From 09f161c97f7826c721ffe1b6b96c745060e94164 Mon Sep 17 00:00:00 2001 From: yunhai8432 Date: Sat, 27 Dec 2025 17:01:04 +0800 Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E6=9E=B6=E6=9E=84cmd?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Inc/stm32f4xx_it.h | 3 + Core/Inc/usart.h | 3 + Core/Src/dma.c | 6 + Core/Src/gpio.c | 2 +- Core/Src/main.c | 1 + Core/Src/stm32f4xx_it.c | 46 + Core/Src/usart.c | 120 + MDK-ARM/.vscode/c_cpp_properties.json | 436 + MDK-ARM/.vscode/keil-assistant.log | 34 + MDK-ARM/.vscode/settings.json | 23 + MDK-ARM/.vscode/uv4.log | 19 + MDK-ARM/.vscode/uv4.log.lock | 1 + MDK-ARM/Steering Wheel_Infatry.uvguix.yunha | 350 +- MDK-ARM/Steering Wheel_Infatry.uvoptx | 230 +- MDK-ARM/Steering Wheel_Infatry.uvprojx | 72 +- .../Steering Wheel_Infatry.axf | Bin 648184 -> 666988 bytes .../Steering Wheel_Infatry.build_log.htm | 163 +- .../Steering Wheel_Infatry.hex | 7515 +++++++++-------- .../Steering Wheel_Infatry.htm | 4933 +++++------ .../Steering Wheel_Infatry.lnp | 12 +- .../Steering Wheel_Infatry.map | 5527 ++++++------ ...g Wheel_Infatry_Steering Wheel_Infatry.dep | 1283 ++- MDK-ARM/Steering Wheel_Infatry/ahrs.o | Bin 17900 -> 17916 bytes MDK-ARM/Steering Wheel_Infatry/ai.d | 8 +- MDK-ARM/Steering Wheel_Infatry/ai.o | Bin 4956 -> 7484 bytes MDK-ARM/Steering Wheel_Infatry/ai_1.o | Bin 2568 -> 2584 bytes MDK-ARM/Steering Wheel_Infatry/atti_esti.o | Bin 8036 -> 8496 bytes MDK-ARM/Steering Wheel_Infatry/bmi088.o | Bin 16148 -> 16160 bytes MDK-ARM/Steering Wheel_Infatry/bsp_rc.o | Bin 4332 -> 4344 bytes MDK-ARM/Steering Wheel_Infatry/calc_lib.o | Bin 6808 -> 6820 bytes MDK-ARM/Steering Wheel_Infatry/can.o | Bin 12380 -> 12396 bytes MDK-ARM/Steering Wheel_Infatry/can_1.o | Bin 41776 -> 41792 bytes MDK-ARM/Steering Wheel_Infatry/capacity.o | Bin 3700 -> 3716 bytes MDK-ARM/Steering Wheel_Infatry/chassic.o | Bin 18760 -> 18772 bytes MDK-ARM/Steering Wheel_Infatry/chassis.d | 58 + MDK-ARM/Steering Wheel_Infatry/chassis.o | Bin 0 -> 20556 bytes MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.d | 6 +- MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.o | Bin 8732 -> 8552 bytes MDK-ARM/Steering Wheel_Infatry/cmd.d | 19 +- MDK-ARM/Steering Wheel_Infatry/cmd.o | Bin 16276 -> 2592 bytes MDK-ARM/Steering Wheel_Infatry/cmd_1.d | 66 + MDK-ARM/Steering Wheel_Infatry/cmd_1.o | Bin 0 -> 15604 bytes MDK-ARM/Steering Wheel_Infatry/cmd_adapter.d | 64 + .../Steering Wheel_Infatry/cmd_adapter_1.d | 64 + .../Steering Wheel_Infatry/cmd_adapter_1.o | Bin 0 -> 11176 bytes MDK-ARM/Steering Wheel_Infatry/cmd_behavior.d | 62 + MDK-ARM/Steering Wheel_Infatry/cmd_behavior.o | Bin 0 -> 588 bytes .../Steering Wheel_Infatry/cmd_behavior_1.d | 68 + .../Steering Wheel_Infatry/cmd_behavior_1.o | Bin 0 -> 17108 bytes MDK-ARM/Steering Wheel_Infatry/cmsis_os2.o | Bin 93412 -> 93424 bytes MDK-ARM/Steering Wheel_Infatry/config.d | 4 +- MDK-ARM/Steering Wheel_Infatry/config.o | Bin 9280 -> 10284 bytes MDK-ARM/Steering Wheel_Infatry/crc16.o | Bin 4868 -> 4884 bytes MDK-ARM/Steering Wheel_Infatry/crc8.d | 5 + MDK-ARM/Steering Wheel_Infatry/crc8.o | Bin 0 -> 3888 bytes MDK-ARM/Steering Wheel_Infatry/dma.o | Bin 6068 -> 6148 bytes MDK-ARM/Steering Wheel_Infatry/dr16.d | 44 + MDK-ARM/Steering Wheel_Infatry/dr16.o | Bin 0 -> 11000 bytes MDK-ARM/Steering Wheel_Infatry/dr16_1.d | 14 + MDK-ARM/Steering Wheel_Infatry/dr16_1.o | Bin 0 -> 2600 bytes MDK-ARM/Steering Wheel_Infatry/dwt.o | Bin 10832 -> 10848 bytes MDK-ARM/Steering Wheel_Infatry/error_detect.o | Bin 7488 -> 7504 bytes MDK-ARM/Steering Wheel_Infatry/event_groups.o | Bin 20076 -> 20088 bytes MDK-ARM/Steering Wheel_Infatry/filter.o | Bin 9960 -> 9972 bytes MDK-ARM/Steering Wheel_Infatry/freertos.o | Bin 7224 -> 7240 bytes MDK-ARM/Steering Wheel_Infatry/freertos_cli.o | Bin 10452 -> 10464 bytes MDK-ARM/Steering Wheel_Infatry/gimbal.o | Bin 17436 -> 23016 bytes MDK-ARM/Steering Wheel_Infatry/gimbal_ctrl.d | 2 +- MDK-ARM/Steering Wheel_Infatry/gimbal_ctrl.o | Bin 9412 -> 11308 bytes MDK-ARM/Steering Wheel_Infatry/gpio.o | Bin 7612 -> 7624 bytes MDK-ARM/Steering Wheel_Infatry/gpio_1.o | Bin 11060 -> 11076 bytes MDK-ARM/Steering Wheel_Infatry/heap_4.o | Bin 11972 -> 11984 bytes MDK-ARM/Steering Wheel_Infatry/i2c.o | Bin 10400 -> 10416 bytes MDK-ARM/Steering Wheel_Infatry/i2c_1.o | Bin 21072 -> 21084 bytes MDK-ARM/Steering Wheel_Infatry/init.d | 7 +- MDK-ARM/Steering Wheel_Infatry/init.o | Bin 3400 -> 3784 bytes MDK-ARM/Steering Wheel_Infatry/ist8310.o | Bin 11108 -> 11124 bytes MDK-ARM/Steering Wheel_Infatry/limiter.o | Bin 5576 -> 5588 bytes MDK-ARM/Steering Wheel_Infatry/list.o | Bin 5484 -> 5496 bytes MDK-ARM/Steering Wheel_Infatry/main.o | Bin 6576 -> 6640 bytes MDK-ARM/Steering Wheel_Infatry/mixer.o | Bin 5084 -> 5096 bytes MDK-ARM/Steering Wheel_Infatry/mm.o | Bin 2864 -> 2880 bytes MDK-ARM/Steering Wheel_Infatry/motor.o | Bin 3856 -> 3872 bytes MDK-ARM/Steering Wheel_Infatry/motor_dm.o | Bin 21848 -> 21864 bytes MDK-ARM/Steering Wheel_Infatry/motor_lz.o | Bin 24552 -> 24564 bytes MDK-ARM/Steering Wheel_Infatry/motor_rm.o | Bin 19272 -> 19284 bytes MDK-ARM/Steering Wheel_Infatry/oid.d | 54 + MDK-ARM/Steering Wheel_Infatry/oid.o | Bin 0 -> 20608 bytes MDK-ARM/Steering Wheel_Infatry/oid_1.d | 55 + MDK-ARM/Steering Wheel_Infatry/oid_1.o | Bin 0 -> 4416 bytes MDK-ARM/Steering Wheel_Infatry/pid.o | Bin 8080 -> 8092 bytes MDK-ARM/Steering Wheel_Infatry/port.o | Bin 12004 -> 12016 bytes MDK-ARM/Steering Wheel_Infatry/pwm.o | Bin 12600 -> 12612 bytes MDK-ARM/Steering Wheel_Infatry/queue.o | Bin 49684 -> 49700 bytes MDK-ARM/Steering Wheel_Infatry/remote_cmd.d | 61 + MDK-ARM/Steering Wheel_Infatry/remote_cmd.o | Bin 0 -> 5120 bytes .../Steering Wheel_Infatry/remote_control.o | Bin 6564 -> 6576 bytes MDK-ARM/Steering Wheel_Infatry/remote_ctrl.d | 10 +- MDK-ARM/Steering Wheel_Infatry/remote_ctrl.o | Bin 5364 -> 5876 bytes MDK-ARM/Steering Wheel_Infatry/shoot.o | Bin 24248 -> 24264 bytes MDK-ARM/Steering Wheel_Infatry/shoot_ctrl.d | 2 +- MDK-ARM/Steering Wheel_Infatry/shoot_ctrl.o | Bin 9948 -> 9980 bytes MDK-ARM/Steering Wheel_Infatry/spi.o | Bin 9924 -> 9940 bytes MDK-ARM/Steering Wheel_Infatry/spi_1.o | Bin 20136 -> 20148 bytes .../startup_stm32f407xx.o | Bin 7900 -> 7912 bytes .../Steering Wheel_Infatry/stm32f4xx_hal.o | Bin 19772 -> 19788 bytes .../stm32f4xx_hal_can.o | Bin 30444 -> 30456 bytes .../stm32f4xx_hal_cortex.o | Bin 26988 -> 27000 bytes .../stm32f4xx_hal_dma.o | Bin 19296 -> 19308 bytes .../stm32f4xx_hal_dma_ex.o | Bin 9808 -> 9824 bytes .../stm32f4xx_hal_exti.o | Bin 10196 -> 10212 bytes .../stm32f4xx_hal_flash.o | Bin 14152 -> 14168 bytes .../stm32f4xx_hal_flash_ex.o | Bin 14268 -> 14280 bytes .../stm32f4xx_hal_gpio.o | Bin 10796 -> 10808 bytes .../stm32f4xx_hal_i2c.o | Bin 94428 -> 94440 bytes .../stm32f4xx_hal_msp.o | Bin 5992 -> 6008 bytes .../stm32f4xx_hal_pwr.o | Bin 12308 -> 12324 bytes .../stm32f4xx_hal_pwr_ex.o | Bin 7068 -> 7084 bytes .../stm32f4xx_hal_rcc.o | Bin 17004 -> 17020 bytes .../stm32f4xx_hal_rcc_ex.o | Bin 9760 -> 9772 bytes .../stm32f4xx_hal_spi.o | Bin 52512 -> 52524 bytes .../stm32f4xx_hal_tim.o | Bin 112056 -> 112072 bytes .../stm32f4xx_hal_tim_ex.o | Bin 45924 -> 45940 bytes .../stm32f4xx_hal_uart.o | Bin 59940 -> 59952 bytes MDK-ARM/Steering Wheel_Infatry/stm32f4xx_it.o | Bin 12492 -> 14132 bytes .../Steering Wheel_Infatry/stream_buffer.o | Bin 33852 -> 33864 bytes .../Steering Wheel_Infatry/system_stm32f4xx.o | Bin 5564 -> 5576 bytes MDK-ARM/Steering Wheel_Infatry/tasks.o | Bin 78188 -> 78204 bytes MDK-ARM/Steering Wheel_Infatry/telecoping.d | 8 +- MDK-ARM/Steering Wheel_Infatry/telecoping.o | Bin 6324 -> 6376 bytes .../telecoping_gimbal.o | Bin 10416 -> 10068 bytes MDK-ARM/Steering Wheel_Infatry/tim.o | Bin 13560 -> 13572 bytes MDK-ARM/Steering Wheel_Infatry/time.o | Bin 5352 -> 5368 bytes MDK-ARM/Steering Wheel_Infatry/timers.o | Bin 33696 -> 33712 bytes MDK-ARM/Steering Wheel_Infatry/uart.o | Bin 16412 -> 16556 bytes MDK-ARM/Steering Wheel_Infatry/ui.o | Bin 16236 -> 16252 bytes MDK-ARM/Steering Wheel_Infatry/usart.o | Bin 14316 -> 16052 bytes MDK-ARM/Steering Wheel_Infatry/user_math.o | Bin 8528 -> 8540 bytes MDK-ARM/Steering Wheel_Infatry/user_task.o | Bin 7236 -> 8124 bytes Steering Wheel_Infatry.ioc | 108 +- User/bsp/bsp_config.yaml | 2 + User/bsp/uart.c | 4 + User/bsp/uart.h | 1 + User/component/component_config.yaml | 3 + User/component/crc8.c | 52 + User/component/crc8.h | 30 + User/device/Oid.c | 476 ++ User/device/Oid.h | 272 + User/device/ai.c | 123 +- User/device/ai.h | 69 +- User/device/device.h | 13 +- User/device/device_config.yaml | 4 + User/device/dr16.c | 169 + User/device/dr16.h | 117 + User/device/motor_rm.c | 2 +- User/module/chassic.h | 293 - User/module/{chassic.c => chassis.c} | 185 +- User/module/chassis.h | 188 + User/module/cmd/cmd.c | 274 + User/module/cmd/cmd.h | 151 + User/module/cmd/cmd_adapter.c | 146 + User/module/cmd/cmd_adapter.h | 54 + User/module/cmd/cmd_behavior.c | 170 + User/module/cmd/cmd_behavior.h | 69 + User/module/cmd/cmd_types.h | 196 + User/module/config.c | 157 +- User/module/config.h | 2 +- User/module/gimbal.c | 351 +- User/module/gimbal.h | 166 +- User/module/telecoping_gimbal.c | 20 +- User/module/telescoping_gimal.h | 1 + User/task/Oid.c | 64 + User/task/atti_esti.c | 26 +- User/task/chassis_ctrl.c | 29 +- User/task/cmd.c | 44 + User/task/config.yaml | 21 + User/task/dr16.c | 44 + User/task/gimbal_ctrl.c | 2 + User/task/init.c | 5 +- User/task/remote_ctrl.c | 8 +- User/task/telecoping.c | 1 + User/task/user_task.c | 15 + User/task/user_task.h | 24 + 183 files changed, 15539 insertions(+), 10072 deletions(-) create mode 100644 MDK-ARM/.vscode/c_cpp_properties.json create mode 100644 MDK-ARM/.vscode/keil-assistant.log create mode 100644 MDK-ARM/.vscode/settings.json create mode 100644 MDK-ARM/.vscode/uv4.log create mode 100644 MDK-ARM/.vscode/uv4.log.lock create mode 100644 MDK-ARM/Steering Wheel_Infatry/chassis.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/chassis.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/cmd_1.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/cmd_1.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/cmd_adapter.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/cmd_adapter_1.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/cmd_adapter_1.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/cmd_behavior.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/cmd_behavior.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/cmd_behavior_1.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/cmd_behavior_1.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/crc8.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/crc8.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/dr16.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/dr16.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/dr16_1.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/dr16_1.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/oid.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/oid.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/oid_1.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/oid_1.o create mode 100644 MDK-ARM/Steering Wheel_Infatry/remote_cmd.d create mode 100644 MDK-ARM/Steering Wheel_Infatry/remote_cmd.o create mode 100644 User/component/crc8.c create mode 100644 User/component/crc8.h create mode 100644 User/device/Oid.c create mode 100644 User/device/Oid.h create mode 100644 User/device/dr16.c create mode 100644 User/device/dr16.h delete mode 100644 User/module/chassic.h rename User/module/{chassic.c => chassis.c} (74%) create mode 100644 User/module/chassis.h create mode 100644 User/module/cmd/cmd.c create mode 100644 User/module/cmd/cmd.h create mode 100644 User/module/cmd/cmd_adapter.c create mode 100644 User/module/cmd/cmd_adapter.h create mode 100644 User/module/cmd/cmd_behavior.c create mode 100644 User/module/cmd/cmd_behavior.h create mode 100644 User/module/cmd/cmd_types.h create mode 100644 User/task/Oid.c create mode 100644 User/task/cmd.c create mode 100644 User/task/dr16.c diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h index 9988a44..2c1ef8a 100644 --- a/Core/Inc/stm32f4xx_it.h +++ b/Core/Inc/stm32f4xx_it.h @@ -63,11 +63,14 @@ void CAN1_RX1_IRQHandler(void); void EXTI9_5_IRQHandler(void); void TIM1_UP_TIM10_IRQHandler(void); void USART3_IRQHandler(void); +void DMA2_Stream1_IRQHandler(void); void DMA2_Stream2_IRQHandler(void); void DMA2_Stream3_IRQHandler(void); void CAN2_TX_IRQHandler(void); void CAN2_RX0_IRQHandler(void); void CAN2_RX1_IRQHandler(void); +void DMA2_Stream6_IRQHandler(void); +void USART6_IRQHandler(void); /* USER CODE BEGIN EFP */ /* USER CODE END EFP */ diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h index baf6c0a..d3e2aaf 100644 --- a/Core/Inc/usart.h +++ b/Core/Inc/usart.h @@ -38,6 +38,8 @@ extern UART_HandleTypeDef huart2; extern UART_HandleTypeDef huart3; +extern UART_HandleTypeDef huart6; + /* USER CODE BEGIN Private defines */ /* USER CODE END Private defines */ @@ -45,6 +47,7 @@ extern UART_HandleTypeDef huart3; void MX_USART1_UART_Init(void); void MX_USART2_UART_Init(void); void MX_USART3_UART_Init(void); +void MX_USART6_UART_Init(void); /* USER CODE BEGIN Prototypes */ diff --git a/Core/Src/dma.c b/Core/Src/dma.c index 9a63358..57f39e1 100644 --- a/Core/Src/dma.c +++ b/Core/Src/dma.c @@ -47,12 +47,18 @@ void MX_DMA_Init(void) /* DMA1_Stream1_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn); + /* DMA2_Stream1_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn); /* DMA2_Stream2_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn); /* DMA2_Stream3_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); + /* DMA2_Stream6_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn); } diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index 7b8e288..fc16079 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -46,12 +46,12 @@ void MX_GPIO_Init(void) /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOG_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOF_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE(); - __HAL_RCC_GPIOG_CLK_ENABLE(); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(CMPS_RST_GPIO_Port, CMPS_RST_Pin, GPIO_PIN_RESET); diff --git a/Core/Src/main.c b/Core/Src/main.c index 0aa533c..74fa7d7 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -104,6 +104,7 @@ int main(void) MX_USART2_UART_Init(); MX_USART3_UART_Init(); MX_TIM10_Init(); + MX_USART6_UART_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index 2587ac7..dffaf83 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -64,7 +64,10 @@ extern DMA_HandleTypeDef hdma_spi1_rx; extern DMA_HandleTypeDef hdma_spi1_tx; extern TIM_HandleTypeDef htim10; extern DMA_HandleTypeDef hdma_usart3_rx; +extern DMA_HandleTypeDef hdma_usart6_rx; +extern DMA_HandleTypeDef hdma_usart6_tx; extern UART_HandleTypeDef huart3; +extern UART_HandleTypeDef huart6; /* USER CODE BEGIN EV */ /* USER CODE END EV */ @@ -330,6 +333,20 @@ void USART3_IRQHandler(void) /* USER CODE END USART3_IRQn 1 */ } +/** + * @brief This function handles DMA2 stream1 global interrupt. + */ +void DMA2_Stream1_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ + + /* USER CODE END DMA2_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart6_rx); + /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ + + /* USER CODE END DMA2_Stream1_IRQn 1 */ +} + /** * @brief This function handles DMA2 stream2 global interrupt. */ @@ -400,6 +417,35 @@ void CAN2_RX1_IRQHandler(void) /* USER CODE END CAN2_RX1_IRQn 1 */ } +/** + * @brief This function handles DMA2 stream6 global interrupt. + */ +void DMA2_Stream6_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */ + + /* USER CODE END DMA2_Stream6_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart6_tx); + /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */ + + /* USER CODE END DMA2_Stream6_IRQn 1 */ +} + +/** + * @brief This function handles USART6 global interrupt. + */ +void USART6_IRQHandler(void) +{ + /* USER CODE BEGIN USART6_IRQn 0 */ + + /* USER CODE END USART6_IRQn 0 */ + HAL_UART_IRQHandler(&huart6); + /* USER CODE BEGIN USART6_IRQn 1 */ + BSP_UART_IRQHandler(&huart6); + + /* USER CODE END USART6_IRQn 1 */ +} + /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index ea1c12e..2b2100e 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -27,7 +27,10 @@ UART_HandleTypeDef huart1; UART_HandleTypeDef huart2; UART_HandleTypeDef huart3; +UART_HandleTypeDef huart6; DMA_HandleTypeDef hdma_usart3_rx; +DMA_HandleTypeDef hdma_usart6_rx; +DMA_HandleTypeDef hdma_usart6_tx; /* USART1 init function */ @@ -115,6 +118,35 @@ void MX_USART3_UART_Init(void) /* USER CODE END USART3_Init 2 */ +} +/* USART6 init function */ + +void MX_USART6_UART_Init(void) +{ + + /* USER CODE BEGIN USART6_Init 0 */ + + /* USER CODE END USART6_Init 0 */ + + /* USER CODE BEGIN USART6_Init 1 */ + + /* USER CODE END USART6_Init 1 */ + huart6.Instance = USART6; + huart6.Init.BaudRate = 115200; + huart6.Init.WordLength = UART_WORDLENGTH_8B; + huart6.Init.StopBits = UART_STOPBITS_1; + huart6.Init.Parity = UART_PARITY_NONE; + huart6.Init.Mode = UART_MODE_TX_RX; + huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart6.Init.OverSampling = UART_OVERSAMPLING_16; + if (HAL_UART_Init(&huart6) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN USART6_Init 2 */ + + /* USER CODE END USART6_Init 2 */ + } void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) @@ -223,6 +255,70 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) /* USER CODE END USART3_MspInit 1 */ } + else if(uartHandle->Instance==USART6) + { + /* USER CODE BEGIN USART6_MspInit 0 */ + + /* USER CODE END USART6_MspInit 0 */ + /* USART6 clock enable */ + __HAL_RCC_USART6_CLK_ENABLE(); + + __HAL_RCC_GPIOG_CLK_ENABLE(); + /**USART6 GPIO Configuration + PG14 ------> USART6_TX + PG9 ------> USART6_RX + */ + GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF8_USART6; + HAL_GPIO_Init(GPIOG, &GPIO_InitStruct); + + /* USART6 DMA Init */ + /* USART6_RX Init */ + hdma_usart6_rx.Instance = DMA2_Stream1; + hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5; + hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart6_rx.Init.Mode = DMA_NORMAL; + hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW; + hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx); + + /* USART6_TX Init */ + hdma_usart6_tx.Instance = DMA2_Stream6; + hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5; + hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; + hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart6_tx.Init.Mode = DMA_NORMAL; + hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW; + hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart6_tx); + + /* USART6 interrupt Init */ + HAL_NVIC_SetPriority(USART6_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(USART6_IRQn); + /* USER CODE BEGIN USART6_MspInit 1 */ + + /* USER CODE END USART6_MspInit 1 */ + } } void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) @@ -289,6 +385,30 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) /* USER CODE END USART3_MspDeInit 1 */ } + else if(uartHandle->Instance==USART6) + { + /* USER CODE BEGIN USART6_MspDeInit 0 */ + + /* USER CODE END USART6_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_USART6_CLK_DISABLE(); + + /**USART6 GPIO Configuration + PG14 ------> USART6_TX + PG9 ------> USART6_RX + */ + HAL_GPIO_DeInit(GPIOG, GPIO_PIN_14|GPIO_PIN_9); + + /* USART6 DMA DeInit */ + HAL_DMA_DeInit(uartHandle->hdmarx); + HAL_DMA_DeInit(uartHandle->hdmatx); + + /* USART6 interrupt Deinit */ + HAL_NVIC_DisableIRQ(USART6_IRQn); + /* USER CODE BEGIN USART6_MspDeInit 1 */ + + /* USER CODE END USART6_MspDeInit 1 */ + } } /* USER CODE BEGIN 1 */ diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..d9c727f --- /dev/null +++ b/MDK-ARM/.vscode/c_cpp_properties.json @@ -0,0 +1,436 @@ +{ + "configurations": [ + { + "name": "Steering Wheel_Infatry", + "includePath": [ + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\Core\\Inc", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\Drivers\\STM32F4xx_HAL_Driver\\Inc", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\Drivers\\CMSIS\\Include", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\User", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\User\\bsp", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\User\\component", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\User\\device", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\User\\module", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\User\\task", + "d:\\yunha\\git_gimbal\\RM\\Steering Wheel_Infatry\\User\\module\\cmd", + "D:\\Keil_v5\\ARM\\ARMCLANG\\include", + "D:\\Keil_v5\\ARM\\ARMCLANG\\include\\arm_linux", + "D:\\Keil_v5\\ARM\\ARMCLANG\\include\\arm_linux_compat", + "D:\\Keil_v5\\ARM\\ARMCLANG\\include\\libcxx", + 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"__UINTPTR_FMTo__=\"o\"", + "__UINTPTR_FMTu__=\"u\"", + "__UINTPTR_FMTx__=\"x\"", + "__UINTPTR_MAX__=4294967295U", + "__UINTPTR_TYPE__=unsigned int", + "__UINTPTR_WIDTH__=32", + "__UINT_FAST16_FMTX__=\"hX\"", + "__UINT_FAST16_FMTo__=\"ho\"", + "__UINT_FAST16_FMTu__=\"hu\"", + "__UINT_FAST16_FMTx__=\"hx\"", + "__UINT_FAST16_MAX__=65535", + "__UINT_FAST16_TYPE__=unsigned short", + "__UINT_FAST32_FMTX__=\"X\"", + "__UINT_FAST32_FMTo__=\"o\"", + "__UINT_FAST32_FMTu__=\"u\"", + "__UINT_FAST32_FMTx__=\"x\"", + "__UINT_FAST32_MAX__=4294967295U", + "__UINT_FAST32_TYPE__=unsigned int", + "__UINT_FAST64_FMTX__=\"llX\"", + "__UINT_FAST64_FMTo__=\"llo\"", + "__UINT_FAST64_FMTu__=\"llu\"", + "__UINT_FAST64_FMTx__=\"llx\"", + "__UINT_FAST64_MAX__=18446744073709551615ULL", + "__UINT_FAST64_TYPE__=long long unsigned int", + "__UINT_FAST8_FMTX__=\"hhX\"", + "__UINT_FAST8_FMTo__=\"hho\"", + "__UINT_FAST8_FMTu__=\"hhu\"", + "__UINT_FAST8_FMTx__=\"hhx\"", + "__UINT_FAST8_MAX__=255", + "__UINT_FAST8_TYPE__=unsigned char", + "__UINT_LEAST16_FMTX__=\"hX\"", + "__UINT_LEAST16_FMTo__=\"ho\"", + "__UINT_LEAST16_FMTu__=\"hu\"", + "__UINT_LEAST16_FMTx__=\"hx\"", + "__UINT_LEAST16_MAX__=65535", + "__UINT_LEAST16_TYPE__=unsigned short", + "__UINT_LEAST32_FMTX__=\"X\"", + "__UINT_LEAST32_FMTo__=\"o\"", + "__UINT_LEAST32_FMTu__=\"u\"", + "__UINT_LEAST32_FMTx__=\"x\"", + "__UINT_LEAST32_MAX__=4294967295U", + "__UINT_LEAST32_TYPE__=unsigned int", + "__UINT_LEAST64_FMTX__=\"llX\"", + "__UINT_LEAST64_FMTo__=\"llo\"", + "__UINT_LEAST64_FMTu__=\"llu\"", + "__UINT_LEAST64_FMTx__=\"llx\"", + "__UINT_LEAST64_MAX__=18446744073709551615ULL", + "__UINT_LEAST64_TYPE__=long long unsigned int", + "__UINT_LEAST8_FMTX__=\"hhX\"", + "__UINT_LEAST8_FMTo__=\"hho\"", + "__UINT_LEAST8_FMTu__=\"hhu\"", + "__UINT_LEAST8_FMTx__=\"hhx\"", + "__UINT_LEAST8_MAX__=255", + "__UINT_LEAST8_TYPE__=unsigned char", + "__USER_LABEL_PREFIX__=", + "__VERSION__=\"Clang 13.0.0 (ssh://ds-gerrit/armcompiler/llvm-project 1f5770d6f72ee4eba2159092bbf4cbb819be323a)\"", + "__WCHAR_MAX__=4294967295U", + "__WCHAR_TYPE__=unsigned int", + "__WCHAR_UNSIGNED__=1", + "__WCHAR_WIDTH__=32", + "__WINT_MAX__=2147483647", + "__WINT_TYPE__=int", + "__WINT_WIDTH__=32", + "__arm=1", + "__arm__=1", + "__clang__=1", + "__clang_major__=13", + "__clang_minor__=0", + "__clang_patchlevel__=0", + "__clang_version__=\"13.0.0 (ssh://ds-gerrit/armcompiler/llvm-project 1f5770d6f72ee4eba2159092bbf4cbb819be323a)\"", + "__llvm__=1" + ], + "intelliSenseMode": "${default}" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log new file mode 100644 index 0000000..7b14fa3 --- /dev/null +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -0,0 +1,34 @@ +[info] Log at : 2025/12/17|03:52:56|GMT+0800 + +[info] Log at : 2025/12/17|03:53:01|GMT+0800 + +[info] Log at : 2025/12/17|03:59:32|GMT+0800 + +[info] Log at : 2025/12/17|04:06:05|GMT+0800 + +[info] Log at : 2025/12/17|04:09:10|GMT+0800 + +[info] Log at : 2025/12/17|04:10:11|GMT+0800 + +[info] Log at : 2025/12/20|20:30:28|GMT+0800 + +[info] Log at : 2025/12/20|20:30:32|GMT+0800 + +[info] Log at : 2025/12/21|15:10:57|GMT+0800 + +[info] Log at : 2025/12/22|19:44:16|GMT+0800 + +[info] Log at : 2025/12/22|19:51:07|GMT+0800 + +[info] Log at : 2025/12/25|19:51:34|GMT+0800 + +[info] Log at : 2025/12/25|20:51:01|GMT+0800 + +[info] Log at : 2025/12/25|20:57:44|GMT+0800 + +[info] Log at : 2025/12/25|21:27:57|GMT+0800 + +[info] Log at : 2025/12/25|22:10:52|GMT+0800 + +[info] Log at : 2025/12/25|22:11:12|GMT+0800 + diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json new file mode 100644 index 0000000..6709fb3 --- /dev/null +++ b/MDK-ARM/.vscode/settings.json @@ -0,0 +1,23 @@ +{ + "files.associations": { + "__locale": "c", + "locale": "c", + "thread": "c", + "cstdint": "c", + "can.h": "c", + "cmd.h": "c", + "chassis.h": "c", + "remote_control.h": "c", + "shoot.h": "c", + "gimbal.h": "c", + "string.h": "c", + "crc16.h": "c", + "user_math.h": "c", + "cmd_adapter.h": "c", + "ios": "c", + "random": "c", + "*.tcc": "c", + "cmd_behavior.h": "c", + "cmd_types.h": "c" + } +} \ No newline at end of file diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log new file mode 100644 index 0000000..3fdcccd --- /dev/null +++ b/MDK-ARM/.vscode/uv4.log @@ -0,0 +1,19 @@ +*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin' +Build target 'Steering Wheel_Infatry' +Note: source file '..\User\bsp\can.c' - object file renamed from 'Steering Wheel_Infatry\can.o' to 'Steering Wheel_Infatry\can_1.o'.Note: source file '..\User\bsp\gpio.c' - object file renamed from 'Steering Wheel_Infatry\gpio.o' to 'Steering Wheel_Infatry\gpio_1.o'.Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Steering Wheel_Infatry\i2c.o' to 'Steering Wheel_Infatry\i2c_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'Steering Wheel_Infatry\spi.o' to 'Steering Wheel_Infatry\spi_1.o'.Note: source file '..\User\task\ai.c' - object file renamed from 'Steering Wheel_Infatry\ai.o' to 'Steering Wheel_Infatry\ai_1.o'.Note: source file '..\User\task\dr16.c' - object file renamed from 'Steering Wheel_Infatry\dr16.o' to 'Steering Wheel_Infatry\dr16_1.o'.Note: source file '..\User\task\Oid.c' - object file renamed from 'Steering Wheel_Infatry\Oid.o' to 'Steering Wheel_Infatry\oid_1.o'.Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.Note: source file '..\User\module\cmd\cmd_adapter.c' - object file renamed from 'Steering Wheel_Infatry\cmd_adapter.o' to 'Steering Wheel_Infatry\cmd_adapter_1.o'.Note: source file '..\User\module\cmd\cmd_behavior.c' - object file renamed from 'Steering Wheel_Infatry\cmd_behavior.o' to 'Steering Wheel_Infatry\cmd_behavior_1.o'.../User/module/cmd/cmd_adapter.c(1): warning: In file included from...../User\module\cmd\cmd_adapter.h(22): warning: 'CMD_ERR_NULL' macro redefined [-Wmacro-redefined] +#define CMD_ERR_NULL (-2) + ^ +../User\module\cmd\cmd_types.h(18): note: previous definition is here +#define CMD_ERR_NULL (-1) + ^ +../User/module/cmd/cmd_adapter.c(21): warning: implicitly declaring library function 'memset' with type 'void *(void *, int, unsigned int)' [-Wimplicit-function-declaration] + memset(&output->rc, 0, sizeof(CMD_RawInput_RC_t)); + ^ +../User/module/cmd/cmd_adapter.c(21): note: include the header or explicitly provide a declaration for 'memset' +2 warnings generated. +compiling cmd_adapter.c... +linking... +Program Size: Code=59352 RO-data=1276 RW-data=972 ZI-data=117436 +FromELF: creating hex file... +"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 2 Warning(s). +Build Time Elapsed: 00:00:04 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock new file mode 100644 index 0000000..b30faa5 --- /dev/null +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -0,0 +1 @@ +2025/12/27 16:58:40 \ No newline at end of file diff --git a/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha b/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha index 33c71e3..886cd62 100644 --- a/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha +++ b/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- D:\yunha\Steering Wheel_Infatry\User\device + D:\yunha\git_gimbal\RM\Steering Wheel_Infatry\User\task @@ -15,7 +15,7 @@ 38003 Registers - 115 100 + 125 126 346 @@ -101,17 +101,17 @@ -1 - 311 - -117 - 963 - 913 + 0 + 367 + 1447 + 602 0 - 1276 - 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 + 60 + 010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000 @@ -150,11 +150,11 @@ 0 16 - 0300000066000000DE00000011030000 + 03000000660000000201000064020000 16 - B8FFFFFFB20100006C000000D5030000 + A4000000BB0000005801000060010000 @@ -170,11 +170,11 @@ 0 16 - 0300000066000000DE00000011030000 + 03000000660000000201000064020000 16 - B8FFFFFFB20100006C000000D5030000 + A4000000BB000000780100007E020000 @@ -194,7 +194,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -214,7 +214,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -234,7 +234,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -254,7 +254,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -274,7 +274,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -294,7 +294,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -314,7 +314,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -334,7 +334,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -354,7 +354,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -374,7 +374,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -394,7 +394,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -414,7 +414,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -434,7 +434,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -450,11 +450,11 @@ 0 16 - 0300000066000000DE00000011030000 + 03000000660000000201000064020000 16 - B8FFFFFFB20100006C000000D5030000 + A4000000BB000000780100007E020000 @@ -470,11 +470,11 @@ 0 16 - 0300000066000000DE00000011030000 + 03000000660000000201000064020000 16 - B8FFFFFFB20100006C000000D5030000 + A4000000BB000000780100007E020000 @@ -490,11 +490,11 @@ 0 16 - E50000008A020000A00500002A030000 + 0000000095020000A00500002A030000 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -514,7 +514,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -526,15 +526,15 @@ 0 32767 0 - 4096 + 32768 0 16 - E80000008D0200009D05000011030000 + 03000000980200009D05000011030000 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -554,7 +554,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -574,7 +574,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -614,7 +614,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -634,7 +634,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -654,7 +654,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -674,7 +674,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -694,7 +694,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -714,7 +714,7 @@ 16 - 560000006D0000006A020000DD000000 + A4000000BB000000B80200002B010000 @@ -734,7 +734,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -754,7 +754,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -774,7 +774,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -794,7 +794,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -814,7 +814,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -834,7 +834,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -854,7 +854,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -874,7 +874,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -894,7 +894,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -914,7 +914,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -934,7 +934,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -954,7 +954,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -974,7 +974,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -994,7 +994,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -1014,7 +1014,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -1034,7 +1034,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -1054,7 +1054,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -1074,7 +1074,7 @@ 16 - 560000006D0000000A01000012010000 + A4000000BB0000005801000060010000 @@ -1094,7 +1094,7 @@ 16 - 560000006D0000000A01000012010000 + 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898 @@ -3598,130 +3598,4 @@ - - 1 - 0 - - 100 - 11 - - ..\User\task\telecoping.c - 36 - 26 - 46 - 1 - - 0 - - - ..\User\task\gimbal_ctrl.c - 0 - 1 - 1 - 1 - - 0 - - - ..\User\module\gimbal.c - 12 - 349 - 350 - 1 - - 0 - - - ..\User\component\pid.c - 42 - 56 - 70 - 1 - - 0 - - - ..\User\module\telecoping_gimbal.c - 1 - 130 - 136 - 1 - - 0 - - - ..\User\device\motor.h - 28 - 9 - 23 - 1 - - 0 - - - ..\User\device\motor_rm.c - 31 - 133 - 148 - 1 - - 0 - - - startup_stm32f407xx.s - 0 - 163 - 174 - 1 - - 0 - - - ../Core/Src/main.c - 0 - 65 - 73 - 1 - - 0 - - - ..\User\module\config.c - 21 - 274 - 288 - 1 - - 0 - - - ..\User\task\user_task.c - 0 - 1 - 1 - 1 - - 0 - - - ..\User\task\chassis_ctrl.c - 18 - 1 - 19 - 1 - - 0 - - - ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c - 0 - 3657 - 3665 - 1 - - 0 - - - - diff --git a/MDK-ARM/Steering Wheel_Infatry.uvoptx b/MDK-ARM/Steering Wheel_Infatry.uvoptx index 472bba1..a42b2cc 100644 --- a/MDK-ARM/Steering Wheel_Infatry.uvoptx +++ b/MDK-ARM/Steering Wheel_Infatry.uvoptx @@ -158,12 +158,22 @@ 0 1 - eulr_to_send + telescoping_cmd 1 1 - telescoping,0x0A + telescoping + + + 2 + 1 + encoder + + + 3 + 1 + rx_data_oid,0x10 @@ -220,7 +230,7 @@ Application/MDK-ARM - 1 + 0 0 0 0 @@ -892,7 +902,7 @@ component - 1 + 0 0 0 0 @@ -927,18 +937,6 @@ 0 0 0 - ..\User\component\cmd.c - cmd.c - 0 - 0 - - - 7 - 56 - 1 - 0 - 0 - 0 ..\User\component\crc16.c crc16.c 0 @@ -946,7 +944,7 @@ 7 - 57 + 56 1 0 0 @@ -958,7 +956,7 @@ 7 - 58 + 57 1 0 0 @@ -970,7 +968,7 @@ 7 - 59 + 58 1 0 0 @@ -982,7 +980,7 @@ 7 - 60 + 59 1 0 0 @@ -994,7 +992,7 @@ 7 - 61 + 60 1 0 0 @@ -1006,7 +1004,7 @@ 7 - 62 + 61 1 0 0 @@ -1018,7 +1016,7 @@ 7 - 63 + 62 1 0 0 @@ -1030,7 +1028,7 @@ 7 - 64 + 63 1 0 0 @@ -1042,7 +1040,7 @@ 7 - 65 + 64 1 0 0 @@ -1054,7 +1052,7 @@ 7 - 66 + 65 1 0 0 @@ -1064,11 +1062,23 @@ 0 0 + + 7 + 66 + 1 + 0 + 0 + 0 + ..\User\component\crc8.c + crc8.c + 0 + 0 + device - 1 + 0 0 0 0 @@ -1168,33 +1178,45 @@ 0 0 - - - - module - 1 - 0 - 0 - 0 - 9 + 8 75 1 0 0 0 - ..\User\module\chassic.c - chassic.c + ..\User\device\dr16.c + dr16.c 0 0 - 9 + 8 76 1 0 0 0 + ..\User\device\Oid.c + Oid.c + 0 + 0 + + + + + module + 0 + 0 + 0 + 0 + + 9 + 77 + 1 + 0 + 0 + 0 ..\User\module\config.c config.c 0 @@ -1202,7 +1224,7 @@ 9 - 77 + 78 1 0 0 @@ -1214,7 +1236,7 @@ 9 - 78 + 79 1 0 0 @@ -1226,7 +1248,7 @@ 9 - 79 + 80 1 0 0 @@ -1236,17 +1258,29 @@ 0 0 + + 9 + 81 + 1 + 0 + 0 + 0 + ..\User\module\chassis.c + chassis.c + 0 + 0 + task - 1 + 0 0 0 0 10 - 80 + 82 1 0 0 @@ -1258,7 +1292,19 @@ 10 - 81 + 83 + 1 + 0 + 0 + 0 + ..\User\task\dr16.c + dr16.c + 0 + 0 + + + 10 + 84 1 0 0 @@ -1270,7 +1316,7 @@ 10 - 82 + 85 1 0 0 @@ -1282,7 +1328,7 @@ 10 - 83 + 86 1 0 0 @@ -1294,7 +1340,7 @@ 10 - 84 + 87 1 0 0 @@ -1306,7 +1352,7 @@ 10 - 85 + 88 1 0 0 @@ -1318,7 +1364,7 @@ 10 - 86 + 89 1 0 0 @@ -1330,7 +1376,7 @@ 10 - 87 + 90 1 0 0 @@ -1342,7 +1388,7 @@ 10 - 88 + 91 1 0 0 @@ -1352,6 +1398,86 @@ 0 0 + + 10 + 92 + 1 + 0 + 0 + 0 + ..\User\task\Oid.c + Oid.c + 0 + 0 + + + 10 + 93 + 1 + 0 + 0 + 0 + ..\User\task\cmd.c + cmd.c + 0 + 0 + + + + + cmd + 0 + 0 + 0 + 0 + + 11 + 94 + 1 + 0 + 0 + 0 + ..\User\module\cmd\cmd.c + cmd.c + 0 + 0 + + + 11 + 95 + 1 + 0 + 0 + 0 + ..\User\module\cmd\cmd_adapter.c + cmd_adapter.c + 0 + 0 + + + 11 + 96 + 1 + 0 + 0 + 0 + ..\User\module\cmd\cmd_behavior.c + cmd_behavior.c + 0 + 0 + + + 11 + 97 + 5 + 0 + 0 + 0 + ..\User\module\cmd\cmd_types.h + cmd_types.h + 0 + 0 + diff --git a/MDK-ARM/Steering Wheel_Infatry.uvprojx b/MDK-ARM/Steering Wheel_Infatry.uvprojx index c5e99b5..f445537 100644 --- a/MDK-ARM/Steering Wheel_Infatry.uvprojx +++ b/MDK-ARM/Steering Wheel_Infatry.uvprojx @@ -340,7 +340,7 @@ USE_HAL_DRIVER,STM32F407xx - ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../User;../User/bsp;../User/component;../User/device;../User/module;../User/task + ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../User;../User/bsp;../User/component;../User/device;../User/module;../User/task;../User/module/cmd @@ -1773,11 +1773,6 @@ 1 ..\User\component\capacity.c - - cmd.c - 1 - ..\User\component\cmd.c - crc16.c 1 @@ -1833,6 +1828,11 @@ 1 ..\User\component\calc_lib.c + + crc8.c + 1 + ..\User\component\crc8.c + @@ -1878,16 +1878,21 @@ 1 ..\User\device\ai.c + + dr16.c + 1 + ..\User\device\dr16.c + + + Oid.c + 1 + ..\User\device\Oid.c + module - - chassic.c - 1 - ..\User\module\chassic.c - config.c 1 @@ -1908,6 +1913,11 @@ 1 ..\User\module\telecoping_gimbal.c + + chassis.c + 1 + ..\User\module\chassis.c + @@ -1918,6 +1928,11 @@ 1 ..\User\task\ai.c + + dr16.c + 1 + ..\User\task\dr16.c + atti_esti.c 1 @@ -1958,6 +1973,41 @@ 1 ..\User\task\user_task.c + + Oid.c + 1 + ..\User\task\Oid.c + + + cmd.c + 1 + ..\User\task\cmd.c + + + + + cmd + + + cmd.c + 1 + ..\User\module\cmd\cmd.c + + + cmd_adapter.c + 1 + ..\User\module\cmd\cmd_adapter.c + + + cmd_behavior.c + 1 + ..\User\module\cmd\cmd_behavior.c + + + cmd_types.h + 5 + ..\User\module\cmd\cmd_types.h + diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf index 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z>NBensBmY3@#KI97B8qQDjiimzi1S%xSh)zV)M%@^Xy^8Bd4-M1#`#DFPbMGC(RF) zo0W;iz;XGdq5kRVT7mU~Lwk@e_}}k?v`1uKuz3Cg8J$+%;(}n=0IgWPf^I=YC@rtj zyq0Lhx7SL8v&*#klvg>wM6=$&Xr5lr3vS~RjT`Qu*cr4j`grpYg^ZQxmCiOXvhwg1IG5?}I|NhrL?OKs}NqycG6Qg~@wso(AYH5Glv16fU1A1N$6PfRFX4Zj z6I}ndVWqBZH8Project: -D:\yunha\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx -Project File Date: 11/18/2025 +D:\yunha\git_gimbal\RM\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx +Project File Date: 12/27/2025

Output:

*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin' @@ -32,11 +32,164 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'Steering Whee Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Steering Wheel_Infatry\i2c.o' to 'Steering Wheel_Infatry\i2c_1.o'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'Steering Wheel_Infatry\spi.o' to 'Steering Wheel_Infatry\spi_1.o'. Note: source file '..\User\task\ai.c' - object file renamed from 'Steering Wheel_Infatry\ai.o' to 'Steering Wheel_Infatry\ai_1.o'. +Note: source file '..\User\task\dr16.c' - object file renamed from 'Steering Wheel_Infatry\dr16.o' to 'Steering Wheel_Infatry\dr16_1.o'. +Note: source file '..\User\task\Oid.c' - object file renamed from 'Steering Wheel_Infatry\Oid.o' to 'Steering Wheel_Infatry\oid_1.o'. +Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'. +Note: source file '..\User\module\cmd\cmd_adapter.c' - object file renamed from 'Steering Wheel_Infatry\cmd_adapter.o' to 'Steering Wheel_Infatry\cmd_adapter_1.o'. +Note: source file '..\User\module\cmd\cmd_behavior.c' - object file renamed from 'Steering Wheel_Infatry\cmd_behavior.o' to 'Steering Wheel_Infatry\cmd_behavior_1.o'. +compiling stm32f4xx_it.c... +compiling can.c... +compiling dwt.c... +compiling mm.c... +compiling ahrs.c... +compiling uart.c... +compiling crc16.c... +compiling capacity.c... +compiling i2c.c... +compiling filter.c... +compiling error_detect.c... +compiling freertos.c... +compiling gpio.c... +compiling time.c... +compiling pwm.c... +compiling spi.c... +compiling limiter.c... +compiling freertos_cli.c... +compiling mixer.c... +compiling pid.c... +compiling user_math.c... +compiling ui.c... +compiling crc8.c... +compiling motor_rm.c... +compiling motor.c... +compiling bmi088.c... +compiling ist8310.c... +compiling dr16.c... compiling config.c... +compiling motor_dm.c... +../User/device/ai.c(20): warning: incompatible pointer types passing 'struct VisionToGimbal *' to parameter of type 'uint8_t *' (aka 'unsigned char *') [-Wincompatible-pointer-types] + if (BSP_UART_Receive(BSP_UART_AI,&ai->RX,sizeof(ai->RX), true)==HAL_OK) { + ^~~~~~~ +../User\bsp/uart.h(63): note: passing argument to parameter 'data' here +int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); + ^ +../User/device/ai.c(60): warning: implicit declaration of function 'CRC16_Calc' is invalid in C99 [-Wimplicit-function-declaration] + ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t),ai->TX.crc16); + ^ +../User/device/ai.c(61): warning: implicit declaration of function 'CRC16_Verify' is invalid in C99 [-Wimplicit-function-declaration] + if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){ + ^ +../User/device/ai.c(69): warning: incompatible pointer types passing 'struct GimbalToVision *' to parameter of type 'uint8_t *' (aka 'unsigned char *') [-Wincompatible-pointer-types] + if (BSP_UART_Transmit(BSP_UART_AI,&ai->TX,sizeof(ai->TX), true)==HAL_OK) + ^~~~~~~ +../User\bsp/uart.h(62): note: passing argument to parameter 'data' here +int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); + ^ +../User/device/ai.c(81): warning: non-void function does not return a value in all control paths [-Wreturn-type] +} +^ +5 warnings generated. +compiling ai.c... +../User/device/Oid.c(142): warning: implicitly declaring library function 'memset' with type 'void *(void *, int, unsigned int)' [-Wimplicit-function-declaration] + memset(can_managers[can], 0, sizeof(OID_CANManager_t)); + ^ +../User/device/Oid.c(142): note: include the header or explicitly provide a declaration for 'memset' +../User/device/Oid.c(189): warning: implicitly declaring library function 'memcpy' with type 'void *(void *, const void *, unsigned int)' [-Wimplicit-function-declaration] + memcpy(&encoder->param, param, sizeof(OID_Param_t)); + ^ +../User/device/Oid.c(189): note: include the header or explicitly provide a declaration for 'memcpy' +2 warnings generated. +compiling Oid.c... +compiling motor_lz.c... +../User/module/gimbal.c(302): warning: non-void function does not return a value in all control paths [-Wreturn-type] +} +^ +1 warning generated. +compiling gimbal.c... +compiling shoot.c... +../User/module/telecoping_gimbal.c(57): warning: incompatible pointer types passing 'float *' to parameter of type 'AHRS_Eulr_t *' [-Wincompatible-pointer-types] + AHRS_ResetEulr(&(t->setpoint.telescoping)); /* 切换模式后重置设定值 */ + ^~~~~~~~~~~~~~~~~~~~~~~~~~ +../User\component/ahrs.h(106): note: passing argument to parameter 'eulr' here +void AHRS_ResetEulr(AHRS_Eulr_t *eulr); + ^ +../User/module/telecoping_gimbal.c(157): warning: non-void function does not return a value in all control paths [-Wreturn-type] +} +^ +2 warnings generated. +compiling telecoping_gimbal.c... +compiling ai.c... +compiling dr16.c... +../User/module/chassis.c(73): warning: implicit declaration of function 'srand' is invalid in C99 [-Wimplicit-function-declaration] + srand(now); + ^ +../User/module/chassis.c(74): warning: implicit declaration of function 'rand' is invalid in C99 [-Wimplicit-function-declaration] + c->wz_multi = (rand() % 2) ? -1 : 1; + ^ +2 warnings generated. +compiling chassis.c... +compiling atti_esti.c... +compiling chassis_ctrl.c... +compiling gimbal_ctrl.c... +compiling remote_ctrl.c... +compiling shoot_ctrl.c... +compiling telecoping.c... +compiling init.c... +compiling user_task.c... +compiling cmd.c... +compiling Oid.c... +../User/module/cmd/cmd_adapter.c(1): warning: In file included from... +../User\module\cmd\cmd_adapter.h(22): warning: 'CMD_ERR_NULL' macro redefined [-Wmacro-redefined] +#define CMD_ERR_NULL (-2) + ^ +../User\module\cmd\cmd_types.h(18): note: previous definition is here +#define CMD_ERR_NULL (-1) + ^ +../User/module/cmd/cmd_adapter.c(21): warning: implicitly declaring library function 'memset' with type 'void *(void *, int, unsigned int)' [-Wimplicit-function-declaration] + memset(&output->rc, 0, sizeof(CMD_RawInput_RC_t)); + ^ +../User/module/cmd/cmd_adapter.c(21): note: include the header or explicitly provide a declaration for 'memset' +2 warnings generated. +compiling cmd_adapter.c... +../User/module/cmd/cmd.c(108): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration] + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS); + ^ +../User/module/cmd/cmd.c(125): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration] + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL); + ^ +../User/module/cmd/cmd.c(138): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration] + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_SHOOT); + ^ +../User/module/cmd/cmd.c(162): warning: implicit declaration of function 'CMD_Adapter_InitAll' is invalid in C99 [-Wimplicit-function-declaration] + CMD_Adapter_InitAll(); + ^ +../User/module/cmd/cmd.c(165): warning: implicit declaration of function 'CMD_Behavior_Init' is invalid in C99 [-Wimplicit-function-declaration] + CMD_Behavior_Init(); + ^ +../User/module/cmd/cmd.c(180): warning: implicit declaration of function 'CMD_Adapter_GetInput' is invalid in C99 [-Wimplicit-function-declaration] + CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input); + ^ +../User/module/cmd/cmd.c(233): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration] + CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE); + ^ +../User/module/cmd/cmd.c(244): warning: implicit declaration of function 'BSP_TIME_Get_us' is invalid in C99 [-Wimplicit-function-declaration] + uint64_t now_us = BSP_TIME_Get_us(); + ^ +8 warnings generated. +compiling cmd.c... +../User/module/cmd/cmd_behavior.c(3): warning: In file included from... +../User\module/cmd/cmd_adapter.h(22): warning: 'CMD_ERR_NULL' macro redefined [-Wmacro-redefined] +#define CMD_ERR_NULL (-2) + ^ +../User\module\cmd\cmd_types.h(18): note: previous definition is here +#define CMD_ERR_NULL (-1) + ^ +1 warning generated. +compiling cmd_behavior.c... linking... -Program Size: Code=57872 RO-data=1196 RW-data=908 ZI-data=116804 +Program Size: Code=59440 RO-data=1316 RW-data=972 ZI-data=117444 FromELF: creating hex file... -"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 0 Warning(s). +"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 23 Warning(s).

Software Packages used:

@@ -60,7 +213,7 @@ 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: 00:00:08 diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex index a6020fa..0653329 100644 --- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex +++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex @@ -1,33 +1,33 @@ :020000040800F2 -:10000000E0E5012095020008BD7200080D620008BD -:100010005D710008152100083D93000800000000F4 -:1000200000000000000000000000000091790008BE -:100030003D2F0008000000003175000815850008FC -:10004000AF020008AF020008AF020008AF020008CC -:10005000AF020008AF020008412F0008AF020008FD -:10006000AF0200084D2F0008592F0008AF0200080A -:10007000512E0008AF020008AF020008AF020008CE -:10008000AF020008AF020008AF02000839210008E3 -:100090001921000829210008AF020008652F000877 -:1000A000AF020008E1850008AF020008AF020008B7 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+:10EE300029B82920292859343DBFDB0FC91C29ECEA +:10EE40001C9A99991811192869B8395C1904113953 +:10EE500080292029440C119A99194069E881A94018 +:10EE600029A8A904392C3990992C793029803C3D66 +:10EE70000A576C892069EC5BB443A0D920B9B00172 +:10EE80001D1201540102015A02085A03085A0408CB +:10EE9000540502025A06085A07085A080801101BAE +:10EEA0007AC456591B698C6159AC999C290C1EC8AF +:10EEB000419A999918111A40C4123E8C409C46B848 +:10EEC0002BF041841AAA01410024F400FEF7BBB8DC +:10EED000DD098A3BDE7772BC0000010010000000F3 :040000050800018965 :00000001FF diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm index f39374d..7421443 100644 --- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm +++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm @@ -3,16 +3,16 @@ Static Call Graph - [Steering Wheel_Infatry\Steering Wheel_Infatry.axf]

Static Call Graph for image Steering Wheel_Infatry\Steering Wheel_Infatry.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Nov 26 14:17:25 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Dec 27 17:00:32 2025

-

Maximum Stack Usage = 368 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

+

Maximum Stack Usage = 328 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

-Task_chassis_ctrl ⇒ Chassis_update ⇒ MOTOR_RM_UpdateAll ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick +Task_chassis_ctrl ⇒ Chassis_Control ⇒ Chassis_speed_calculate ⇒ __hardfp_atan2 ⇒ atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul

Functions with no stack information

@@ -23,7 +23,7 @@ Mutually Recursive functions

  • HardFault_Handler   ⇒   HardFault_Handler
  • MemManage_Handler   ⇒   MemManage_Handler
  • NMI_Handler   ⇒   NMI_Handler
    -
  • UART_EndRxTransfer   ⇒   UART_EndRxTransfer
    +
  • UART_EndRxTransfer   ⇒   UART_EndRxTransfer
  • UsageFault_Handler   ⇒   UsageFault_Handler

    @@ -57,12 +57,12 @@ Function Pointers

  • DMA1_Stream6_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • DMA1_Stream7_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream0_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) -
  • DMA2_Stream1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) +
  • DMA2_Stream1_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream2_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream3_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) -
  • DMA2_Stream6_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) +
  • DMA2_Stream6_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream7_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • DebugMon_Handler from stm32f4xx_it.o(.text.DebugMon_Handler) referenced from startup_stm32f407xx.o(RESET)
  • ETH_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) @@ -134,9 +134,12 @@ Function Pointers
  • TIM8_TRG_COM_TIM14_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • TIM8_UP_TIM13_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • Task_Init from init.o(.text.Task_Init) referenced 2 times from freertos.o(.text.MX_FREERTOS_Init) +
  • Task_Oid from oid_1.o(.text.Task_Oid) referenced 2 times from init.o(.text.Task_Init)
  • Task_ai from ai_1.o(.text.Task_ai) referenced 2 times from init.o(.text.Task_Init)
  • Task_atti_esti from atti_esti.o(.text.Task_atti_esti) referenced 2 times from init.o(.text.Task_Init)
  • Task_chassis_ctrl from chassis_ctrl.o(.text.Task_chassis_ctrl) referenced 2 times from init.o(.text.Task_Init) +
  • Task_cmd from cmd.o(.text.Task_cmd) referenced 2 times from init.o(.text.Task_Init) +
  • Task_dr16 from dr16_1.o(.text.Task_dr16) referenced 2 times from init.o(.text.Task_Init)
  • Task_gimbal_ctrl from gimbal_ctrl.o(.text.Task_gimbal_ctrl) referenced 2 times from init.o(.text.Task_Init)
  • Task_remote_ctrl from remote_ctrl.o(.text.Task_remote_ctrl) referenced 2 times from init.o(.text.Task_Init)
  • Task_shoot_ctrl from shoot_ctrl.o(.text.Task_shoot_ctrl) referenced 2 times from init.o(.text.Task_Init) @@ -147,174 +150,185 @@ Function Pointers
  • USART1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • USART2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • USART3_IRQHandler from stm32f4xx_it.o(.text.USART3_IRQHandler) referenced from startup_stm32f407xx.o(RESET) -
  • USART6_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) +
  • USART6_IRQHandler from stm32f4xx_it.o(.text.USART6_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • UsageFault_Handler from stm32f4xx_it.o(.text.UsageFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  • WWDG_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • __main from __main.o(!!!main) referenced from startup_stm32f407xx.o(.text) -
  • prvIdleTask from tasks.o(.text.prvIdleTask) referenced 2 times from tasks.o(.text.vTaskStartScheduler) -
  • prvTaskExitError from port.o(.text.prvTaskExitError) referenced 2 times from port.o(.text.pxPortInitialiseStack) -
  • prvTimerTask from timers.o(.text.prvTimerTask) referenced 2 times from timers.o(.text.xTimerCreateTimerTask) +
  • prvIdleTask from tasks.o(.text.prvIdleTask) referenced 2 times from tasks.o(.text.vTaskStartScheduler) +
  • prvTaskExitError from port.o(.text.prvTaskExitError) referenced 2 times from port.o(.text.pxPortInitialiseStack) +
  • prvTimerTask from timers.o(.text.prvTimerTask) referenced 2 times from timers.o(.text.xTimerCreateTimerTask)

    Global Symbols

    __main (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main)) -

    [Calls]