没用新版cmd，底盘任务没写，cofig加完了

MDK-ARM/Infantry.uvoptx

@@ -1189,8 +1189,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\ai.c</PathWithFileName>
-      <FilenameWithoutPath>ai.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\task\user_task.c</PathWithFileName>
+      <FilenameWithoutPath>user_task.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1213,8 +1213,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\chassis_ctrl.c</PathWithFileName>
-      <FilenameWithoutPath>chassis_ctrl.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\task\dr16.c</PathWithFileName>
+      <FilenameWithoutPath>dr16.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1225,8 +1225,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\dr16.c</PathWithFileName>
-      <FilenameWithoutPath>dr16.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\task\gimbal_ctrl.c</PathWithFileName>
+      <FilenameWithoutPath>gimbal_ctrl.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1237,8 +1237,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\gimbal_ctrl.c</PathWithFileName>
-      <FilenameWithoutPath>gimbal_ctrl.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\task\chassis_ctrl.c</PathWithFileName>
+      <FilenameWithoutPath>chassis_ctrl.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1261,8 +1261,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\user_task.c</PathWithFileName>
-      <FilenameWithoutPath>user_task.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\task\ai.c</PathWithFileName>
+      <FilenameWithoutPath>ai.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>

MDK-ARM/Infantry.uvprojx

@@ -2129,20 +2129,15 @@
               <FilePath>..\User\task\init.c</FilePath>
             </File>
             <File>
-              <FileName>ai.c</FileName>
+              <FileName>user_task.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\task\ai.c</FilePath>
+              <FilePath>..\User\task\user_task.c</FilePath>
             </File>
             <File>
               <FileName>atti_esti.c</FileName>
               <FileType>1</FileType>
               <FilePath>..\User\task\atti_esti.c</FilePath>
             </File>
-            <File>
-              <FileName>chassis_ctrl.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\task\chassis_ctrl.c</FilePath>
-            </File>
             <File>
               <FileName>dr16.c</FileName>
               <FileType>1</FileType>
@@ -2153,15 +2148,20 @@
               <FileType>1</FileType>
               <FilePath>..\User\task\gimbal_ctrl.c</FilePath>
             </File>
+            <File>
+              <FileName>chassis_ctrl.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\chassis_ctrl.c</FilePath>
+            </File>
             <File>
               <FileName>shoot_ctrl.c</FileName>
               <FileType>1</FileType>
               <FilePath>..\User\task\shoot_ctrl.c</FilePath>
             </File>
             <File>
-              <FileName>user_task.c</FileName>
+              <FileName>ai.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\task\user_task.c</FilePath>
+              <FilePath>..\User\task\ai.c</FilePath>
             </File>
             <File>
               <FileName>remote.c</FileName>

MDK-ARM/Infantry/Infantry.build_log.htm

@@ -31,13 +31,19 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'Infantry\can.o
 Note: source file '..\User\bsp\gpio.c' - object file renamed from 'Infantry\gpio.o' to 'Infantry\gpio_1.o'.
 Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Infantry\i2c.o' to 'Infantry\i2c_1.o'.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'Infantry\spi.o' to 'Infantry\spi_1.o'.
-Note: source file '..\User\task\ai.c' - object file renamed from 'Infantry\ai.o' to 'Infantry\ai_1.o'.
 Note: source file '..\User\task\dr16.c' - object file renamed from 'Infantry\dr16.o' to 'Infantry\dr16_1.o'.
-compiling config.c...
+Note: source file '..\User\task\ai.c' - object file renamed from 'Infantry\ai.o' to 'Infantry\ai_1.o'.
+../User/task/chassis_ctrl.c(7): warning: In file included from...
+../User\task/user_task.h(73): warning: expected ';' at end of declaration list
+            osMessageQueueId_t dr16/* 发射命令队列 */
+                                   ^
+                                   ;
+1 warning generated.
+compiling chassis_ctrl.c...
 linking...
-Program Size: Code=54888 RO-data=1680 RW-data=832 ZI-data=126600  
+Program Size: Code=54952 RO-data=1680 RW-data=832 ZI-data=126624  
 FromELF: creating hex file...
-"Infantry\Infantry.axf" - 0 Error(s), 0 Warning(s).
+"Infantry\Infantry.axf" - 0 Error(s), 1 Warning(s).
 
 <h2>Software Packages used:</h2>
 

MDK-ARM/Infantry/Infantry.lnp

@@ -71,13 +71,13 @@
 "infantry\ai.o"
 "infantry\dr16.o"
 "infantry\init.o"
-"infantry\ai_1.o"
+"infantry\user_task.o"
 "infantry\atti_esti.o"
-"infantry\chassis_ctrl.o"
 "infantry\dr16_1.o"
 "infantry\gimbal_ctrl.o"
+"infantry\chassis_ctrl.o"
 "infantry\shoot_ctrl.o"
-"infantry\user_task.o"
+"infantry\ai_1.o"
 "infantry\remote.o"
 "infantry\config.o"
 "infantry\chassis.o"

MDK-ARM/Infantry/Infantry_Infantry.dep

@@ -139,7 +139,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (..\User\task\user_task.h)(0x695FB706)
+I (..\User\task\user_task.h)(0x69605FF8)
 F (../Core/Src/can.c)(0x695F9C42)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/can.o -MD)
 I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\Core\Inc\main.h)(0x695F9AF0)
@@ -2017,13 +2017,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\component\ahrs.h)(0x695FAA4C)
-I (..\User\component\filter.h)(0x695FAA4C)
-I (..\User\component\pid.h)(0x695FAA4C)
-I (..\User\device\motor.h)(0x695FAA4C)
-I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
+I (..\User\module\gimbal.h)(0x696061CE)
 I (..\User\bsp\can.h)(0x695FAA4C)
 I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\Core\Inc\main.h)(0x695F9AF0)
@@ -2072,7 +2066,14 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (..\User\bsp\time.h)(0x695FAA4C)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\device\device.h)(0x695FAA4C)
 I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
 I (..\User\bsp\uart.h)(0x695FAA4C)
 I (..\Core\Inc\usart.h)(0x695F99C4)
 I (..\User\component\crc16.h)(0x695FAA4C)
@@ -2124,8 +2125,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
 I (..\User\bsp\bsp.h)(0x695FAA4C)
 I (..\User\bsp\time.h)(0x695FAA4C)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\task\init.c)(0x695FB9FE)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/init.o -MD)
-I (..\User\task\user_task.h)(0x695FB706)
+F (..\User\task\init.c)(0x6960635D)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/init.o -MD)
+I (..\User\task\user_task.h)(0x69605FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2138,17 +2139,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\component\ahrs.h)(0x695FAA4C)
-I (..\User\component\user_math.h)(0x695FAA4C)
-I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\component\filter.h)(0x695FAA4C)
-I (..\User\component\pid.h)(0x695FAA4C)
-I (..\User\device\motor.h)(0x695FAA4C)
-I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
+I (..\User\module\gimbal.h)(0x696061CE)
 I (..\User\bsp\can.h)(0x695FAA4C)
 I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\Core\Inc\main.h)(0x695F9AF0)
@@ -2186,13 +2177,26 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
 I (..\User\bsp\bsp.h)(0x695FAA4C)
 I (..\User\bsp\mm.h)(0x695FAA4C)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
+I (..\User\bsp\time.h)(0x695FAA4C)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\component\user_math.h)(0x695FAA4C)
+I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\device\device.h)(0x695FAA4C)
 I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
 I (..\User\device\ai.h)(0x695FA26C)
 I (..\User\module\shoot.h)(0x69588E9B)
 I (..\User\device\dr16.h)(0x695FAA4C)
-F (..\User\task\ai.c)(0x695FB706)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/ai_1.o -MD)
-I (..\User\task\user_task.h)(0x695FB706)
+I (..\User\module\chassis.h)(0x69605BA8)
+I (..\User\component\mixer.h)(0x695FAA4C)
+F (..\User\task\user_task.c)(0x695FB706)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/user_task.o -MD)
+I (..\User\task\user_task.h)(0x69605FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2205,59 +2209,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\device\ai.h)(0x695FA26C)
-I (..\User\component\user_math.h)(0x695FAA4C)
-I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\component\ahrs.h)(0x695FAA4C)
-I (..\User\component\filter.h)(0x695FAA4C)
-I (..\User\component\pid.h)(0x695FAA4C)
-I (..\User\device\motor.h)(0x695FAA4C)
-I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
-I (..\User\bsp\can.h)(0x695FAA4C)
-I (..\Core\Inc\can.h)(0x695F99C3)
-I (..\Core\Inc\main.h)(0x695F9AF0)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
-I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x695F99C5)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
-I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
-I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
-I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
-I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
-I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
-I (..\User\bsp\bsp.h)(0x695FAA4C)
-I (..\User\bsp\mm.h)(0x695FAA4C)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
-I (..\User\device\motor_rm.h)(0x695FAA4C)
 F (..\User\task\atti_esti.c)(0x695FB706)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/atti_esti.o -MD)
-I (..\User\task\user_task.h)(0x695FB706)
+I (..\User\task\user_task.h)(0x69605FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2315,31 +2268,18 @@ I (..\User\component\pid.h)(0x695FAA4C)
 I (..\User\component\filter.h)(0x695FAA4C)
 I (..\User\device\bmi088.h)(0x695FAA4C)
 I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\device\motor.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
+I (..\User\module\gimbal.h)(0x696061CE)
 I (..\User\bsp\can.h)(0x695FAA4C)
 I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\User\bsp\mm.h)(0x695FAA4C)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
+I (..\User\bsp\time.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
 I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
 I (..\User\device\ist8310.h)(0x695FAA4C)
-F (..\User\task\chassis_ctrl.c)(0x695FB706)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/chassis_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x695FB706)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x695F9C42)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 F (..\User\task\dr16.c)(0x695FB964)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/dr16_1.o -MD)
-I (..\User\task\user_task.h)(0x695FB706)
+I (..\User\task\user_task.h)(0x69605FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2358,15 +2298,9 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\module\remote_cmd.h)(0x695FB807)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\component\ahrs.h)(0x695FAA4C)
-I (..\User\component\filter.h)(0x695FAA4C)
-I (..\User\component\pid.h)(0x695FAA4C)
-I (..\User\device\motor.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
-I (..\User\bsp\can.h)(0x695FAA4C)
-I (..\Core\Inc\can.h)(0x695F99C3)
+I (..\User\module\remote_cmd.h)(0x69606160)
+I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
+I (..\User\module\shoot.h)(0x69588E9B)
 I (..\Core\Inc\main.h)(0x695F9AF0)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x695F99C5)
@@ -2400,13 +2334,23 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\bsp\can.h)(0x695FAA4C)
+I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\User\bsp\bsp.h)(0x695FAA4C)
 I (..\User\bsp\mm.h)(0x695FAA4C)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
-I (..\User\device\motor_rm.h)(0x695FAA4C)
-I (..\User\module\shoot.h)(0x69588E9B)
+I (..\User\module\chassis.h)(0x69605BA8)
+I (..\User\component\mixer.h)(0x695FAA4C)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\module\gimbal.h)(0x696061CE)
+I (..\User\bsp\time.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
 F (..\User\task\gimbal_ctrl.c)(0x695FBBA5)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/gimbal_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x695FB706)
+I (..\User\task\user_task.h)(0x69605FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2424,13 +2368,7 @@ I (..\User\component\user_math.h)(0x695FAA4C)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\component\ahrs.h)(0x695FAA4C)
-I (..\User\component\filter.h)(0x695FAA4C)
-I (..\User\component\pid.h)(0x695FAA4C)
-I (..\User\device\motor.h)(0x695FAA4C)
-I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
+I (..\User\module\gimbal.h)(0x696061CE)
 I (..\User\bsp\can.h)(0x695FAA4C)
 I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\Core\Inc\main.h)(0x695F9AF0)
@@ -2469,13 +2407,84 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
 I (..\User\bsp\bsp.h)(0x695FAA4C)
 I (..\User\bsp\mm.h)(0x695FAA4C)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
+I (..\User\bsp\time.h)(0x695FAA4C)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\device\device.h)(0x695FAA4C)
 I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
 I (..\User\module\config.h)(0x69605CCE)
 I (..\User\module\shoot.h)(0x69588E9B)
 I (..\User\module\chassis.h)(0x69605BA8)
 I (..\User\component\mixer.h)(0x695FAA4C)
+F (..\User\task\chassis_ctrl.c)(0x696063C8)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/chassis_ctrl.o -MD)
+I (..\User\task\user_task.h)(0x69605FF8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x695F9C42)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
+I (..\User\module\chassis.h)(0x69605BA8)
+I (..\User\bsp\can.h)(0x695FAA4C)
+I (..\Core\Inc\can.h)(0x695F99C3)
+I (..\Core\Inc\main.h)(0x695F9AF0)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
+I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x695F99C5)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
+I (..\User\bsp\bsp.h)(0x695FAA4C)
+I (..\User\bsp\mm.h)(0x695FAA4C)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\component\user_math.h)(0x695FAA4C)
+I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (..\User\component\mixer.h)(0x695FAA4C)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\device\device.h)(0x695FAA4C)
 F (..\User\task\shoot_ctrl.c)(0x695FBD1A)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/shoot_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x695FB706)
+I (..\User\task\user_task.h)(0x69605FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2537,13 +2546,14 @@ I (..\User\bsp\bsp.h)(0x695FAA4C)
 I (..\User\bsp\mm.h)(0x695FAA4C)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\User\module\config.h)(0x69605CCE)
-I (..\User\module\gimbal.h)(0x6958E7C0)
+I (..\User\module\gimbal.h)(0x696061CE)
+I (..\User\bsp\time.h)(0x695FAA4C)
 I (..\User\component\ahrs.h)(0x695FAA4C)
 I (..\User\device\motor_dm.h)(0x695FAA4C)
 I (..\User\module\chassis.h)(0x69605BA8)
 I (..\User\component\mixer.h)(0x695FAA4C)
-F (..\User\task\user_task.c)(0x695FB706)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/user_task.o -MD)
-I (..\User\task\user_task.h)(0x695FB706)
+F (..\User\task\ai.c)(0x695FB706)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/ai_1.o -MD)
+I (..\User\task\user_task.h)(0x69605FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2556,31 +2566,12 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-F (..\User\task\remote.c)(0x695FB8F5)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/remote.o -MD)
-I (..\User\task\user_task.h)(0x695FB706)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x695F9C42)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\device\ai.h)(0x695FA26C)
 I (..\User\component\user_math.h)(0x695FAA4C)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\component\filter.h)(0x695FAA4C)
-I (..\User\component\pid.h)(0x695FAA4C)
-I (..\User\device\motor.h)(0x695FAA4C)
-I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
+I (..\User\module\gimbal.h)(0x696061CE)
 I (..\User\bsp\can.h)(0x695FAA4C)
 I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\Core\Inc\main.h)(0x695F9AF0)
@@ -2619,11 +2610,86 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
 I (..\User\bsp\bsp.h)(0x695FAA4C)
 I (..\User\bsp\mm.h)(0x695FAA4C)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
+I (..\User\bsp\time.h)(0x695FAA4C)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\device\device.h)(0x695FAA4C)
 I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
+F (..\User\task\remote.c)(0x69606278)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/remote.o -MD)
+I (..\User\task\user_task.h)(0x69605FF8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x695F9C42)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
+I (..\User\module\gimbal.h)(0x696061CE)
+I (..\User\bsp\can.h)(0x695FAA4C)
+I (..\Core\Inc\can.h)(0x695F99C3)
+I (..\Core\Inc\main.h)(0x695F9AF0)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
+I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x695F99C5)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
+I (..\User\bsp\bsp.h)(0x695FAA4C)
+I (..\User\bsp\mm.h)(0x695FAA4C)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
+I (..\User\bsp\time.h)(0x695FAA4C)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\component\user_math.h)(0x695FAA4C)
+I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\device\device.h)(0x695FAA4C)
+I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
 I (..\User\module\shoot.h)(0x69588E9B)
-I (..\User\module\remote_cmd.h)(0x695FB807)
+I (..\User\module\chassis.h)(0x69605BA8)
+I (..\User\component\mixer.h)(0x695FAA4C)
+I (..\User\module\remote_cmd.h)(0x69606160)
+I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\device\dr16.h)(0x695FAA4C)
-F (..\User\module\config.c)(0x69605DE3)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/config.o -MD)
+F (..\User\module\config.c)(0x696061EE)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/config.o -MD)
 I (..\User\component\user_math.h)(0x695FAA4C)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@@ -2631,13 +2697,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\User\module\config.h)(0x69605CCE)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\component\ahrs.h)(0x695FAA4C)
-I (..\User\component\filter.h)(0x695FAA4C)
-I (..\User\component\pid.h)(0x695FAA4C)
-I (..\User\device\motor.h)(0x695FAA4C)
-I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
+I (..\User\module\gimbal.h)(0x696061CE)
 I (..\User\bsp\can.h)(0x695FAA4C)
 I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\Core\Inc\main.h)(0x695F9AF0)
@@ -2686,7 +2746,14 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (..\User\bsp\time.h)(0x695FAA4C)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\device\device.h)(0x695FAA4C)
 I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
 I (..\User\module\shoot.h)(0x69588E9B)
 I (..\User\module\chassis.h)(0x69605BA8)
 I (..\User\component\mixer.h)(0x695FAA4C)
@@ -2754,20 +2821,8 @@ I (..\User\module\chassis.h)(0x69605BA8)
 I (..\User\component\filter.h)(0x695FAA4C)
 I (..\User\component\mixer.h)(0x695FAA4C)
 I (..\User\component\pid.h)(0x695FAA4C)
-F (..\User\module\gimbal.c)(0x695FBD53)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/gimbal.o -MD)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\component\ahrs.h)(0x695FAA4C)
-I (..\User\component\user_math.h)(0x695FAA4C)
-I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\component\filter.h)(0x695FAA4C)
-I (..\User\component\pid.h)(0x695FAA4C)
-I (..\User\device\motor.h)(0x695FAA4C)
-I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
+F (..\User\module\gimbal.c)(0x696061CE)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/gimbal.o -MD)
+I (..\User\module\gimbal.h)(0x696061CE)
 I (..\User\bsp\can.h)(0x695FAA4C)
 I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\Core\Inc\main.h)(0x695F9AF0)
@@ -2778,12 +2833,14 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
 I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
 I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
 I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
 I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
 I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
 I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
 I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
@@ -2805,6 +2862,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
 I (..\User\bsp\bsp.h)(0x695FAA4C)
 I (..\User\bsp\mm.h)(0x695FAA4C)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (..\Core\Inc\FreeRTOSConfig.h)(0x695F9C42)
@@ -2816,25 +2874,30 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (..\User\device\motor_rm.h)(0x695FAA4C)
 I (..\User\bsp\time.h)(0x695FAA4C)
-F (..\User\module\remote_cmd.c)(0x69605B20)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/remote_cmd.o -MD)
-I (..\User\module\remote_cmd.h)(0x695FB807)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\component\user_math.h)(0x695FAA4C)
+I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\device\device.h)(0x695FAA4C)
+I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
+F (..\User\module\remote_cmd.c)(0x69606160)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/remote_cmd.o -MD)
+I (..\User\module\remote_cmd.h)(0x69606160)
+I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\component\user_math.h)(0x695FAA4C)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x6958E7C0)
-I (..\User\component\ahrs.h)(0x695FAA4C)
-I (..\User\component\filter.h)(0x695FAA4C)
-I (..\User\component\pid.h)(0x695FAA4C)
-I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\device\dr16.h)(0x695FAA4C)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (..\User\device\device.h)(0x695FAA4C)
-I (..\User\device\motor_dm.h)(0x695FAA4C)
-I (..\User\bsp\can.h)(0x695FAA4C)
-I (..\Core\Inc\can.h)(0x695F99C3)
+I (..\User\module\shoot.h)(0x69588E9B)
 I (..\Core\Inc\main.h)(0x695F9AF0)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x695F99C5)
@@ -2868,6 +2931,12 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
+I (..\User\component\pid.h)(0x695FAA4C)
+I (..\User\component\filter.h)(0x695FAA4C)
+I (..\User\device\motor_rm.h)(0x695FAA4C)
+I (..\User\device\motor.h)(0x695FAA4C)
+I (..\User\bsp\can.h)(0x695FAA4C)
+I (..\Core\Inc\can.h)(0x695F99C3)
 I (..\User\bsp\bsp.h)(0x695FAA4C)
 I (..\User\bsp\mm.h)(0x695FAA4C)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
@@ -2880,15 +2949,12 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (..\User\device\motor_rm.h)(0x695FAA4C)
-I (..\User\module\shoot.h)(0x69588E9B)
-I (..\User\device\dr16.h)(0x695FAA4C)
-I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\bsp\uart.h)(0x695FAA4C)
-I (..\Core\Inc\usart.h)(0x695F99C4)
-I (..\User\component\crc16.h)(0x695FAA4C)
-I (..\User\component\crc8.h)(0x695FAA4C)
+I (..\User\module\chassis.h)(0x69605BA8)
+I (..\User\component\mixer.h)(0x695FAA4C)
+I (..\User\component\ahrs.h)(0x695FAA4C)
+I (..\User\module\gimbal.h)(0x696061CE)
+I (..\User\bsp\time.h)(0x695FAA4C)
+I (..\User\device\motor_dm.h)(0x695FAA4C)
 F (..\User\module\shoot.c)(0x6958CBDF)(-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 ../User/bsp -I ../User/component -I ../User/task -I ../User/module -I ../User/device

-I./RTE/_Infantry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

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

-o infantry/shoot.o -MD)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)

MDK-ARM/Infantry/ai.d

@@ -5,11 +5,7 @@ infantry/ai.o: ..\User\device\ai.c ..\User\device\ai.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
-  ..\User\component\user_math.h ..\User\component\filter.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
-  ..\User\device\motor.h ..\User\device\device.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\User\module\gimbal.h ..\User\bsp\can.h ..\Core\Inc\can.h \
   ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
@@ -54,5 +50,10 @@ infantry/ai.o: ..\User\device\ai.c ..\User\device\ai.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\uart.h \
-  ..\Core\Inc\usart.h ..\User\component\crc16.h
+  ..\User\bsp\time.h ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h ..\User\component\ahrs.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor_rm.h \
+  ..\User\device\motor.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\User\device\motor_dm.h ..\User\bsp\uart.h ..\Core\Inc\usart.h \
+  ..\User\component\crc16.h

MDK-ARM/Infantry/ai_1.d

@@ -15,11 +15,7 @@ infantry/ai_1.o: ..\User\task\ai.c ..\User\task\user_task.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
-  ..\User\component\user_math.h ..\User\component\filter.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
-  ..\User\device\motor.h ..\User\device\device.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\User\module\gimbal.h ..\User\bsp\can.h ..\Core\Inc\can.h \
   ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
@@ -55,4 +51,9 @@ infantry/ai_1.o: ..\User\task\ai.c ..\User\task\user_task.h \
   ..\User\bsp\bsp.h ..\User\bsp\mm.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h
+  ..\User\bsp\time.h ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h ..\User\component\ahrs.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor_rm.h \
+  ..\User\device\motor.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\User\device\motor_dm.h

MDK-ARM/Infantry/atti_esti.d

@@ -51,10 +51,12 @@ infantry/atti_esti.o: ..\User\task\atti_esti.c ..\User\task\user_task.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   ..\User\component\pid.h ..\User\component\filter.h \
   ..\User\device\bmi088.h ..\User\device\device.h \
-  ..\User\module\gimbal.h ..\User\component\filter.h \
-  ..\User\device\motor.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
-  ..\Core\Inc\can.h ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+  ..\User\module\gimbal.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\bsp\time.h ..\User\component\pid.h ..\User\component\ahrs.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\motor.h ..\User\bsp\can.h ..\User\device\motor_dm.h \
   ..\User\device\ist8310.h

MDK-ARM/Infantry/chassis_ctrl.d

@@ -11,4 +11,48 @@ infantry/chassis_ctrl.o: ..\User\task\chassis_ctrl.c \
   ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\User\module\chassis.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\Core\Inc\stm32f4xx_hal_conf.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  ..\Drivers\CMSIS\Include\core_cm4.h \
+  ..\Drivers\CMSIS\Include\cmsis_version.h \
+  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+  ..\Drivers\CMSIS\Include\mpu_armv7.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\component\filter.h ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+  ..\User\component\mixer.h ..\User\component\pid.h \
+  ..\User\component\filter.h ..\User\component\ahrs.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor.h

MDK-ARM/Infantry/config.d

@@ -4,11 +4,7 @@ infantry/config.o: ..\User\module\config.c ..\User\component\user_math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\User\module\config.h ..\User\module\gimbal.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\component\filter.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
+  ..\User\module\config.h ..\User\module\gimbal.h ..\User\bsp\can.h \
   ..\Core\Inc\can.h ..\Core\Inc\main.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
@@ -54,8 +50,13 @@ infantry/config.o: ..\User\module\config.c ..\User\component\user_math.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
+  ..\User\bsp\time.h ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h ..\User\component\ahrs.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor_rm.h \
+  ..\User\device\motor.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
+  ..\User\component\pid.h ..\User\device\motor_rm.h \
+  ..\User\module\chassis.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\component\filter.h ..\User\component\mixer.h \
-  ..\User\component\pid.h ..\User\component\ahrs.h
+  ..\User\component\mixer.h ..\User\module\shoot.h

MDK-ARM/Infantry/dr16_1.d

@@ -16,12 +16,9 @@ infantry/dr16_1.o: ..\User\task\dr16.c ..\User\task\user_task.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   ..\User\device\device.h ..\User\module\remote_cmd.h \
-  ..\User\component\user_math.h ..\User\module\gimbal.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\component\filter.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
+  ..\User\component\user_math.h ..\User\device\dr16.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
@@ -54,8 +51,15 @@ infantry/dr16_1.o: ..\User\task\dr16.c ..\User\task\user_task.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h ..\User\device\motor_rm.h \
+  ..\User\device\motor.h ..\User\device\device.h ..\User\device\motor.h \
+  ..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
   ..\User\bsp\bsp.h ..\User\bsp\mm.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\device\dr16.h
+  ..\User\module\chassis.h ..\User\component\filter.h \
+  ..\User\component\mixer.h ..\User\component\pid.h \
+  ..\User\component\ahrs.h ..\User\module\gimbal.h ..\User\bsp\can.h \
+  ..\User\bsp\time.h ..\User\device\motor.h ..\User\device\motor_rm.h \
+  ..\User\device\motor_dm.h

MDK-ARM/Infantry/gimbal.d

@@ -1,14 +1,5 @@
 infantry/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\component\filter.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h \
+  ..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
@@ -16,12 +7,14 @@ infantry/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
   ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
   ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
   ..\Drivers\CMSIS\Include\core_cm4.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
   ..\Drivers\CMSIS\Include\cmsis_version.h \
   ..\Drivers\CMSIS\Include\cmsis_compiler.h \
   ..\Drivers\CMSIS\Include\cmsis_armclang.h \
   ..\Drivers\CMSIS\Include\mpu_armv7.h \
   ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
@@ -42,6 +35,7 @@ infantry/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
   ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
   ..\Core\Inc\FreeRTOSConfig.h \
@@ -53,4 +47,11 @@ infantry/gimbal.o: ..\User\module\gimbal.c ..\User\module\gimbal.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\time.h
+  ..\User\bsp\time.h ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\component\ahrs.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor_rm.h \
+  ..\User\device\motor.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\User\device\motor_dm.h

MDK-ARM/Infantry/gimbal_ctrl.d

@@ -16,11 +16,7 @@ infantry/gimbal_ctrl.o: ..\User\task\gimbal_ctrl.c \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
-  ..\User\component\user_math.h ..\User\component\filter.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
-  ..\User\device\motor.h ..\User\device\device.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\User\module\gimbal.h ..\User\bsp\can.h ..\Core\Inc\can.h \
   ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
@@ -56,8 +52,12 @@ infantry/gimbal_ctrl.o: ..\User\task\gimbal_ctrl.c \
   ..\User\bsp\bsp.h ..\User\bsp\mm.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\module\config.h ..\User\module\gimbal.h ..\User\module\shoot.h \
-  ..\Core\Inc\main.h ..\User\module\chassis.h ..\User\component\filter.h \
-  ..\User\component\mixer.h ..\User\component\pid.h \
-  ..\User\component\ahrs.h
+  ..\User\bsp\time.h ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h ..\User\component\ahrs.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor_rm.h \
+  ..\User\device\motor.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\User\device\motor_dm.h ..\User\module\config.h \
+  ..\User\module\gimbal.h ..\User\module\shoot.h ..\Core\Inc\main.h \
+  ..\User\component\pid.h ..\User\device\motor_rm.h \
+  ..\User\module\chassis.h ..\User\component\mixer.h

MDK-ARM/Infantry/init.d

@@ -11,16 +11,8 @@ infantry/init.o: ..\User\task\init.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
-  ..\User\component\user_math.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\component\filter.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\User\module\gimbal.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@@ -53,9 +45,19 @@ infantry/init.o: ..\User\task\init.c ..\User\task\user_task.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
   ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h ..\User\device\ai.h \
+  ..\User\bsp\time.h ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\component\ahrs.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor_rm.h \
+  ..\User\device\motor.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\User\device\motor_dm.h ..\User\device\ai.h \
   ..\User\component\user_math.h ..\User\module\shoot.h \
-  ..\Core\Inc\main.h ..\User\device\dr16.h ..\User\component\user_math.h \
-  ..\User\device\device.h
+  ..\Core\Inc\main.h ..\User\component\pid.h ..\User\device\motor_rm.h \
+  ..\User\device\dr16.h ..\User\component\user_math.h \
+  ..\User\device\device.h ..\User\module\chassis.h \
+  ..\User\component\mixer.h

MDK-ARM/Infantry/remote.d

@@ -11,16 +11,8 @@ infantry/remote.o: ..\User\task\remote.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
-  ..\User\component\user_math.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\User\component\filter.h ..\User\device\motor.h \
-  ..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\User\module\gimbal.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@@ -53,11 +45,22 @@ infantry/remote.o: ..\User\task\remote.c ..\User\task\user_task.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
   ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\remote_cmd.h \
-  ..\User\component\user_math.h ..\User\module\gimbal.h \
-  ..\User\module\shoot.h ..\User\device\dr16.h \
+  ..\User\bsp\time.h ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\component\ahrs.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor_rm.h \
+  ..\User\device\motor.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
+  ..\User\component\pid.h ..\User\device\motor_rm.h \
+  ..\User\module\chassis.h ..\User\component\mixer.h \
+  ..\User\module\remote_cmd.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
+  ..\User\component\user_math.h ..\User\device\dr16.h \
   ..\User\component\user_math.h ..\User\device\device.h \
-  ..\User\device\dr16.h
+  ..\User\module\shoot.h ..\User\module\chassis.h \
+  ..\User\module\gimbal.h ..\User\device\dr16.h

MDK-ARM/Infantry/remote_cmd.d

@@ -1,16 +1,16 @@
 infantry/remote_cmd.o: ..\User\module\remote_cmd.c \
-  ..\User\module\remote_cmd.h ..\User\component\user_math.h \
+  ..\User\module\remote_cmd.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
+  ..\User\component\user_math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
-  ..\User\component\user_math.h ..\User\component\filter.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
-  ..\User\device\motor.h ..\User\device\device.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h ..\User\device\dr16.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\component\user_math.h ..\User\device\device.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@@ -42,6 +42,10 @@ infantry/remote_cmd.o: ..\User\module\remote_cmd.c \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h ..\User\device\motor_rm.h \
+  ..\User\device\motor.h ..\User\device\device.h ..\User\device\motor.h \
+  ..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
   ..\User\bsp\bsp.h ..\User\bsp\mm.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
@@ -54,10 +58,8 @@ infantry/remote_cmd.o: ..\User\module\remote_cmd.c \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\device\dr16.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\component\user_math.h ..\User\device\device.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \
-  ..\Core\Inc\usart.h ..\User\component\crc16.h ..\User\component\crc8.h \
-  ..\User\device\dr16.h
+  ..\User\module\chassis.h ..\User\component\filter.h \
+  ..\User\component\mixer.h ..\User\component\pid.h \
+  ..\User\component\ahrs.h ..\User\module\gimbal.h ..\User\bsp\can.h \
+  ..\User\bsp\time.h ..\User\device\motor.h ..\User\device\motor_rm.h \
+  ..\User\device\motor_dm.h

MDK-ARM/Infantry/shoot_ctrl.d

@@ -55,9 +55,9 @@ infantry/shoot_ctrl.o: ..\User\task\shoot_ctrl.c ..\User\task\user_task.h \
   ..\User\bsp\mm.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\module\config.h ..\User\module\gimbal.h \
-  ..\User\component\ahrs.h ..\User\component\filter.h \
-  ..\User\device\motor_dm.h ..\User\module\shoot.h \
-  ..\User\module\chassis.h ..\User\component\filter.h \
-  ..\User\component\mixer.h ..\User\component\pid.h \
-  ..\User\component\ahrs.h
+  ..\User\module\config.h ..\User\module\gimbal.h ..\User\bsp\can.h \
+  ..\User\bsp\time.h ..\User\component\pid.h ..\User\component\ahrs.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\device\motor_rm.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h ..\User\module\chassis.h \
+  ..\User\component\mixer.h

User/module/config.c

@@ -4,9 +4,9 @@
 
 /* Includes ----------------------------------------------------------------- */
 #include "user_math.h"
-#include "module/config.h"
-#include "bsp/can.h"
-#include "shoot.h"
+#include "module\config.h"
+#include "bsp\can.h"
+#include "module\shoot.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */

User/module/gimbal.c

@@ -21,13 +21,7 @@
  */
 
 /* Includes ----------------------------------------------------------------- */
-#include "gimbal.h"
-#include "bsp/can.h"
-#include "bsp/time.h"
-#include "component/filter.h"
-#include "component/pid.h"
-#include "device/motor_rm.h"
-#include "device/motor_dm.h"
+#include "module\gimbal.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */

User/module/gimbal.h

@@ -9,12 +9,15 @@ extern "C" {
 #endif
 
 /* Includes ----------------------------------------------------------------- */
-#include "component/ahrs.h"
-#include "component/filter.h"
-#include "component/pid.h"
-#include "device/motor.h"
-#include "device/motor_dm.h"
-#include "device/motor_rm.h"
+
+#include "bsp\can.h"
+#include "bsp\time.h"
+#include "component\pid.h"
+#include "component\ahrs.h"
+#include "component\filter.h"
+#include "device\motor.h"
+#include "device\motor_rm.h"
+#include "device\motor_dm.h"
 /* Exported constants ------------------------------------------------------- */
 #define GIMBAL_OK (0)        /* 运行正常 */
 #define GIMBAL_ERR (-1)      /* 运行时发现了其他错误 */

User/module/remote_cmd.c

@@ -1,12 +1,5 @@
 #include "remote_cmd.h"
-#include <string.h>
-#include "bsp\uart.h"
-#include "component\crc16.h"
-#include "component\crc8.h"
-#include "component\user_math.h"
-#include "gimbal.h"
-#include "device\dr16.h"
-#include "shoot.h"
+
 
 int8_t Gimbal_Cmd( Gimbal_CMD_t *g_cmd, DR16_t *dr16) 
 {
@@ -51,7 +44,24 @@ int8_t Shoot_Cmd(Shoot_CMD_t *s_cmd,DR16_t *dr16)
 
 }
 
-
+int8_t Chassis_Cmd(Chassis_CMD_t *c_cmd,DR16_t *dr16) 
+{
+
+    switch (dr16->data.sw_r)
+    {
+    case DR16_SW_DOWN:
+				c_cmd->mode=CHASSIS_MODE_BREAK;
+        break;
+      case DR16_SW_MID:
+				c_cmd->mode=CHASSIS_MODE_FOLLOW_GIMBAL;
+        break;  
+     case DR16_SW_UP:
+				c_cmd->mode=CHASSIS_MODE_INDEPENDENT;
+				c_cmd->mode_rotor=ROTOR_MODE_CCW;		 
+        break;
+    }
+
+}
 
 
 

User/module/remote_cmd.h

@@ -9,13 +9,17 @@ extern "C" {
 #endif
 
 /* Includes ----------------------------------------------------------------- */
+#include <string.h>
 #include "component\user_math.h"
-#include "gimbal.h"
-#include "shoot.h"
-#include "dr16.h"
+#include "device\dr16.h"
+#include "module\shoot.h"
+#include "module\chassis.h"
+#include "module\gimbal.h"
+
+	
 int8_t Gimbal_Cmd(Gimbal_CMD_t *g_cmd,DR16_t *dr16) ;
 int8_t Shoot_Cmd(Shoot_CMD_t *s_cmd,DR16_t *dr16) ;	
-	
+int8_t Chassis_Cmd(Chassis_CMD_t *c_cmd,DR16_t *dr16);	
 	
 
 #ifdef __cplusplus

User/task/chassis_ctrl.c

@@ -6,7 +6,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "module/chassis.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +14,9 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+Chassis_t chassis;
+Chassis_CMD_t chassis_cmd;         // 控制命令
+Chassis_IMU_t chassis_imu;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */

User/task/init.c

@@ -5,12 +5,12 @@
 
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
-
 /* USER INCLUDE BEGIN */
 #include "gimbal.h"
 #include "ai.h"
 #include "shoot.h"
 #include "dr16.h"
+#include "module\chassis.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -47,11 +47,10 @@ void Task_Init(void *argument) {
    task_runtime.msgq.remote.dr16= osMessageQueueNew(2u, sizeof(DR16_t), NULL);
 	task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
   task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
-
-	task_runtime.msgq.ai.imu= osMessageQueueNew(2u, sizeof(Gimbal_Direction_t), NULL);
 	task_runtime.msgq.ai.motor= osMessageQueueNew(2u, sizeof(Gimbal_Feedback_t), NULL);	
-	task_runtime.msgq.ai.g_cmd= osMessageQueueNew(2u, sizeof(AI_cmd_t), NULL);	
 	task_runtime.msgq.shoot.cmd= osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
+	task_runtime.msgq.chassis.cmd= osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
+	task_runtime.msgq.ai.g_cmd= osMessageQueueNew(2u, sizeof(AI_cmd_t), NULL);	
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/remote.c

@@ -8,6 +8,7 @@
 /* USER INCLUDE BEGIN */
 #include "module/gimbal.h"
 #include "module/shoot.h"
+#include "module/chassis.h"
 #include "module/remote_cmd.h"
 #include "device/dr16.h"
 /* USER INCLUDE END */
@@ -19,6 +20,7 @@
 /* USER STRUCT BEGIN */
 Gimbal_CMD_t g_rc_cmd;
 Shoot_CMD_t s_rc_cmd;
+Chassis_CMD_t c_rc_cmd;
 DR16_t remote_dr16;
 /* USER STRUCT END */
 
@@ -45,6 +47,7 @@ void Task_remote(void *argument) {
 		if(osMessageQueueGet(task_runtime.msgq.remote.dr16, &remote_dr16, NULL, 0)==osOK);				
 		Gimbal_Cmd(&g_rc_cmd,&remote_dr16);
 		Shoot_Cmd(&s_rc_cmd,&remote_dr16); 
+		Chassis_Cmd(&c_rc_cmd,&remote_dr16);
 		osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
     osMessageQueuePut(task_runtime.msgq.gimbal.cmd,&g_rc_cmd, 0, 0);				
 		osMessageQueueReset(task_runtime.msgq.shoot.cmd);

User/task/user_task.h

@@ -51,14 +51,18 @@ typedef struct {
     /* USER MESSAGE BEGIN */
     struct {
         osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
-							struct {
+				struct {
             osMessageQueueId_t cmd; /* 发射命令队列 */
         }shoot;
         struct {
             osMessageQueueId_t imu;
             osMessageQueueId_t cmd;
-			osMessageQueueId_t remote;
+						osMessageQueueId_t remote;
         }gimbal;
+				struct {
+            osMessageQueueId_t cmd;
+						osMessageQueueId_t remote;
+        }chassis;
 				 struct {
             osMessageQueueId_t imu;
             osMessageQueueId_t g_cmd;