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yunhai8432 2026-03-06 21:56:45 +08:00
parent a560fb9cb4
commit 84729977be
48 changed files with 565458 additions and 150307 deletions
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436
MDK-ARM/.vscode/c_cpp_properties.json vendored Normal file
View File

@ -0,0 +1,436 @@
{
"configurations": [
{
"name": "referee",
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],
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"__llvm__=1"
],
"intelliSenseMode": "${default}"
}
],
"version": 4
}

12
MDK-ARM/.vscode/keil-assistant.log vendored Normal file
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[info] Log at : 2026/3/5|23:11:50|GMT+0800
[info] Log at : 2026/3/5|23:18:36|GMT+0800
[info] Log at : 2026/3/5|23:19:09|GMT+0800
[info] Log at : 2026/3/5|23:21:16|GMT+0800
[info] Log at : 2026/3/5|23:21:26|GMT+0800
[info] Log at : 2026/3/5|23:23:22|GMT+0800

18
MDK-ARM/.vscode/uv4.log vendored Normal file
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*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
Build target 'referee'
Note: source file '..\User\bsp\can.c' - object file renamed from 'referee\can.o' to 'referee\can_1.o'.Note: source file '..\User\bsp\gpio.c' - object file renamed from 'referee\gpio.o' to 'referee\gpio_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'referee\spi.o' to 'referee\spi_1.o'.Note: source file '..\User\bsp\i2c.c' - object file renamed from 'referee\i2c.o' to 'referee\i2c_1.o'.Note: source file '..\User\task\dr16.c' - object file renamed from 'referee\dr16.o' to 'referee\dr16_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\et16s.c' - object file renamed from 'referee\et16s.o' to 'referee\et16s_1.o'.Note: source file '..\User\task\referee.c' - object file renamed from 'referee\referee.o' to 'referee\referee_1.o'.Note: source file '..\User\task\cmd.c' - object file renamed from 'referee\cmd.o' to 'referee\cmd_1.o'.Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'referee\cmd.o' to 'referee\cmd_1.o'.compiling cmd_adapter.c...
../User/module/cmd/cmd.c(118): warning: implicit conversion from enumeration type 'CHASSIS_ATTITUDE_MODE_t' to different enumeration type 'Chassis_Mode_t' [-Wenum-conversion]
ctx->output.chassis.cmd.mode = STOP_MODE;
~ ^~~~~~~~~
1 warning generated.
compiling cmd.c...
linking...
referee\referee.axf: Warning: L6304W: Duplicate input file referee\cmd_1.o ignored.
referee\referee.axf: Error: L6218E: Undefined symbol Task_cmd (referred from init.o).
referee\referee.axf: Error: L6218E: Undefined symbol cmd_et16s (referred from cmd_adapter.o).
Not enough information to list image symbols.
Not enough information to list load addresses in the image map.
Finished: 2 information, 1 warning and 2 error messages.
"referee\referee.axf" - 2 Error(s), 2 Warning(s).
Target not created.
Build Time Elapsed: 00:00:02

1
MDK-ARM/.vscode/uv4.log.lock vendored Normal file
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@ -0,0 +1 @@
2026/3/5 23:23:34

704731
MDK-ARM/JLinkLog.txt
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103
MDK-ARM/referee.uvguix.yunha
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File diff suppressed because one or more lines are too long

135
MDK-ARM/referee.uvoptx
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@ -120,7 +120,6 @@
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@ -165,6 +164,26 @@
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<WinNumber>1</WinNumber>
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<Ww>
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<WinNumber>1</WinNumber>
<ItemText>cmd_id</ItemText>
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</WatchWindow1>
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@ -776,7 +795,7 @@
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@ -1219,8 +1238,8 @@
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@ -1231,59 +1250,59 @@
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@ -1291,8 +1310,8 @@
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<FilenameWithoutPath>referee.c</FilenameWithoutPath>
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@ -1303,8 +1322,8 @@
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@ -1327,8 +1346,8 @@
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58
MDK-ARM/referee.uvprojx
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@ -963,54 +963,54 @@
<FilePath>..\User\task\atti_esti.c</FilePath>
</File>
<File>
<FileName>dr16.c</FileName>
<FileName>chassis_ctrl.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\dr16.c</FilePath>
</File>
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<FileName>vofa.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\vofa.c</FilePath>
</File>
<File>
<FileName>et16s.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\et16s.c</FilePath>
</File>
<File>
<FileName>referee.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\referee.c</FilePath>
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<File>
<FileName>gimbal_ctrl.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\gimbal_ctrl.c</FilePath>
<FilePath>..\User\task\chassis_ctrl.c</FilePath>
</File>
<File>
<FileName>cmd.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\cmd.c</FilePath>
</File>
<File>
<FileName>dr16.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\dr16.c</FilePath>
</File>
<File>
<FileName>gimbal_ctrl.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\gimbal_ctrl.c</FilePath>
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<FilePath>..\User\task\et16s.c</FilePath>
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</Group>

69
MDK-ARM/referee/cmd.d
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@ -1,8 +1,65 @@
referee/cmd.o: ..\User\component\cmd.c ..\User\component\cmd.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
referee/cmd.o: ..\User\task\cmd.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
..\User\component\ahrs.h ..\User\component\user_math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.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 \
..\User\device\ET16s.h ..\User\device\device.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\device\dr16.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\device\device.h \
..\User\module\config.h ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\component\user_math.h \
..\User\component\filter.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\device\motor.h \
..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
..\User\module\shoot.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\module\cmd\cmd_behavior.h \
..\User\module\gimbal.h

BIN
MDK-ARM/referee/cmd.o
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4
MDK-ARM/referee/cmd_1.d
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@ -2,8 +2,8 @@ referee/cmd_1.o: ..\User\module\cmd\cmd.c ..\User\module\cmd\cmd.h \
..\User\module\cmd\cmd_types.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
..\User\device\device.h \
..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_types.h \
..\User\device\ET16s.h ..\User\device\device.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \

BIN
MDK-ARM/referee/cmd_1.o
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10
MDK-ARM/referee/cmd_behavior.d
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@ -2,12 +2,14 @@ referee/cmd_behavior.o: ..\User\module\cmd\cmd_behavior.c \
..\User\module\cmd\cmd_behavior.h ..\User\module\cmd\cmd_types.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_adapter.h \
..\User\device\ET16s.h ..\User\device\device.h \
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
..\User\device\device.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\User\module\chassis.h ..\User\module\struct_typedef.h \
..\User\component\filter.h ..\User\component\user_math.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\component\filter.h \
..\User\component\user_math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\component\ahrs.h \

BIN
MDK-ARM/referee/cmd_behavior.o
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4
MDK-ARM/referee/cmd_example.d
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@ -2,8 +2,8 @@ referee/cmd_example.o: ..\User\module\cmd\cmd_example.c \
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
..\User\device\device.h \
..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_types.h \
..\User\device\ET16s.h ..\User\device\device.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \

7
MDK-ARM/referee/config.d
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@ -57,9 +57,10 @@ referee/config.o: ..\User\module\config.c ..\User\component\user_math.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
..\User\component\user_math.h ..\User\module\cmd\cmd.h \
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
..\User\component\user_math.h ..\User\module\shoot.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 \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
..\User\module\shoot.h ..\User\module\chassis.h
..\User\module\chassis.h

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MDK-ARM/referee/config.o
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7
MDK-ARM/referee/init.d
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@ -62,9 +62,10 @@ referee/init.o: ..\User\task\init.c ..\User\task\user_task.h \
..\User\device\device.h ..\User\device\et16s.h \
..\User\device\referee.h ..\User\component\ui.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\component\user_math.h ..\User\device\device.h \
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
..\User\component\user_math.h ..\User\module\shoot.h \
..\User\device\device.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\config.h \
..\User\module\gimbal.h ..\User\module\shoot.h \
..\User\module\cmd\cmd.h

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MDK-ARM/referee/init.o
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MDK-ARM/referee/referee.axf Normal file
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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: 03/05/2026
Project File Date: 03/06/2026
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@ -32,19 +32,11 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'referee\gpio.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'referee\spi.o' to 'referee\spi_1.o'.
Note: source file '..\User\bsp\i2c.c' - object file renamed from 'referee\i2c.o' to 'referee\i2c_1.o'.
Note: source file '..\User\task\dr16.c' - object file renamed from 'referee\dr16.o' to 'referee\dr16_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\et16s.c' - object file renamed from 'referee\et16s.o' to 'referee\et16s_1.o'.
Note: source file '..\User\task\referee.c' - object file renamed from 'referee\referee.o' to 'referee\referee_1.o'.
Note: source file '..\User\task\cmd.c' - object file renamed from 'referee\cmd.o' to 'referee\cmd_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\module\cmd\cmd.c' - object file renamed from 'referee\cmd.o' to 'referee\cmd_1.o'.
linking...
referee\referee.axf: Warning: L6304W: Duplicate input file referee\cmd_1.o ignored.
referee\referee.axf: Error: L6218E: Undefined symbol Task_cmd (referred from init.o).
referee\referee.axf: Error: L6218E: Undefined symbol cmd_et16s (referred from cmd_adapter.o).
Not enough information to list image symbols.
Not enough information to list load addresses in the image map.
Finished: 2 information, 1 warning and 2 error messages.
"referee\referee.axf" - 2 Error(s), 1 Warning(s).
"referee\referee.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -68,8 +60,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Target not created.
Build Time Elapsed: 00:00:02
Build Time Elapsed: 00:00:03
</pre>
</body>
</html>

25
MDK-ARM/referee/referee.d
View File

@ -43,16 +43,10 @@ referee/referee.o: ..\User\device\referee.c ..\User\device\device.h \
..\User\component\user_math.h ..\User\device\referee.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\ui.h ..\User\component\user_math.h \
..\User\device\device.h ..\User\module\cmd\cmd.h \
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
..\User\device\ET16s.h ..\User\device\device.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\component\filter.h \
..\User\component\pid.h ..\User\component\filter.h \
..\User\component\ahrs.h ..\User\device\bmi088.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\User\bsp\mm.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\device\motor_rm.h \
..\User\device\motor.h ..\User\device\device.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
@ -64,7 +58,12 @@ referee/referee.o: ..\User\device\referee.c ..\User\device\device.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\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 ..\Core\Inc\main.h ..\User\module\config.h \
..\User\module\gimbal.h ..\User\module\shoot.h \
..\User\module\cmd\cmd.h
..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
..\User\module\shoot.h ..\User\module\cmd\cmd.h

5239
MDK-ARM/referee/referee.htm
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16
MDK-ARM/referee/referee.lnp
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@ -76,16 +76,16 @@
"referee\referee.o"
"referee\ai.o"
"referee\atti_esti.o"
"referee\dr16_1.o"
"referee\vofa_1.o"
"referee\et16s_1.o"
"referee\referee_1.o"
"referee\gimbal_ctrl.o"
"referee\cmd_1.o"
"referee\shoot_ctrl.o"
"referee\chassis_ctrl.o"
"referee\user_task.o"
"referee\cmd.o"
"referee\dr16_1.o"
"referee\gimbal_ctrl.o"
"referee\et16s_1.o"
"referee\init.o"
"referee\referee_1.o"
"referee\shoot_ctrl.o"
"referee\user_task.o"
"referee\vofa_1.o"
"referee\config.o"
"referee\chassis.o"
"referee\gimbal.o"

3547
MDK-ARM/referee/referee.map
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BIN
MDK-ARM/referee/referee.o
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26
MDK-ARM/referee/referee_1.d
View File

@ -17,16 +17,7 @@ referee/referee_1.o: ..\User\task\referee.c ..\User\task\user_task.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\device\device.h \
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
..\User\device\device.h ..\User\module\cmd\cmd_behavior.h \
..\User\module\chassis.h ..\User\module\struct_typedef.h \
..\User\component\filter.h ..\User\component\user_math.h \
..\User\component\pid.h ..\User\component\filter.h \
..\User\component\ahrs.h ..\User\device\bmi088.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\User\component\user_math.h ..\User\module\shoot.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
@ -59,10 +50,19 @@ referee/referee_1.o: ..\User\task\referee.c ..\User\task\user_task.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\component\pid.h ..\User\component\filter.h \
..\User\component\user_math.h ..\User\device\motor_rm.h \
..\User\device\motor.h ..\User\device\device.h ..\User\device\motor.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\device.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 ..\Core\Inc\main.h ..\User\module\config.h \
..\User\module\gimbal.h ..\User\module\shoot.h \
..\User\module\cmd\cmd.h
..\User\module\shoot.h ..\User\module\config.h ..\User\module\gimbal.h \
..\User\module\shoot.h ..\User\module\cmd\cmd.h

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MDK-ARM/referee/referee_1.o
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1085
MDK-ARM/referee/referee_referee.dep
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18
MDK-ARM/referee/shoot.d
View File

@ -54,12 +54,16 @@ referee/shoot.o: ..\User\module\shoot.c \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\bsp\time.h ..\User\component\filter.h \
..\User\component\user_math.h ..\User\module\cmd\cmd.h \
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
..\User\device\ET16s.h \
..\User\bsp\time.h ..\User\device\referee.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\ui.h ..\User\component\user_math.h \
..\User\component\user_math.h ..\User\module\shoot.h \
..\User\device\device.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\ahrs.h \
..\User\device\bmi088.h ..\User\module\gimbal.h \
..\User\device\motor_dm.h ..\User\module\shoot.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\config.h ..\User\module\gimbal.h ..\User\module\shoot.h \
..\User\module\cmd\cmd.h

BIN
MDK-ARM/referee/shoot.o
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58
MDK-ARM/referee/shoot_ctrl.d
View File

@ -10,4 +10,60 @@ referee/shoot_ctrl.o: ..\User\task\shoot_ctrl.c ..\User\task\user_task.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\include\list.h \
..\User\module\config.h ..\User\module\gimbal.h \
..\User\component\ahrs.h ..\User\component\user_math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\component\filter.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\device\motor.h \
..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
..\Core\Inc\can.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
..\User\component\user_math.h ..\User\module\shoot.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\gimbal.h ..\User\device\referee.h \
..\User\component\ui.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\component\user_math.h ..\User\module\shoot.h \
..\User\device\device.h ..\User\module\cmd\cmd.h \
..\User\module\config.h

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MDK-ARM/referee/shoot_ctrl.o
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BIN
MDK-ARM/referee/startup_stm32f407xx.o
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22
User/device/referee.c
View File

@ -102,8 +102,9 @@ int8_t Referee_Restart(void) {
int8_t Referee_StartReceiving(Referee_t *ref) {
(void)ref;
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_REF), rxbuf,
REF_LEN_RX_BUFF) == HAL_OK)
if ( BSP_UART_Receive(BSP_UART_REF, rxbuf, REF_LEN_RX_BUFF,true)
== BSP_OK)
return DEVICE_OK;
return DEVICE_ERR;
}
@ -309,8 +310,7 @@ error:
}
int8_t Referee_StartSend(uint8_t *data, uint32_t len) {
if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_REF), data,
(size_t)len) == HAL_OK) {
if (BSP_UART_Transmit(BSP_UART_REF,data, (size_t)len, true) == BSP_OK) {
return DEVICE_OK;
} else
return DEVICE_ERR;
@ -650,10 +650,10 @@ uint8_t Referee_UIRefresh(Referee_UI_t *ui) {
ui->screen->height * 0.2 + cos(ui->chassis_ui.angle) * 46);
float start_pos_h = 0.0f;
switch (ui->chassis_ui.mode) {
case CHASSIS_MODE_FOLLOW_GIMBAL:
case STOP:
start_pos_h = 0.68f;
break;
case CHASSIS_MODE_FOLLOW_GIMBAL_35:
case CHASSIS_MODE_FOLLOW_GIMBAL:
start_pos_h = 0.66f;
break;
case CHASSIS_MODE_ROTOR:
@ -674,8 +674,8 @@ uint8_t Referee_UIRefresh(Referee_UI_t *ui) {
}
case 1:
fsm++;
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_CAP);
// UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
// UI_GRAPIC_LAYER_CAP);
// switch (ui->cap_ui.status) {
// case CAN_CAP_STATUS_OFFLINE:
// UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
@ -747,13 +747,13 @@ uint8_t Referee_UIRefresh(Referee_UI_t *ui) {
ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET);
switch (ui->shoot_ui.mode) {
case SHOOT_MODE_SINGLE:
case SHOOT_MODE_SAFE:
start_pos_h = 0.68f;
break;
case SHOOT_MODE_BURST:
case SHOOT_MODE_SINGLE:
start_pos_h = 0.66f;
break;
case SHOOT_MODE_CONTINUE:
case SHOOT_MODE_BURST:
start_pos_h = 0.64f;
default:
break;

3
User/device/referee.h
View File

@ -14,9 +14,12 @@ extern "C" {
#include "component\ui.h"
#include "component\user_math.h"
//#include "device\can.h"
#include "module\shoot.h"
#include "device\device.h"
#include "module\cmd\cmd.h"
#include "module\config.h"
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat))

8
User/module/cmd/cmd.h
View File

@ -4,9 +4,9 @@
*/
#pragma once
#include "cmd_types.h"
#include "cmd_adapter.h"
#include "cmd_behavior.h"
#include "module/cmd/cmd_types.h"
#include "module/cmd/cmd_adapter.h"
#include "module/cmd/cmd_behavior.h"
/* 引入输出模块的命令类型 */
#include "module/chassis.h"
@ -59,7 +59,6 @@ typedef enum {
UI_HIT_SWITCH_STOP /* 打符状态关闭 */
} CMD_UI_t;
/* 灵敏度配置 */
typedef struct {
float mouse_sens; /* 鼠标灵敏度 */
@ -67,6 +66,7 @@ typedef struct {
float move_fast_mult; /* 快速移动倍率 */
float move_slow_mult; /* 慢速移动倍率 */
} CMD_Sensitivity_t;
/* 分辨率配置 */
typedef struct {
uint16_t width;

2
User/module/cmd/cmd_example.c
View File

@ -3,7 +3,7 @@
*
* 本文件展示如何配置和使用新的CMD模块
*/
#include "module/cmd/cmd.h"
#include "cmd.h"
/* ========================================================================== */
/* config示例 */

4
User/module/config.c
View File

@ -328,8 +328,8 @@ Config_RobotParam_t robot_config = {
CMD_SRC_REF,
},
.screen={
.width=10,
.height=10,
.width=1920,
.height=1080,
},

1
User/module/config.h
View File

@ -15,6 +15,7 @@ extern "C" {
#include "gimbal.h"
#include "shoot.h"
#include "module/chassis.h"
#include "module/shoot.h"
#include "module/cmd/cmd.h"
typedef struct {
Gimbal_Params_t gimbal_param;

14
User/module/shoot.c
View File

@ -33,9 +33,10 @@ void Task(void *argument) {
/* Includes ----------------------------------------------------------------- */
#include <math.h>
#include <string.h>
#include "shoot.h"
#include "module/shoot.h"
#include "bsp/mm.h"
#include "bsp/time.h"
#include "device/referee.h"
#include "component/filter.h"
#include "component/user_math.h"
#include "module/cmd/cmd.h"
@ -651,7 +652,16 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
/**
* @brief 导出射击UI数据
*
* @param s 射击结构体
* @param ui UI结构体
*/
void Shoot_DumpUI(Shoot_t *s, Referee_ShootUI_t *ui) {
ui->mode = s->mode;
ui->fire = s->running_state;
}

3
User/module/shoot.h
View File

@ -12,6 +12,7 @@ extern "C" {
#include "main.h"
#include "component/pid.h"
#include "device/motor_rm.h"
/* Exported constants ------------------------------------------------------- */
#define MAX_FRIC_NUM 6
#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
@ -233,7 +234,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s);
*/
int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);
//void Shoot_DumpUI(Shoot_t *s, Referee_ShootUI_t *ui);
#ifdef __cplusplus
}

13
User/task/cmd.c
View File

@ -22,6 +22,11 @@
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
//CMD_RC_t rc;
//CMD_Host_t host;
//CMD_t cmd;
CMD_UI_t ui_cmd;
#define CMD_RCTypeTable_Index 2
#if CMD_RCTypeTable_Index == 0
@ -77,13 +82,9 @@ void Task_cmd(void *argument) {
osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
osMessageQueueReset(task_runtime.msgq.chassis.cmd);
osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
ui_cmd=UI_AUTO_AIM_START;
osMessageQueuePut(task_runtime.msgq.referee.ui,&(ui_cmd), 0, 0);
/* 存在裁判系统发送命令时，将相应的画图命令放入消息队列中 */
// while (cmd.referee.counter > 0) {
// osMessageQueuePut(task_runtime.msgq.cmd.referee,
// &(cmd.referee.cmd[--cmd.referee.counter]), 0, 0);
// cmd.referee.cmd[cmd.referee.counter] = CMD_UI_NOTHING;
// }
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

3
User/task/init.c
View File

@ -62,6 +62,7 @@ void Task_Init(void *argument) {
task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);
task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL);
task_runtime.msgq.referee.shoot= osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL);
task_runtime.msgq.referee.ui= osMessageQueueNew(2u, sizeof(CMD_UI_t), NULL);
/* UI */
task_runtime.msgq.ui.chassis =osMessageQueueNew(2u, sizeof(Referee_ChassisUI_t), NULL);
task_runtime.msgq.ui.cap =osMessageQueueNew(2u, sizeof(Referee_CapUI_t), NULL);
@ -69,8 +70,6 @@ void Task_Init(void *argument) {
task_runtime.msgq.ui.shoot =osMessageQueueNew(2u, sizeof(Referee_ShootUI_t), NULL);
task_runtime.msgq.ui.cmd = osMessageQueueNew(2u, sizeof(bool), NULL);
/* */
task_runtime.msgq.cmd.referee =osMessageQueueNew(6u, sizeof(CMD_UI_t), NULL);
/* USER MESSAGE END */
osKernelUnlock(); // 解锁内核

16
User/task/referee.c
View File

@ -14,7 +14,6 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
//#ifdef DEBUG
Referee_t ref;
Referee_UI_t ui;
CMD_UI_t ref_cmd;
@ -22,15 +21,7 @@ Referee_ForCap_t for_cap;
Referee_ForAI_t for_ai;
Referee_ForChassis_t for_chassis;
Referee_ForShoot_t for_shoot;
//#else
//static Referee_t ref;
//static Referee_UI_t ui;
//static CMD_UI_t ref_cmd;
//static Referee_ForCap_t for_cap;
//static Referee_ForAI_t for_ai;
//static Referee_ForChassis_t for_chassis;
//static Referee_ForShoot_t for_shoot;
//#endif
uint8_t send_data[6]={1,2,3,4};
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -88,11 +79,12 @@ void Task_referee(void *argument) {
osMessageQueueGet(task_runtime.msgq.ui.cmd, &(ui.cmd_pc), NULL, 0);
Referee_UIRefresh(&ui);
while (osMessageQueueGet(task_runtime.msgq.cmd.referee, &ref_cmd, NULL,
while (osMessageQueueGet(task_runtime.msgq.referee.ui, &ref_cmd, NULL,
0) == osOK) {
Referee_PraseCmd(&ui, ref_cmd);
// Referee_StartSend(send_data, sizeof(send_data));
}
Referee_PackUI(&ui, &ref);
}
/* USER CODE END */

22
User/task/shoot_ctrl.c
View File

@ -6,7 +6,8 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "module/config.h"
#include "device/referee.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -14,13 +15,12 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Shoot_t shoot;
Shoot_CMD_t shoot_cmd;
Referee_ShootUI_t shoot_ui;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* USER PRIVATE CODE BEGIN */
/* USER PRIVATE CODE END */
/* Exported functions ------------------------------------------------------- */
void Task_shoot_ctrl(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
@ -33,12 +33,22 @@ void Task_shoot_ctrl(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
// shoot_cmd.mode=true;
// shoot.target_variable.target_rpm=4000;
shoot.mode=SHOOT_MODE_SINGLE;
Shoot_UpdateFeedback(&shoot);
Shoot_Control(&shoot,&shoot_cmd);
Shoot_DumpUI(&shoot, &shoot_ui);
osMessageQueueReset(task_runtime.msgq.ui.shoot);
osMessageQueuePut(task_runtime.msgq.ui.shoot, &shoot_ui, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

10
User/task/user_task.h
View File

@ -86,6 +86,7 @@ typedef struct {
osMessageQueueId_t chassis;
osMessageQueueId_t ai;
osMessageQueueId_t shoot;
osMessageQueueId_t ui;
}referee;
struct {
osMessageQueueId_t chassis;
@ -94,17 +95,10 @@ typedef struct {
osMessageQueueId_t cap;
osMessageQueueId_t cmd;
}ui;
/* 控制指令 */
struct {
struct {
osMessageQueueId_t host;
osMessageQueueId_t rc;
} raw;
osMessageQueueId_t ai;
osMessageQueueId_t referee;
} cmd;
}cmd;
} msgq;
/* USER MESSAGE END */