添加超电功率控制

MDK-ARM/referee.uvoptx

@@ -117,6 +117,11 @@
         <pMon>Segger\JL2CM3.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
@@ -190,6 +195,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>vt13</ItemText>
         </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>hhh,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -1244,6 +1254,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>..\User\module\cap.c</PathWithFileName>
+      <FilenameWithoutPath>cap.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>9</GroupNumber>
+      <FileNumber>79</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>..\User\module\chassis.c</PathWithFileName>
       <FilenameWithoutPath>chassis.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -1251,7 +1273,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>79</FileNumber>
+      <FileNumber>80</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1263,7 +1285,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>80</FileNumber>
+      <FileNumber>81</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1275,7 +1297,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>81</FileNumber>
+      <FileNumber>82</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1295,7 +1317,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>82</FileNumber>
+      <FileNumber>83</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1307,7 +1329,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>83</FileNumber>
+      <FileNumber>84</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1319,7 +1341,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>84</FileNumber>
+      <FileNumber>85</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1331,7 +1353,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>85</FileNumber>
+      <FileNumber>86</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1351,7 +1373,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>86</FileNumber>
+      <FileNumber>87</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1363,7 +1385,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>87</FileNumber>
+      <FileNumber>88</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1375,7 +1397,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>88</FileNumber>
+      <FileNumber>89</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1387,7 +1409,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>89</FileNumber>
+      <FileNumber>90</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1399,7 +1421,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>90</FileNumber>
+      <FileNumber>91</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1411,7 +1433,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>91</FileNumber>
+      <FileNumber>92</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1423,7 +1445,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>92</FileNumber>
+      <FileNumber>93</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1435,7 +1457,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>93</FileNumber>
+      <FileNumber>94</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1447,7 +1469,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>94</FileNumber>
+      <FileNumber>95</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1459,7 +1481,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>95</FileNumber>
+      <FileNumber>96</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1471,7 +1493,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>96</FileNumber>
+      <FileNumber>97</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1483,7 +1505,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>97</FileNumber>
+      <FileNumber>98</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1495,7 +1517,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>98</FileNumber>
+      <FileNumber>99</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1507,7 +1529,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>99</FileNumber>
+      <FileNumber>100</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

MDK-ARM/referee.uvprojx

@@ -962,6 +962,11 @@
         <Group>
           <GroupName>module</GroupName>
           <Files>
+            <File>
+              <FileName>cap.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\module\cap.c</FilePath>
+            </File>
             <File>
               <FileName>chassis.c</FileName>
               <FileType>1</FileType>

MDK-ARM/referee/cap.d

@@ -0,0 +1,69 @@
+referee/cap.o: ..\User\module\cap.c ..\User\module\cap.h \
+  ..\User\device\supercap.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 \
+  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 \
+  ..\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\include\FreeRTOS.h \
+  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+  ..\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\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\device\device.h ..\User\device\referee.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\component\ui.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 \
+  ..\User\component\user_math.h ..\User\module\shoot.h \
+  ..\Core\Inc\main.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 ..\User\module\cmd\cmd.h \
+  ..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
+  ..\User\module\cmd\cmd_types.h ..\User\device\ET16s.h \
+  ..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
+  ..\User\module\struct_typedef.h ..\User\component\filter.h \
+  ..\User\component\ahrs.h ..\User\device\bmi088.h \
+  ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
+  ..\User\module\shoot.h ..\User\module\cmd\cmd.h \
+  ..\User\component\capacity.h ..\User\component\limiter.h

MDK-ARM/referee/referee.build_log.htm

@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\yunha\git\RM\referee\MDK-ARM\referee.uvprojx
-Project File Date:  03/11/2026
+Project File Date:  03/12/2026
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -37,18 +37,7 @@ Note: source file '..\User\task\et16s.c' - object file renamed from 'referee\et1
 Note: source file '..\User\task\referee.c' - object file renamed from 'referee\referee.o' to 'referee\referee_1.o'.
 Note: source file '..\User\task\vofa.c' - object file renamed from 'referee\vofa.o' to 'referee\vofa_1.o'.
 Note: source file '..\User\task\vt13.c' - object file renamed from 'referee\vt13.o' to 'referee\vt13_1.o'.
-../User/task/chassis_ctrl.c(48): warning: if statement has empty body [-Wempty-body]
+"referee\referee.axf" - 0 Error(s), 0 Warning(s).
-    if(osMessageQueueGet(task_runtime.msgq.chassis.cmd, &cmd_chassis, NULL, 0)==osOK);
-                                                                                     ^
-../User/task/chassis_ctrl.c(48): note: put the semicolon on a separate line to silence this warning
-../User/task/chassis_ctrl.c(55): warning: implicit declaration of function 'Chassis_DumpUI' is invalid in C99 [-Wimplicit-function-declaration]
-                        Chassis_DumpUI(&chassis, &chassis_ui);
-                        ^
-2 warnings generated.
-compiling chassis_ctrl.c...
-linking...
-Program Size: Code=74504 RO-data=2700 RW-data=1172 ZI-data=122660  
-"referee\referee.axf" - 0 Error(s), 2 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -72,7 +61,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>

MDK-ARM/referee/referee.lnp

@@ -76,6 +76,7 @@
 "referee\supercap.o"
 "referee\vofa.o"
 "referee\referee.o"
+"referee\cap.o"
 "referee\chassis.o"
 "referee\config.o"
 "referee\gimbal.o"

MDK-ARM/referee/referee_referee.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)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 F (../Core/Src/can.c)(0x69A8F5AB)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/can.o -MD)
 I (..\Core\Inc\can.h)(0x69A8F5AB)
 I (..\Core\Inc\main.h)(0x69A8FD2A)
@@ -2189,7 +2189,7 @@ I (..\User\bsp\time.h)(0x69B1145E)
 I (..\User\component\user_math.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-F (..\User\device\supercap.c)(0x69AAF7E5)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/supercap.o -MD)
+F (..\User\device\supercap.c)(0x69B2CA9B)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/supercap.o -MD)
 I (..\User\device\supercap.h)(0x69AAF37C)
 I (..\User\bsp\can.h)(0x69B1145E)
 I (..\Core\Inc\can.h)(0x69A8F5AB)
@@ -2243,7 +2243,7 @@ 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\device.h)(0x69B1145F)
-I (..\User\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (..\User\component\ui.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\component\user_math.h)(0x69B1145E)
@@ -2357,7 +2357,7 @@ I (..\User\component\user_math.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (..\User\component\crc8.h)(0x69B1145E)
-I (..\User\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (..\User\component\ui.h)(0x69B1145E)
 I (..\User\module\shoot.h)(0x69AD197D)
@@ -2391,6 +2391,86 @@ I (..\User\module\gimbal.h)(0x69AAED19)
 I (..\User\device\motor_dm.h)(0x69B1145F)
 I (..\User\module\config.h)(0x69AA85BC)
 I (..\User\device\supercap.h)(0x69AAF37C)
+F (..\User\module\cap.c)(0x69B2CA5F)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/cap.o -MD)
+I (..\User\module\cap.h)(0x69B2CA5F)
+I (..\User\device\supercap.h)(0x69AAF37C)
+I (..\User\bsp\can.h)(0x69B1145E)
+I (..\Core\Inc\can.h)(0x69A8F5AB)
+I (..\Core\Inc\main.h)(0x69A8FD2A)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
+I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x69A8FAF9)
+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 (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)
+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)(0x69B1145E)
+I (..\User\bsp\mm.h)(0x69B1145E)
+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)(0x69A907C2)
+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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (..\User\device\device.h)(0x69B1145F)
+I (..\User\device\referee.h)(0x69B2CA89)
+I (..\User\component\ui.h)(0x69B1145E)
+I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
+I (..\User\component\user_math.h)(0x69B1145E)
+I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (..\User\module\shoot.h)(0x69AD197D)
+I (..\User\component\pid.h)(0x69B1145F)
+I (..\User\component\filter.h)(0x69B1145E)
+I (..\User\device\motor_rm.h)(0x69B1145F)
+I (..\User\device\motor.h)(0x69B1145F)
+I (..\User\module\cmd\cmd.h)(0x69A9A17D)
+I (..\User\module\cmd\cmd_types.h)(0x69710063)
+I (..\User\module\cmd\cmd_adapter.h)(0x69A99C4E)
+I (..\User\device\ET16s.h)(0x69735766)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
+I (..\User\module\chassis.h)(0x69A92EFD)
+I (..\User\module\struct_typedef.h)(0x68DBD148)
+I (..\User\component\ahrs.h)(0x69B1145E)
+I (..\User\device\bmi088.h)(0x69B1145F)
+I (..\User\module\gimbal.h)(0x69AAED19)
+I (..\User\device\motor_dm.h)(0x69B1145F)
+I (..\User\module\config.h)(0x69AA85BC)
+I (..\User\component\capacity.h)(0x69B1145E)
+I (..\User\component\limiter.h)(0x69B1145E)
 F (..\User\module\chassis.c)(0x69B183A2)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/chassis.o -MD)
 I (..\User\module\chassis.h)(0x69A92EFD)
 I (..\User\module\struct_typedef.h)(0x68DBD148)
@@ -2457,7 +2537,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
 I (..\User\bsp\time.h)(0x69B1145E)
-I (..\User\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (..\User\component\ui.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\module\shoot.h)(0x69AD197D)
@@ -2607,7 +2687,7 @@ 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)(0x69B1145F)
 I (..\User\bsp\time.h)(0x69B1145E)
-I (..\User\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (..\User\component\ui.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\module\shoot.h)(0x69AD197D)
@@ -2684,7 +2764,7 @@ 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)(0x69B1145E)
-I (..\User\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (..\User\component\ui.h)(0x69B1145E)
 I (..\User\module\cmd\cmd.h)(0x69A9A17D)
 I (..\User\module\cmd\cmd_types.h)(0x69710063)
@@ -2929,7 +3009,7 @@ I (..\User\module\gimbal.h)(0x69AAED19)
 I (..\User\device\motor_dm.h)(0x69B1145F)
 I (..\User\module\shoot.h)(0x69AD197D)
 F (..\User\task\ai.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/ai.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -2943,7 +3023,7 @@ 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\atti_esti.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/atti_esti.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3011,7 +3091,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055
 I (..\User\device\motor_rm.h)(0x69B1145F)
 I (..\User\device\ist8310.h)(0x69B1145F)
 F (..\User\task\chassis_ctrl.c)(0x69B183BD)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/chassis_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3024,7 +3104,7 @@ 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\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\component\ui.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
@@ -3089,7 +3169,7 @@ I (..\User\device\motor_dm.h)(0x69B1145F)
 I (..\User\module\config.h)(0x69AA85BC)
 I (..\User\device\supercap.h)(0x69AAF37C)
 F (..\User\task\cmd.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/cmd_1.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3164,7 +3244,7 @@ I (..\User\module\cmd\cmd_types.h)(0x69710063)
 I (..\User\module\cmd\cmd_adapter.h)(0x69A99C4E)
 I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 F (..\User\task\dr16.c)(0x69B104BB)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/dr16_1.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3184,7 +3264,7 @@ 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)(0x69B1145F)
 F (..\User\task\et16s.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/et16s_1.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3198,7 +3278,7 @@ 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\gimbal_ctrl.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/gimbal_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3271,12 +3351,12 @@ I (..\User\module\cmd\cmd_types.h)(0x69710063)
 I (..\User\module\cmd\cmd_adapter.h)(0x69A99C4E)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
-I (..\User\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (..\User\component\ui.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\device\supercap.h)(0x69AAF37C)
-F (..\User\task\init.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/init.o -MD)
+F (..\User\task\init.c)(0x69B2CB58)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/init.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3345,7 +3425,7 @@ I (..\User\device\bmi088.h)(0x69B1145F)
 I (..\User\module\shoot.h)(0x69AD197D)
 I (..\User\device\dr16.h)(0x69B1145F)
 I (..\User\device\et16s.h)(0x69735766)
-I (..\User\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (..\User\component\ui.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\module\cmd\cmd.h)(0x69A9A17D)
@@ -3354,8 +3434,8 @@ I (..\User\module\cmd\cmd_adapter.h)(0x69A99C4E)
 I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 I (..\User\module\config.h)(0x69AA85BC)
 I (..\User\device\supercap.h)(0x69AAF37C)
-F (..\User\task\referee.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/referee_1.o -MD)
+F (..\User\task\referee.c)(0x69B1DF00)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/referee_1.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3368,7 +3448,7 @@ 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\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\component\ui.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
@@ -3433,7 +3513,7 @@ I (..\User\device\motor_dm.h)(0x69B1145F)
 I (..\User\module\config.h)(0x69AA85BC)
 I (..\User\device\supercap.h)(0x69AAF37C)
 F (..\User\task\shoot_ctrl.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/shoot_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3506,12 +3586,12 @@ I (..\User\module\cmd\cmd_types.h)(0x69710063)
 I (..\User\module\cmd\cmd_adapter.h)(0x69A99C4E)
 I (..\User\device\ET16s.h)(0x69735766)
 I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
-I (..\User\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (..\User\component\ui.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\device\supercap.h)(0x69AAF37C)
 F (..\User\task\user_task.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/user_task.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3525,7 +3605,7 @@ 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\vofa.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/vofa_1.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3538,8 +3618,8 @@ 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)
-F (..\User\task\super_cap.c)(0x69B10282)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/super_cap.o -MD)
+F (..\User\task\super_cap.c)(0x69B2CBD1)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/super_cap.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)
@@ -3593,7 +3673,7 @@ I (..\User\bsp\mm.h)(0x69B1145E)
 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\device\device.h)(0x69B1145F)
-I (..\User\device\referee.h)(0x69AAF638)
+I (..\User\device\referee.h)(0x69B2CA89)
 I (..\User\component\ui.h)(0x69B1145E)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\component\user_math.h)(0x69B1145E)
@@ -3616,8 +3696,9 @@ I (..\User\device\bmi088.h)(0x69B1145F)
 I (..\User\module\gimbal.h)(0x69AAED19)
 I (..\User\device\motor_dm.h)(0x69B1145F)
 I (..\User\module\config.h)(0x69AA85BC)
+I (..\User\module\cap.h)(0x69B2CA5F)
 F (..\User\task\vt13.c)(0x69B1035B)(-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 ../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 ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/module/cmd -I ../User/task

-I./RTE/_referee

-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 referee/vt13_1.o -MD)
-I (..\User\task\user_task.h)(0x69B10282)
+I (..\User\task\user_task.h)(0x69B2CB58)
 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)

MDK-ARM/referee/super_cap.d

@@ -66,4 +66,5 @@ referee/super_cap.o: ..\User\task\super_cap.c ..\User\task\user_task.h \
   ..\User\module\gimbal.h ..\User\device\motor_dm.h \
   ..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
   ..\User\module\shoot.h ..\User\module\cmd\cmd.h \
-  ..\User\device\supercap.h
+  ..\User\device\supercap.h ..\User\module\cap.h \
+  ..\User\device\referee.h

User/device/referee.h

@@ -604,7 +604,9 @@ typedef struct {
 
 typedef struct {
   float percentage;
-	SuperCapReadyEnum status;
+	SuperCapReadyEnum ready;//超电状态
+	SuperCapStateEnum status;//超电是否可用
+	uint8_t online;//超电是否离线
 	// CAN_CapStatus_t status;
 } Referee_CapUI_t;
 

User/device/supercap.c

@@ -179,8 +179,5 @@ int8_t PowerLimit_Output(float power_limit, float *motor_out, uint32_t len)
 
   return 0;
 }
-/*  */
+
-void Cap_DumpUI(Referee_CapUI_t *ui) {
+
-  ui->percentage = CAN_SuperCapRXData.SuperCapEnergy;
-  ui->status = 	CAN_SuperCapRXData.SuperCapReady;
-}

User/module/cap.c

@@ -0,0 +1,51 @@
+/*
+ * 电容模组
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "cap.h"
+
+#include "component\capacity.h"
+#include "component\limiter.h"
+#include "device\referee.h"
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+#define CAP_CUTOFF_VOLT 12.0f
+
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+
+/**
+ * @brief 运行电容控制逻辑
+ *
+ * @param cap 电容数据结构体
+ * @param referee 裁判系统数据
+ * @param cap_out 电容输出结构体
+ */
+void Cap_Control(CAN_SuperCapRXDataTypeDef *cap, const Referee_ForCap_t *referee,
+                 float *power_limit) {
+  if (referee->ref_status != REF_STATUS_RUNNING) {
+    /* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */
+    * power_limit = referee->chassis_power_limit;
+  } else {
+    /* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */
+    * power_limit =
+        PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
+                            referee->chassis_pwr_buff);
+  }
+}
+
+/**
+ * @brief 导出电容数据
+ *
+ * @param cap 电容数据
+ * @param ui 结构体
+ */
+void Cap_DumpUI(CAN_SuperCapRXDataTypeDef *cap, Referee_CapUI_t *ui) {
+  ui->percentage = cap->SuperCapEnergy;
+  ui->status = cap->SuperCapState;
+	ui->ready = cap->SuperCapReady;
+	ui->online = get_supercap_online_state();
+}

User/module/cap.h

@@ -0,0 +1,40 @@
+/*
+ * 电容模组
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device\supercap.h"
+#include "device\referee.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 运行电容控制逻辑
+ *
+ * @param cap 电容数据结构体
+ * @param referee 裁判系统数据
+ * @param cap_out 电容输出结构体
+ */
+void Cap_Control(CAN_SuperCapRXDataTypeDef *cap, const Referee_ForCap_t *referee,
+                 float *power_limit);
+
+/**
+ * @brief 导出电容数据
+ *
+ * @param cap 电容数据
+ * @param ui 结构体
+ */
+void Cap_DumpUI(CAN_SuperCapRXDataTypeDef *cap, Referee_CapUI_t *ui);
+
+#ifdef __cplusplus
+}
+#endif

User/task/init.c

@@ -73,6 +73,10 @@ void Task_Init(void *argument) {
   task_runtime.msgq.ui.gimbal =osMessageQueueNew(2u, sizeof(Referee_GimbalUI_t), NULL);
   task_runtime.msgq.ui.shoot =osMessageQueueNew(2u, sizeof(Referee_ShootUI_t), NULL);
   task_runtime.msgq.ui.cmd = osMessageQueueNew(2u, sizeof(bool), NULL);
+	/*超电*/
+	task_runtime.msgq.cap.for_chassis = osMessageQueueNew(2u, sizeof(CAN_SuperCapRXDataTypeDef), NULL);
+	task_runtime.msgq.cap.power_limit = osMessageQueueNew(2u, sizeof(float), NULL);	
+	
 	/*  */
   /* USER MESSAGE END */
 

User/task/referee.c

@@ -21,7 +21,7 @@ Referee_ForCap_t for_cap;
 Referee_ForAI_t for_ai;
 Referee_ForChassis_t for_chassis;
 Referee_ForShoot_t for_shoot;
-uint8_t send_data[6]={1,2,3,4};
+int hhh;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -50,9 +50,10 @@ void Task_referee(void *argument) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
     Referee_StartReceiving(&ref);
+		if(ref.ref_status==0){hhh++;}
     if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) !=
         SIGNAL_REFEREE_RAW_REDY) {
-      if (osKernelGetTickCount() - last_online_tick > 500)
+      if (osKernelGetTickCount() - last_online_tick > 3000)
         Referee_HandleOffline(&ref);
     } else {
       Referee_Parse(&ref);

User/task/super_cap.c

@@ -8,6 +8,7 @@
 /* USER INCLUDE BEGIN */
 #include "device/supercap.h"
 #include "device/referee.h"
+#include "module/cap.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -15,6 +16,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
+float power_limit;
 CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
 Referee_ForCap_t referee_cap;
 Referee_CapUI_t cap_ui;
@@ -49,8 +51,18 @@ void Task_super_cap(void *argument) {
 			osMessageQueueGet(task_runtime.msgq.referee.cap, &SuperCap_CanTX.Powerlimit , NULL, 0);		
       SuperCap_Update();
       CAN_TX_SuperCapData(&SuperCap_CanTX);
+		 /* 锁住RTOS内核防止控制过程中断，造成错误 */
+			osKernelLock();
+      /* 根据裁判系统数据计算输出功率 */
+      Cap_Control(&CAN_SuperCapRXData, &referee_cap, &power_limit);
+      osKernelUnlock();		
+		
+      osMessageQueueReset(task_runtime.msgq.cap.for_chassis);
+      osMessageQueuePut(task_runtime.msgq.cap.for_chassis, &CAN_SuperCapRXData, 0, 0);
+			osMessageQueueReset(task_runtime.msgq.cap.power_limit);
+      osMessageQueuePut(task_runtime.msgq.cap.power_limit, &power_limit, 0, 0);		
 			/* 超电UI */
-			Cap_DumpUI(&cap_ui);
+			Cap_DumpUI(&CAN_SuperCapRXData,&cap_ui);
       osMessageQueueReset(task_runtime.msgq.ui.cap);
       osMessageQueuePut(task_runtime.msgq.ui.cap, &cap_ui, 0, 0);		
 		

User/task/user_task.h

@@ -105,6 +105,10 @@ typedef struct {
 						osMessageQueueId_t referee;
 
         }cmd;							
+        struct {
+						osMessageQueueId_t for_chassis;
+						osMessageQueueId_t power_limit;
+        }cap;								
     } msgq;
     /* USER MESSAGE END */
 

referee.ioc

@@ -93,6 +93,7 @@ Mcu.IP10=USART1
 Mcu.IP11=USART2
 Mcu.IP12=USART3
 Mcu.IP13=USART6
+Mcu.IP14=USB_OTG_FS
 Mcu.IP2=DMA
 Mcu.IP3=FREERTOS
 Mcu.IP4=I2C1
@@ -101,7 +102,7 @@ Mcu.IP6=RCC
 Mcu.IP7=SPI1
 Mcu.IP8=SYS
 Mcu.IP9=TIM10
-Mcu.IPNb=14
+Mcu.IPNb=15
 Mcu.Name=STM32F407I(E-G)Hx
 Mcu.Package=UFBGA176
 Mcu.Pin0=PB8
@@ -110,38 +111,41 @@ Mcu.Pin10=PD6
 Mcu.Pin11=PD0
 Mcu.Pin12=PC11
 Mcu.Pin13=PC10
-Mcu.Pin14=PG9
+Mcu.Pin14=PA12
-Mcu.Pin15=PD5
+Mcu.Pin15=PG9
-Mcu.Pin16=PD1
+Mcu.Pin16=PD5
-Mcu.Pin17=PC14-OSC32_IN
+Mcu.Pin17=PD1
-Mcu.Pin18=PA9
+Mcu.Pin18=PA11
-Mcu.Pin19=PC15-OSC32_OUT
+Mcu.Pin19=PA10
 Mcu.Pin2=PG14
-Mcu.Pin20=PH0-OSC_IN
+Mcu.Pin20=PC14-OSC32_IN
-Mcu.Pin21=PH1-OSC_OUT
+Mcu.Pin21=PC15-OSC32_OUT
-Mcu.Pin22=PG6
+Mcu.Pin22=PH0-OSC_IN
-Mcu.Pin23=PF6
+Mcu.Pin23=PH1-OSC_OUT
-Mcu.Pin24=PH12
+Mcu.Pin24=PG6
-Mcu.Pin25=PG3
+Mcu.Pin25=PF6
-Mcu.Pin26=PH11
+Mcu.Pin26=PH12
-Mcu.Pin27=PH10
+Mcu.Pin27=PG3
-Mcu.Pin28=PA0-WKUP
+Mcu.Pin28=PH11
-Mcu.Pin29=PA4
+Mcu.Pin29=PH10
 Mcu.Pin3=PB4
-Mcu.Pin30=PC4
+Mcu.Pin30=PA0-WKUP
-Mcu.Pin31=PC5
+Mcu.Pin31=PA4
-Mcu.Pin32=PA7
+Mcu.Pin32=PC4
-Mcu.Pin33=PB0
+Mcu.Pin33=PC5
-Mcu.Pin34=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin34=PB12
-Mcu.Pin35=VP_SYS_VS_Systick
+Mcu.Pin35=PB13
-Mcu.Pin36=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin36=PB0
+Mcu.Pin37=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin38=VP_SYS_VS_Systick
+Mcu.Pin39=VP_TIM10_VS_ClockSourceINT
 Mcu.Pin4=PB3
 Mcu.Pin5=PA14
 Mcu.Pin6=PA13
 Mcu.Pin7=PB9
 Mcu.Pin8=PB7
 Mcu.Pin9=PB6
-Mcu.PinsNb=37
+Mcu.PinsNb=40
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407IGHx
@@ -183,6 +187,12 @@ PA0-WKUP.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
 PA0-WKUP.GPIO_PuPd=GPIO_PULLUP
 PA0-WKUP.Locked=true
 PA0-WKUP.Signal=GPXTI0
+PA10.Mode=OTG/Dual_Role_Device
+PA10.Signal=USB_OTG_FS_ID
+PA11.Mode=OTG/Dual_Role_Device
+PA11.Signal=USB_OTG_FS_DM
+PA12.Mode=OTG/Dual_Role_Device
+PA12.Signal=USB_OTG_FS_DP
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
@@ -194,10 +204,6 @@ PA4.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
 PA4.Locked=true
 PA4.PinState=GPIO_PIN_SET
 PA4.Signal=GPIO_Output
-PA7.Mode=Full_Duplex_Master
-PA7.Signal=SPI1_MOSI
-PA9.Mode=Asynchronous
-PA9.Signal=USART1_TX
 PB0.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
 PB0.GPIO_Label=GYRO_CS
 PB0.GPIO_PuPd=GPIO_PULLUP
@@ -205,14 +211,18 @@ PB0.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
 PB0.Locked=true
 PB0.PinState=GPIO_PIN_SET
 PB0.Signal=GPIO_Output
+PB12.Mode=CAN_Activate
+PB12.Signal=CAN2_RX
+PB13.Mode=CAN_Activate
+PB13.Signal=CAN2_TX
 PB3.Mode=Full_Duplex_Master
 PB3.Signal=SPI1_SCK
 PB4.Mode=Full_Duplex_Master
 PB4.Signal=SPI1_MISO
-PB5.Mode=CAN_Activate
+PB5.Mode=Full_Duplex_Master
-PB5.Signal=CAN2_RX
+PB5.Signal=SPI1_MOSI
-PB6.Mode=CAN_Activate
+PB6.Mode=Asynchronous
-PB6.Signal=CAN2_TX
+PB6.Signal=USART1_TX
 PB7.Mode=Asynchronous
 PB7.Signal=USART1_RX
 PB8.Mode=I2C
@@ -266,9 +276,6 @@ PG3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
 PG3.GPIO_PuPd=GPIO_PULLUP
 PG3.Locked=true
 PG3.Signal=GPXTI3
-PG6.GPIOParameters=GPIO_PuPd,GPIO_Label
-PG6.GPIO_Label=CMPS_RST
-PG6.GPIO_PuPd=GPIO_PULLUP
 PG6.Locked=true
 PG6.Signal=GPIO_Output
 PG9.Mode=Asynchronous