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添加超电功率控制

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yunhai8432 2026-03-12 22:22:14 +08:00
parent bae163b541
commit 4054618719
33 changed files with 12781 additions and 107328 deletions
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110636
MDK-ARM/JLinkLog.txt
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161
MDK-ARM/referee.uvguix.yunha
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64
MDK-ARM/referee.uvoptx
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@ -117,6 +117,11 @@
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@ -1244,6 +1254,18 @@
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5
MDK-ARM/referee.uvprojx
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@ -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>

69
MDK-ARM/referee/cap.d Normal file
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@ -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

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MDK-ARM/referee/cap.o Normal file
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MDK-ARM/referee/chassis_ctrl.o
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MDK-ARM/referee/gimbal.o
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MDK-ARM/referee/gimbal_ctrl.o
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MDK-ARM/referee/init.o
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MDK-ARM/referee/referee.axf
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17
MDK-ARM/referee/referee.build_log.htm
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@ -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]
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).
"referee\referee.axf" - 0 Error(s), 0 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>

4062
MDK-ARM/referee/referee.htm
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1
MDK-ARM/referee/referee.lnp
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@ -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"

4740
MDK-ARM/referee/referee.map
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MDK-ARM/referee/referee.o
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MDK-ARM/referee/referee_1.o
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141
MDK-ARM/referee/referee_referee.dep
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@ -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)
I (..\User\task\user_task.h)(0x69B10282)
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)(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)
I (..\User\task\user_task.h)(0x69B10282)
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)(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)
I (..\User\task\user_task.h)(0x69B10282)
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)(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)

BIN
MDK-ARM/referee/shoot.o
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BIN
MDK-ARM/referee/shoot_ctrl.o
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3
MDK-ARM/referee/super_cap.d
View File

@ -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

BIN
MDK-ARM/referee/super_cap.o
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Binary file not shown.

BIN
MDK-ARM/referee/supercap.o
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BIN
MDK-ARM/referee/user_task.o
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Binary file not shown.

4
User/device/referee.h
View File

@ -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;

7
User/device/supercap.c
View File

@ -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;
}

51
User/module/cap.c Normal file
View File

@ -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();
}

40
User/module/cap.h Normal file
View File

@ -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

4
User/task/init.c
View File

@ -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 */

5
User/task/referee.c
View File

@ -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);

14
User/task/super_cap.c
View File

@ -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);

6
User/task/user_task.h
View File

@ -104,7 +104,11 @@ typedef struct {
struct {
osMessageQueueId_t referee;
}cmd;
}cmd;
struct {
osMessageQueueId_t for_chassis;
osMessageQueueId_t power_limit;
}cap;
} msgq;
/* USER MESSAGE END */

79
referee.ioc
View File

@ -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.Pin15=PD5
Mcu.Pin16=PD1
Mcu.Pin17=PC14-OSC32_IN
Mcu.Pin18=PA9
Mcu.Pin19=PC15-OSC32_OUT
Mcu.Pin14=PA12
Mcu.Pin15=PG9
Mcu.Pin16=PD5
Mcu.Pin17=PD1
Mcu.Pin18=PA11
Mcu.Pin19=PA10
Mcu.Pin2=PG14
Mcu.Pin20=PH0-OSC_IN
Mcu.Pin21=PH1-OSC_OUT
Mcu.Pin22=PG6
Mcu.Pin23=PF6
Mcu.Pin24=PH12
Mcu.Pin25=PG3
Mcu.Pin26=PH11
Mcu.Pin27=PH10
Mcu.Pin28=PA0-WKUP
Mcu.Pin29=PA4
Mcu.Pin20=PC14-OSC32_IN
Mcu.Pin21=PC15-OSC32_OUT
Mcu.Pin22=PH0-OSC_IN
Mcu.Pin23=PH1-OSC_OUT
Mcu.Pin24=PG6
Mcu.Pin25=PF6
Mcu.Pin26=PH12
Mcu.Pin27=PG3
Mcu.Pin28=PH11
Mcu.Pin29=PH10
Mcu.Pin3=PB4
Mcu.Pin30=PC4
Mcu.Pin31=PC5
Mcu.Pin32=PA7
Mcu.Pin33=PB0
Mcu.Pin34=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin35=VP_SYS_VS_Systick
Mcu.Pin36=VP_TIM10_VS_ClockSourceINT
Mcu.Pin30=PA0-WKUP
Mcu.Pin31=PA4
Mcu.Pin32=PC4
Mcu.Pin33=PC5
Mcu.Pin34=PB12
Mcu.Pin35=PB13
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.Signal=CAN2_RX
PB6.Mode=CAN_Activate
PB6.Signal=CAN2_TX
PB5.Mode=Full_Duplex_Master
PB5.Signal=SPI1_MOSI
PB6.Mode=Asynchronous
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