添加底盘
This commit is contained in:
parent
9f712e74ab
commit
77adf22552
File diff suppressed because one or more lines are too long
@ -210,6 +210,11 @@
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<WinNumber>1</WinNumber>
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<ItemText>shoot</ItemText>
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</Ww>
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<Ww>
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<count>11</count>
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<WinNumber>1</WinNumber>
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<ItemText>chassis_cmd</ItemText>
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</Ww>
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</WatchWindow1>
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<Tracepoint>
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<THDelay>0</THDelay>
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Binary file not shown.
@ -33,7 +33,30 @@ Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Infantry\i2c.o
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Note: source file '..\User\bsp\spi.c' - object file renamed from 'Infantry\spi.o' to 'Infantry\spi_1.o'.
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Note: source file '..\User\task\dr16.c' - object file renamed from 'Infantry\dr16.o' to 'Infantry\dr16_1.o'.
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Note: source file '..\User\task\ai.c' - object file renamed from 'Infantry\ai.o' to 'Infantry\ai_1.o'.
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"Infantry\Infantry.axf" - 0 Error(s), 0 Warning(s).
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../User/module/remote_cmd.c(7): warning: enumeration value 'DR16_SW_ERR' not handled in switch [-Wswitch]
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switch (dr16->data.sw_l)
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^
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../User/module/remote_cmd.c(24): warning: non-void function does not return a value [-Wreturn-type]
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}
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^
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../User/module/remote_cmd.c(29): warning: enumeration value 'DR16_SW_ERR' not handled in switch [-Wswitch]
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switch (dr16->data.sw_r)
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^
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../User/module/remote_cmd.c(45): warning: non-void function does not return a value [-Wreturn-type]
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}
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^
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../User/module/remote_cmd.c(50): warning: enumeration value 'DR16_SW_ERR' not handled in switch [-Wswitch]
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switch (dr16->data.sw_r)
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^
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../User/module/remote_cmd.c(66): warning: non-void function does not return a value [-Wreturn-type]
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}
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^
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6 warnings generated.
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compiling remote_cmd.c...
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linking...
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Program Size: Code=57448 RO-data=1680 RW-data=832 ZI-data=127608
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FromELF: creating hex file...
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"Infantry\Infantry.axf" - 0 Error(s), 6 Warning(s).
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<h2>Software Packages used:</h2>
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@ -57,7 +80,7 @@ Package Vendor: Keil
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* Component: ARM::CMSIS:CORE:5.4.0
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Include file: CMSIS\Core\Include\tz_context.h
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Build Time Elapsed: 00:00:01
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Build Time Elapsed: 00:00:03
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</pre>
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</body>
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</html>
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@ -139,7 +139,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
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I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
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I (..\User\task\user_task.h)(0x69605FF8)
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I (..\User\task\user_task.h)(0x6964C156)
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F (../Core/Src/can.c)(0x69606D5A)(-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)
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I (..\Core\Inc\can.h)(0x695F99C3)
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I (..\Core\Inc\main.h)(0x695F9AF0)
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@ -2125,8 +2125,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
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I (..\User\bsp\bsp.h)(0x69606C90)
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I (..\User\bsp\time.h)(0x69606C90)
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I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
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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)
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I (..\User\task\user_task.h)(0x69605FF8)
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F (..\User\task\init.c)(0x6964C179)(-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)
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I (..\User\task\user_task.h)(0x6964C156)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
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@ -2196,7 +2196,7 @@ I (..\User\device\dr16.h)(0x69606C91)
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I (..\User\module\chassis.h)(0x69605BA8)
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I (..\User\component\mixer.h)(0x69606C91)
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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)
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I (..\User\task\user_task.h)(0x69605FF8)
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I (..\User\task\user_task.h)(0x6964C156)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
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@ -2210,7 +2210,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB
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I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
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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)
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I (..\User\task\user_task.h)(0x69605FF8)
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I (..\User\task\user_task.h)(0x6964C156)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
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@ -2279,7 +2279,7 @@ I (..\User\device\motor_rm.h)(0x69606C91)
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I (..\User\device\motor_dm.h)(0x69606C91)
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I (..\User\device\ist8310.h)(0x69606C91)
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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)
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I (..\User\task\user_task.h)(0x69605FF8)
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I (..\User\task\user_task.h)(0x6964C156)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
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@ -2349,8 +2349,8 @@ I (..\User\component\ahrs.h)(0x69606C91)
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I (..\User\module\gimbal.h)(0x696061CE)
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I (..\User\bsp\time.h)(0x69606C90)
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I (..\User\device\motor_dm.h)(0x69606C91)
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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)
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I (..\User\task\user_task.h)(0x69605FF8)
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F (..\User\task\gimbal_ctrl.c)(0x6964C1C1)(-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)
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I (..\User\task\user_task.h)(0x6964C156)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
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@ -2419,8 +2419,8 @@ I (..\User\module\config.h)(0x69605CCE)
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I (..\User\module\shoot.h)(0x69588E9B)
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I (..\User\module\chassis.h)(0x69605BA8)
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I (..\User\component\mixer.h)(0x69606C91)
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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)
|
||||
F (..\User\task\chassis_ctrl.c)(0x6964C156)(-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)(0x6964C156)
|
||||
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)
|
||||
@ -2483,8 +2483,13 @@ I (..\User\component\ahrs.h)(0x69606C91)
|
||||
I (..\User\device\motor_rm.h)(0x69606C91)
|
||||
I (..\User\device\motor.h)(0x69606C91)
|
||||
I (..\User\device\device.h)(0x69606C91)
|
||||
I (..\User\module\config.h)(0x69605CCE)
|
||||
I (..\User\module\gimbal.h)(0x696061CE)
|
||||
I (..\User\bsp\time.h)(0x69606C90)
|
||||
I (..\User\device\motor_dm.h)(0x69606C91)
|
||||
I (..\User\module\shoot.h)(0x69588E9B)
|
||||
F (..\User\task\shoot_ctrl.c)(0x69607F1C)(-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)(0x69605FF8)
|
||||
I (..\User\task\user_task.h)(0x6964C156)
|
||||
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)
|
||||
@ -2553,7 +2558,7 @@ I (..\User\device\motor_dm.h)(0x69606C91)
|
||||
I (..\User\module\chassis.h)(0x69605BA8)
|
||||
I (..\User\component\mixer.h)(0x69606C91)
|
||||
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 (..\User\task\user_task.h)(0x6964C156)
|
||||
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)
|
||||
@ -2618,8 +2623,8 @@ I (..\User\device\motor.h)(0x69606C91)
|
||||
I (..\User\device\device.h)(0x69606C91)
|
||||
I (..\User\device\motor_rm.h)(0x69606C91)
|
||||
I (..\User\device\motor_dm.h)(0x69606C91)
|
||||
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)
|
||||
F (..\User\task\remote.c)(0x6964A820)(-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)(0x6964C156)
|
||||
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)
|
||||
@ -2885,7 +2890,7 @@ I (..\User\device\motor.h)(0x69606C91)
|
||||
I (..\User\device\device.h)(0x69606C91)
|
||||
I (..\User\device\motor_rm.h)(0x69606C91)
|
||||
I (..\User\device\motor_dm.h)(0x69606C91)
|
||||
F (..\User\module\remote_cmd.c)(0x69607575)(-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)
|
||||
F (..\User\module\remote_cmd.c)(0x6964C1FB)(-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)(0x69606C91)
|
||||
|
||||
Binary file not shown.
@ -55,4 +55,8 @@ infantry/chassis_ctrl.o: ..\User\task\chassis_ctrl.c \
|
||||
..\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
|
||||
..\User\device\device.h ..\User\device\motor.h ..\User\module\config.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 ..\User\module\shoot.h ..\Core\Inc\main.h \
|
||||
..\User\component\pid.h
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -54,10 +54,12 @@ int8_t Chassis_Cmd(Chassis_CMD_t *c_cmd,DR16_t *dr16)
|
||||
break;
|
||||
case DR16_SW_MID:
|
||||
c_cmd->mode=CHASSIS_MODE_FOLLOW_GIMBAL;
|
||||
c_cmd->ctrl_vec.vx=dr16->data.ch_l_x*1000;
|
||||
c_cmd->ctrl_vec.vx=dr16->data.ch_l_y*1000;
|
||||
break;
|
||||
case DR16_SW_UP:
|
||||
c_cmd->mode=CHASSIS_MODE_INDEPENDENT;
|
||||
c_cmd->mode_rotor=ROTOR_MODE_CCW;
|
||||
// c_cmd->mode=CHASSIS_MODE_INDEPENDENT;
|
||||
// c_cmd->mode_rotor=ROTOR_MODE_CCW;
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
@ -7,6 +7,7 @@
|
||||
#include "task/user_task.h"
|
||||
/* USER INCLUDE BEGIN */
|
||||
#include "module/chassis.h"
|
||||
#include "module/config.h"
|
||||
/* USER INCLUDE END */
|
||||
|
||||
/* Private typedef ---------------------------------------------------------- */
|
||||
@ -17,6 +18,7 @@
|
||||
Chassis_t chassis;
|
||||
Chassis_CMD_t chassis_cmd; // 控制命令
|
||||
Chassis_IMU_t chassis_imu;
|
||||
static AHRS_Eulr_t mech_zero = {0}; // 机械零位（初始 yaw）
|
||||
/* USER STRUCT END */
|
||||
|
||||
/* Private function --------------------------------------------------------- */
|
||||
@ -32,13 +34,20 @@ void Task_chassis_ctrl(void *argument) {
|
||||
|
||||
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
||||
/* USER CODE INIT BEGIN */
|
||||
|
||||
/* === 初始化底盘 === */
|
||||
Config_RobotParam_t *cfg = Config_GetRobotParam();
|
||||
Chassis_Init(&chassis, &cfg->chassis_param, (float)CHASSIS_CTRL_FREQ);
|
||||
chassis.mech_zero=4.13f;
|
||||
/* USER CODE INIT END */
|
||||
|
||||
while (1) {
|
||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||
/* USER CODE BEGIN */
|
||||
|
||||
osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.encoder_gimbalYawMotor, NULL, 0);//从yaw电机反馈得到值
|
||||
osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0);//遥控器
|
||||
Chassis_UpdateFeedback(&chassis);
|
||||
Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
|
||||
Chassis_Output(&chassis);
|
||||
/* USER CODE END */
|
||||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||
}
|
||||
|
||||
@ -71,7 +71,8 @@ void Task_gimbal_ctrl(void *argument) {
|
||||
osMessageQueuePut(task_runtime.msgq.ai.imu,&gimbal.direction, 0, 0);
|
||||
osMessageQueueReset(task_runtime.msgq.ai.motor);
|
||||
osMessageQueuePut(task_runtime.msgq.ai.motor,&gimbal.feedback, 0, 0);
|
||||
|
||||
osMessageQueueReset(task_runtime.msgq.chassis.yaw);
|
||||
osMessageQueuePut(task_runtime.msgq.chassis.yaw,&gimbal.feedback.motor.yaw, 0, 0);
|
||||
/* USER CODE END */
|
||||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||
}
|
||||
|
||||
@ -50,7 +50,9 @@ void Task_Init(void *argument) {
|
||||
task_runtime.msgq.ai.motor= osMessageQueueNew(2u, sizeof(Gimbal_Feedback_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.chassis.yaw= osMessageQueueNew(2u, sizeof(float), NULL);
|
||||
task_runtime.msgq.ai.g_cmd= osMessageQueueNew(2u, sizeof(AI_cmd_t), NULL);
|
||||
|
||||
/* USER MESSAGE END */
|
||||
|
||||
osKernelUnlock(); // 解锁内核
|
||||
|
||||
@ -52,6 +52,8 @@ void Task_remote(void *argument) {
|
||||
osMessageQueuePut(task_runtime.msgq.gimbal.cmd,&g_rc_cmd, 0, 0);
|
||||
osMessageQueueReset(task_runtime.msgq.shoot.cmd);
|
||||
osMessageQueuePut(task_runtime.msgq.shoot.cmd,&s_rc_cmd, 0, 0);
|
||||
osMessageQueueReset(task_runtime.msgq.chassis.cmd);
|
||||
osMessageQueuePut(task_runtime.msgq.chassis.cmd,&c_rc_cmd, 0, 0);
|
||||
/* USER CODE END */
|
||||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||
}
|
||||
|
||||
@ -62,6 +62,7 @@ typedef struct {
|
||||
struct {
|
||||
osMessageQueueId_t cmd;
|
||||
osMessageQueueId_t remote;
|
||||
osMessageQueueId_t yaw;
|
||||
}chassis;
|
||||
struct {
|
||||
osMessageQueueId_t imu;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user