Handler