yunhai/Steering_Wheel_Infatry
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cmd遥控器接收成，差各模块cmd

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yunhai8432 2026-01-22 01:32:34 +08:00
parent 4cd28e17ca
commit 657eea0539
45 changed files with 8995 additions and 8833 deletions
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4
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -40,3 +40,7 @@
[info] Log at : 2026/1/15|19:09:36|GMT+0800
[info] Log at : 2026/1/21|22:01:57|GMT+0800
[info] Log at : 2026/1/21|22:02:02|GMT+0800

19
MDK-ARM/.vscode/uv4.log vendored
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@ -1,11 +1,16 @@
*** 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'.compiling shoot.c...
linking...
Steering Wheel_Infatry\Steering Wheel_Infatry.axf: Error: L6218E: Undefined symbol Chassis_UpdateFeedback (referred from shoot_ctrl.o).
Not enough information to list image symbols.
Not enough information to list load addresses in the image map.
Finished: 2 information, 0 warning and 1 error messages.
"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 1 Error(s), 0 Warning(s).
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\ET16s.c' - object file renamed from 'Steering Wheel_Infatry\ET16s.o' to 'Steering Wheel_Infatry\et16s_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\step_motor.c' - object file renamed from 'Steering Wheel_Infatry\step_motor.o' to 'Steering Wheel_Infatry\step_motor_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'.../User/module/cmd/cmd_adapter.c(12): warning: 'CMD_RC_DEVICE_TYPE' macro redefined [-Wmacro-redefined]
#define CMD_RC_DEVICE_TYPE 2
^
../User/module/cmd/cmd_adapter.h(73): note: previous definition is here
#define CMD_RC_DEVICE_TYPE 3 /* 0:DR16, 1:AT9S, 2:VT13 */
^
../User/module/cmd/cmd_adapter.c(157): error: use of undeclared identifier 'g_adapter_ET916s'
CMD_Adapter_Register(&g_adapter_ET916s);
^
1 warning and 1 error generated.
compiling cmd_adapter.c...
"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 1 Error(s), 1 Warning(s).
Target not created.
Build Time Elapsed: 00:00:03

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2026/1/15 19:27:35
2026/1/21 23:45:46

206
MDK-ARM/Steering Wheel_Infatry.uvguix.yunha
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60
MDK-ARM/Steering Wheel_Infatry.uvoptx
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@ -168,7 +168,27 @@
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>cmd</ItemText>
<ItemText>cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_et16s</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_for_gimbal</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_for_chassis</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_for_shoot</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
@ -781,7 +801,7 @@
<Group>
<GroupName>bsp</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1292,18 +1312,6 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\task\chassis_ctrl.c</PathWithFileName>
<FilenameWithoutPath>chassis_ctrl.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>84</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\task\ai.c</PathWithFileName>
<FilenameWithoutPath>ai.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
@ -1311,7 +1319,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>85</FileNumber>
<FileNumber>84</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1323,7 +1331,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>86</FileNumber>
<FileNumber>85</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1335,7 +1343,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>87</FileNumber>
<FileNumber>86</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1347,7 +1355,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>88</FileNumber>
<FileNumber>87</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1359,7 +1367,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>89</FileNumber>
<FileNumber>88</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1369,6 +1377,18 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>89</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\task\chassis_ctrl.c</PathWithFileName>
<FilenameWithoutPath>chassis_ctrl.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>90</FileNumber>
@ -1421,7 +1441,7 @@
<Group>
<GroupName>cmd</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

10
MDK-ARM/Steering Wheel_Infatry.uvprojx
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@ -1928,11 +1928,6 @@
<Group>
<GroupName>task</GroupName>
<Files>
<File>
<FileName>chassis_ctrl.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\chassis_ctrl.c</FilePath>
</File>
<File>
<FileName>ai.c</FileName>
<FileType>1</FileType>
@ -1963,6 +1958,11 @@
<FileType>1</FileType>
<FilePath>..\User\task\gimbal_ctrl.c</FilePath>
</File>
<File>
<FileName>chassis_ctrl.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\chassis_ctrl.c</FilePath>
</File>
<File>
<FileName>shoot_ctrl.c</FileName>
<FileType>1</FileType>

BIN
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf
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Binary file not shown.

6
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.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_gimbal\RM\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx
Project File Date: 01/21/2026
Project File Date: 01/22/2026
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@ -36,10 +36,6 @@ Note: source file '..\User\task\ET16s.c' - object file renamed from 'Steering Wh
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\step_motor.c' - object file renamed from 'Steering Wheel_Infatry\step_motor.o' to 'Steering Wheel_Infatry\step_motor_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'.
compiling ET16s.c...
linking...
Program Size: Code=61288 RO-data=1480 RW-data=1084 ZI-data=118980
FromELF: creating hex file...
"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>

7088
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
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5664
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm
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File diff suppressed because it is too large Load Diff

2
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.lnp
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@ -81,13 +81,13 @@
"steering wheel_infatry\shoot.o"
"steering wheel_infatry\chassis.o"
"steering wheel_infatry\step_motor.o"
"steering wheel_infatry\chassis_ctrl.o"
"steering wheel_infatry\ai_1.o"
"steering wheel_infatry\cmd.o"
"steering wheel_infatry\et16s_1.o"
"steering wheel_infatry\dr16_1.o"
"steering wheel_infatry\atti_esti.o"
"steering wheel_infatry\gimbal_ctrl.o"
"steering wheel_infatry\chassis_ctrl.o"
"steering wheel_infatry\shoot_ctrl.o"
"steering wheel_infatry\step_motor_1.o"
"steering wheel_infatry\init.o"

4226
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map
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File diff suppressed because it is too large Load Diff

274
MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep
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@ -2205,13 +2205,13 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
I (..\User\device\motor_rm.h)(0x69707226)
I (..\User\bsp\uart.h)(0x69707226)
I (..\Core\Inc\usart.h)(0x69455093)
F (..\User\device\ET16s.c)(0x6970D4A4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/et16s.o" -MD)
I (..\User\device\ET16s.h)(0x6970D489)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
F (..\User\device\ET16s.c)(0x69710BD2)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/et16s.o" -MD)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\device\device.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\uart.h)(0x69707226)
I (..\Core\Inc\usart.h)(0x69455093)
@ -2417,7 +2417,7 @@ I (..\User\bsp\time.h)(0x69707226)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
F (..\User\module\config.c)(0x696E2066)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/config.o" -MD)
F (..\User\module\config.c)(0x69710365)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/config.o" -MD)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@ -2485,10 +2485,10 @@ I (..\User\module\shoot.h)(0x6968CB81)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\device\bmi088.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x696B301E)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x69710302)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
F (..\User\module\gimbal.c)(0x69455D21)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/gimbal.o" -MD)
I (..\User\module\gimbal.h)(0x69455D3C)
@ -2617,10 +2617,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\bsp\time.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x696B301E)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x69710302)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
@ -2734,80 +2734,6 @@ I (..\User\bsp\gpio.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x69707226)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
F (..\User\task\chassis_ctrl.c)(0x6970A4F8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/chassis_ctrl.o" -MD)
I (..\User\task\user_task.h)(0x6970D2DA)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6919977C)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x69707226)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x69707226)
I (..\User\component\ahrs.h)(0x69707226)
I (..\User\device\bmi088.h)(0x69707226)
I (..\User\device\device.h)(0x69707226)
I (..\User\device\motor_rm.h)(0x69707226)
I (..\User\device\motor.h)(0x69707226)
I (..\User\bsp\can.h)(0x69707226)
I (..\Core\Inc\can.h)(0x69184414)
I (..\Core\Inc\main.h)(0x696E270D)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x691865D1)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x69707226)
I (..\User\bsp\mm.h)(0x69707226)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\module\config.h)(0x696E2066)
I (..\User\module\gimbal.h)(0x69455D3C)
I (..\User\device\motor_dm.h)(0x69707226)
I (..\User\module\shoot.h)(0x6968CB81)
I (..\User\module\cmd\cmd.h)(0x696B301E)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
F (..\User\task\ai.c)(0x6970A4F8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/ai_1.o" -MD)
I (..\User\task\user_task.h)(0x6970D2DA)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
@ -2822,7 +2748,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
F (..\User\task\cmd.c)(0x6970D434)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/cmd.o" -MD)
F (..\User\task\cmd.c)(0x69710B51)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/cmd.o" -MD)
I (..\User\task\user_task.h)(0x6970D2DA)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@ -2836,13 +2762,13 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\User\device\ET16s.h)(0x6970D489)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\device\device.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x69707226)
I (..\User\module\config.h)(0x696E2066)
I (..\User\module\gimbal.h)(0x69455D3C)
I (..\User\component\ahrs.h)(0x69707226)
@ -2893,9 +2819,9 @@ I (..\User\module\shoot.h)(0x6968CB81)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\device\bmi088.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x696B301E)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\module\cmd\cmd.h)(0x69710302)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
F (..\User\task\ET16s.c)(0x6970D344)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/et16s_1.o" -MD)
I (..\User\task\user_task.h)(0x6970D2DA)
@ -2911,7 +2837,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\User\device\ET16s.h)(0x6970D489)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\device\device.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
F (..\User\task\dr16.c)(0x6970D2A6)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/dr16_1.o" -MD)
I (..\User\task\user_task.h)(0x6970D2DA)
@ -3070,10 +2997,84 @@ I (..\User\module\shoot.h)(0x6968CB81)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\device\bmi088.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x696B301E)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x69710302)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
F (..\User\task\chassis_ctrl.c)(0x6970A4F8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/chassis_ctrl.o" -MD)
I (..\User\task\user_task.h)(0x6970D2DA)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6919977C)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x69707226)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x69707226)
I (..\User\component\ahrs.h)(0x69707226)
I (..\User\device\bmi088.h)(0x69707226)
I (..\User\device\device.h)(0x69707226)
I (..\User\device\motor_rm.h)(0x69707226)
I (..\User\device\motor.h)(0x69707226)
I (..\User\bsp\can.h)(0x69707226)
I (..\Core\Inc\can.h)(0x69184414)
I (..\Core\Inc\main.h)(0x696E270D)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x691865D1)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x69707226)
I (..\User\bsp\mm.h)(0x69707226)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\module\config.h)(0x696E2066)
I (..\User\module\gimbal.h)(0x69455D3C)
I (..\User\device\motor_dm.h)(0x69707226)
I (..\User\module\shoot.h)(0x6968CB81)
I (..\User\module\cmd\cmd.h)(0x69710302)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
F (..\User\task\shoot_ctrl.c)(0x6970A4F8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/shoot_ctrl.o" -MD)
I (..\User\task\user_task.h)(0x6970D2DA)
@ -3146,10 +3147,10 @@ I (..\User\device\motor_rm.h)(0x69707226)
I (..\User\module\shoot.h)(0x6968CB81)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\device\bmi088.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x696B301E)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x69710302)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
F (..\User\task\step_motor.c)(0x6970A4F8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/step_motor_1.o" -MD)
I (..\User\task\user_task.h)(0x6970D2DA)
@ -3233,7 +3234,7 @@ I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\device\bmi088.h)(0x69707226)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\device\et16s.h)(0x6970D489)
I (..\User\device\et16s.h)(0x6970FB62)
F (..\User\task\user_task.c)(0x6970A4F8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/user_task.o" -MD)
I (..\User\task\user_task.h)(0x6970D2DA)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
@ -3248,23 +3249,23 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
F (..\User\module\cmd\cmd.c)(0x696B3047)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/cmd_1.o" -MD)
I (..\User\module\cmd\cmd.h)(0x696B301E)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
F (..\User\module\cmd\cmd.c)(0x69710529)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/cmd_1.o" -MD)
I (..\User\module\cmd\cmd.h)(0x69710302)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\device\device.h)(0x69707226)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x69707226)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x69707226)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x69707226)
I (..\User\component\ahrs.h)(0x69707226)
I (..\User\device\bmi088.h)(0x69707226)
@ -3322,36 +3323,33 @@ I (..\User\device\motor_dm.h)(0x69707226)
I (..\User\module\shoot.h)(0x6968CB81)
I (..\User\bsp\time.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\module\cmd\cmd_adapter.c)(0x695FA70F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/cmd_adapter.o" -MD)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
F (..\User\module\cmd\cmd_adapter.c)(0x69710D04)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/cmd_adapter.o" -MD)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\device\device.h)(0x69707226)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\module\cmd\cmd_behavior.c)(0x696B2FEB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/cmd_behavior.o" -MD)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\module\cmd\cmd.h)(0x696B301E)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\module\cmd\cmd.h)(0x69710302)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\device\device.h)(0x69707226)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x69707226)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x69707226)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x69707226)
I (..\User\component\ahrs.h)(0x69707226)
I (..\User\device\bmi088.h)(0x69707226)
@ -3409,22 +3407,22 @@ I (..\User\device\motor_dm.h)(0x69707226)
I (..\User\module\shoot.h)(0x6968CB81)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\module\cmd\cmd_example.c)(0x695FA70F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/cmd_example.o" -MD)
I (..\User\module\cmd\cmd.h)(0x696B301E)
I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
I (..\User\module\cmd\cmd.h)(0x69710302)
I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
I (..\User\device\dr16.h)(0x69707226)
I (..\User\module\cmd\cmd_adapter.h)(0x69710143)
I (..\User\device\ET16s.h)(0x6970FB62)
I (..\User\device\device.h)(0x69707226)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x69707226)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
I (..\User\module\chassis.h)(0x69455F1A)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x69707226)
I (..\User\component\user_math.h)(0x69707226)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x69707226)
I (..\User\component\ahrs.h)(0x69707226)
I (..\User\device\bmi088.h)(0x69707226)

6
MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.d
View File

@ -60,6 +60,6 @@ steering\ wheel_infatry/chassis_ctrl.o: ..\User\task\chassis_ctrl.c \
..\User\module\config.h ..\User\module\gimbal.h \
..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
..\User\device\device.h ..\User\module\cmd\cmd_behavior.h \
..\User\module\gimbal.h ..\User\module\shoot.h
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
..\User\module\shoot.h

BIN
MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.o
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7
MDK-ARM/Steering Wheel_Infatry/cmd.d
View File

@ -12,7 +12,7 @@ steering\ wheel_infatry/cmd.o: ..\User\task\cmd.c \
..\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\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 \
@ -21,9 +21,8 @@ steering\ wheel_infatry/cmd.o: ..\User\task\cmd.c \
..\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\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 \
..\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 \

BIN
MDK-ARM/Steering Wheel_Infatry/cmd.o
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12
MDK-ARM/Steering Wheel_Infatry/cmd_1.d
View File

@ -2,17 +2,17 @@ steering\ wheel_infatry/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\dr16.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\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\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\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 \
..\User\device\bmi088.h ..\User\device\device.h \
..\User\device\bmi088.h ..\User\component\user_math.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \

BIN
MDK-ARM/Steering Wheel_Infatry/cmd_1.o
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6
MDK-ARM/Steering Wheel_Infatry/cmd_adapter.d
View File

@ -1,10 +1,8 @@
steering\ wheel_infatry/cmd_adapter.o: ..\User\module\cmd\cmd_adapter.c \
..\User\module\cmd\cmd_adapter.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\device\dr16.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.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\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 \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h

BIN
MDK-ARM/Steering Wheel_Infatry/cmd_adapter.o
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18
MDK-ARM/Steering Wheel_Infatry/cmd_behavior.d
View File

@ -3,20 +3,18 @@ steering\ wheel_infatry/cmd_behavior.o: ..\User\module\cmd\cmd_behavior.c \
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\dr16.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\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\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\device.h ..\User\device\motor_rm.h \
..\User\device\motor.h ..\User\device\motor.h ..\User\bsp\can.h \
..\Core\Inc\can.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.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 \
..\User\device\bmi088.h ..\User\component\user_math.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\motor.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 \

BIN
MDK-ARM/Steering Wheel_Infatry/cmd_behavior.o
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12
MDK-ARM/Steering Wheel_Infatry/cmd_example.d
View File

@ -2,17 +2,17 @@ steering\ wheel_infatry/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\dr16.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\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\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\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 \
..\User\device\bmi088.h ..\User\device\device.h \
..\User\device\bmi088.h ..\User\component\user_math.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \

7
MDK-ARM/Steering Wheel_Infatry/config.d
View File

@ -60,8 +60,7 @@ steering\ wheel_infatry/config.o: ..\User\module\config.c \
..\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\device\dr16.h \
..\User\device\ET16s.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\device.h ..\User\module\cmd\cmd_behavior.h \
..\User\module\gimbal.h ..\User\module\shoot.h \
..\User\module\chassis.h
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
..\User\module\shoot.h ..\User\module\chassis.h

BIN
MDK-ARM/Steering Wheel_Infatry/config.o
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9
MDK-ARM/Steering Wheel_Infatry/et16s.d
View File

@ -1,10 +1,9 @@
steering\ wheel_infatry/et16s.o: ..\User\device\ET16s.c \
..\User\device\ET16s.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\User\device\ET16s.h ..\User\device\device.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\User\device\device.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \
..\Core\Inc\usart.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \

BIN
MDK-ARM/Steering Wheel_Infatry/et16s.o
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2
MDK-ARM/Steering Wheel_Infatry/et16s_1.d
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@ -12,5 +12,5 @@ steering\ wheel_infatry/et16s_1.o: ..\User\task\ET16s.c \
..\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\ET16s.h ..\User\device\device.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h

BIN
MDK-ARM/Steering Wheel_Infatry/et16s_1.o
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5
MDK-ARM/Steering Wheel_Infatry/gimbal_ctrl.d
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@ -62,6 +62,5 @@ steering\ wheel_infatry/gimbal_ctrl.o: ..\User\task\gimbal_ctrl.c \
..\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\device\dr16.h ..\User\device\device.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
..\User\module\shoot.h
..\User\device\ET16s.h ..\User\module\cmd\cmd_behavior.h \
..\User\module\gimbal.h ..\User\module\shoot.h

BIN
MDK-ARM/Steering Wheel_Infatry/init.o
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11
MDK-ARM/Steering Wheel_Infatry/shoot.d
View File

@ -57,10 +57,9 @@ steering\ wheel_infatry/shoot.o: ..\User\module\shoot.c \
..\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\dr16.h \
..\User\device\ET16s.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\device.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\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

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MDK-ARM/Steering Wheel_Infatry/shoot.o
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5
MDK-ARM/Steering Wheel_Infatry/shoot_ctrl.d
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@ -63,6 +63,5 @@ steering\ wheel_infatry/shoot_ctrl.o: ..\User\task\shoot_ctrl.c \
..\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\device\dr16.h ..\User\device\device.h \
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
..\User\module\shoot.h
..\User\device\ET16s.h ..\User\module\cmd\cmd_behavior.h \
..\User\module\gimbal.h ..\User\module\shoot.h

BIN
MDK-ARM/Steering Wheel_Infatry/shoot_ctrl.o
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5
User/device/ET16s.c
View File

@ -1,5 +1,5 @@
/* Includes ----------------------------------------------------------------- */
#include "ET16s.h"
#include "device/ET16s.h"
#include "device/device.h"
#include <string.h>
//#include "error_detect.h"
@ -163,7 +163,7 @@ int8_t ET16S_ParseRC(ET16s_t *et16s) {
// /*离线处理，和dr16位置不同*/
if(et16s->raw_data.sw[6]==1695)
{
ET16s_HandleOffline(et16s);
// ET16s_HandleOffline(et16s);
// memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信
}
#endif
@ -176,6 +176,7 @@ int8_t ET16s_HandleOffline(ET16s_t *rc) {
if (rc == NULL) return DEVICE_ERR_NULL;
rc->rc_type =Control_loss ;
rc->header.online = false;
memset(&rc->ET16s , 0, sizeof(ET16s_raw_t));
return 0;
}

23
User/device/ET16s.h
View File

@ -9,6 +9,7 @@ extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include "device/device.h"
#include "cmsis_os2.h"
#include <stdbool.h>
#include <stdint.h>
@ -62,17 +63,17 @@ typedef struct
rc_type_t rc_type;
struct
{
float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
// struct
// {
// float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
// float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
// float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
// float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
ET16S_SwitchPos_t sw_r; /* 右侧拨杆位置 */
ET16S_SwitchPos_t sw_l; /* 左侧拨杆位置 */
// ET16S_SwitchPos_t sw_r; /* 右侧拨杆位置 */
// ET16S_SwitchPos_t sw_l; /* 左侧拨杆位置 */
} __attribute__((packed)) DJ;
// } __attribute__((packed)) DJ;
struct
{
@ -93,7 +94,9 @@ typedef struct
int16_t knob_left; // 左旋钮
int16_t knob_right; // 右旋钮
} __attribute__((packed)) ET16s;
ET16s_raw_t raw_data;
ET16s_raw_t raw_data;
DEVICE_Header_t header;
} __attribute__((packed)) ET16s_t;
/* Exported functions prototypes -------------------------------------------- */

18
User/module/cmd/cmd.c
View File

@ -30,9 +30,9 @@ static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
break;
}
/* 摇杆控制移动 */
ctx->output.chassis.cmd.Vx = ctx->input.rc.joy_right.x;
ctx->output.chassis.cmd.Vy = ctx->input.rc.joy_right.y;
/* 左摇杆控制移动 */
ctx->output.chassis.cmd.Vx = ctx->input.rc.joy_left.x;
ctx->output.chassis.cmd.Vy = ctx->input.rc.joy_left.y;
}
/* 从RC输入生成云台命令 */
@ -40,7 +40,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
/* 根据拨杆选择云台模式 */
switch (ctx->input.rc.sw[0]) {
switch (ctx->input.rc.sw[1]) {
case CMD_SW_UP:
ctx->output.gimbal.cmd.mode = map->gimbal_sw_up;
break;
@ -55,9 +55,9 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
break;
}
/* 左摇杆控制云台 */
ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_left.x * 2.0f;
ctx->output.gimbal.cmd.delta_pit = -ctx->input.rc.joy_left.y * 1.5f;
/* 右摇杆控制云台 */
ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_right.x * 2.0f;
ctx->output.gimbal.cmd.delta_pit = -ctx->input.rc.joy_right.y * 1.5f;
}
/* 从RC输入生成射击命令 */
@ -68,8 +68,8 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
}
/* 根据右拨杆控制射击 */
switch (ctx->input.rc.sw[1]) {
/* 根据D拨杆控制射击 */
switch (ctx->input.rc.sw[4]) {
case CMD_SW_DOWN:
ctx->output.shoot.cmd.ready = true;
ctx->output.shoot.cmd.firecmd = true;

6
User/module/cmd/cmd.h
View File

@ -61,6 +61,12 @@ typedef struct {
Gimbal_Mode_t gimbal_sw_up;
Gimbal_Mode_t gimbal_sw_mid;
Gimbal_Mode_t gimbal_sw_down;
Shoot_Mode_t shoot_sw_up;
Shoot_Mode_t shoot_sw_mid;
Shoot_Mode_t shoot_sw_down;
} CMD_RCModeMap_t;
/* 整体配置 */

87
User/module/cmd/cmd_adapter.c
View File

@ -119,6 +119,90 @@ CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD
#endif /* CMD_RC_DEVICE_TYPE == 1 */
/* ========================================================================== */
/* ET16s 适配器实现 */
/* ========================================================================== */
#if CMD_RC_DEVICE_TYPE == 3
int8_t CMD_ET16s_Init(void *data) {
ET16s_t *et16s = (ET16s_t *)data;
return REMOTE_Init();
}
int8_t CMD_ET16s_GetInput(void *data, CMD_RawInput_t *output) {
ET16s_t *et16s = (ET16s_t *)data;
memset(output, 0, sizeof(CMD_RawInput_RC_t));
output->online[CMD_SRC_RC] = et16s->header.online;
/* TODO: 按照AT9S的数据格式进行映射 */
output->rc.joy_left.x = et16s->ET16s.ch_l_x;
output->rc.joy_left.y = et16s->ET16s.ch_l_y;
output->rc.joy_right.x = et16s->ET16s.ch_r_x;
output->rc.joy_right.y = et16s->ET16s.ch_r_y;
/* 拨杆映射需要根据AT9S的实际定义 */
switch (et16s->ET16s.key_A) {
case ET16S_SW_UP: output->rc.sw[0] = CMD_SW_UP; break;
case ET16S_SW_MID: output->rc.sw[0] = CMD_SW_MID; break;
case ET16S_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break;
default: output->rc.sw[0] = CMD_SW_ERR; break;
}
switch (et16s->ET16s.key_B) {
case ET16S_SW_UP: output->rc.sw[1] = CMD_SW_UP; break;
case ET16S_SW_MID: output->rc.sw[1] = CMD_SW_MID; break;
case ET16S_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break;
default: output->rc.sw[1] = CMD_SW_ERR; break;
}
switch (et16s->ET16s.key_C) {
case ET16S_SW_UP: output->rc.sw[2] = CMD_SW_UP; break;
case ET16S_SW_MID: output->rc.sw[2] = CMD_SW_MID; break;
case ET16S_SW_DOWN: output->rc.sw[2] = CMD_SW_DOWN; break;
default: output->rc.sw[2] = CMD_SW_ERR; break;
}
switch (et16s->ET16s.key_D) {
case ET16S_SW_UP: output->rc.sw[3] = CMD_SW_UP; break;
case ET16S_SW_MID: output->rc.sw[3] = CMD_SW_MID; break;
case ET16S_SW_DOWN: output->rc.sw[3] = CMD_SW_DOWN; break;
default: output->rc.sw[3] = CMD_SW_ERR; break;
}
switch (et16s->ET16s.key_E) {
case ET16S_SW_UP: output->rc.sw[4] = CMD_SW_UP; break;
case ET16S_SW_MID: output->rc.sw[4] = CMD_SW_MID; break;
case ET16S_SW_DOWN: output->rc.sw[4] = CMD_SW_DOWN; break;
default: output->rc.sw[4] = CMD_SW_ERR; break;
}
switch (et16s->ET16s.key_F) {
case ET16S_SW_UP: output->rc.sw[5] = CMD_SW_UP; break;
case ET16S_SW_MID: output->rc.sw[5] = CMD_SW_MID; break;
case ET16S_SW_DOWN: output->rc.sw[5] = CMD_SW_DOWN; break;
default: output->rc.sw[5] = CMD_SW_ERR; break;
}
switch (et16s->ET16s.key_G) {
case ET16S_SW_UP: output->rc.sw[6] = CMD_SW_UP; break;
case ET16S_SW_MID: output->rc.sw[6] = CMD_SW_MID; break;
case ET16S_SW_DOWN: output->rc.sw[6] = CMD_SW_DOWN; break;
default: output->rc.sw[6] = CMD_SW_ERR; break;
}
switch (et16s->ET16s.key_H) {
case ET16S_SW_UP: output->rc.sw[7] = CMD_SW_UP; break;
case ET16S_SW_MID: output->rc.sw[7] = CMD_SW_MID; break;
case ET16S_SW_DOWN: output->rc.sw[7] = CMD_SW_DOWN; break;
default: output->rc.sw[7] = CMD_SW_ERR; break;
}
return CMD_OK;
}
bool CMD_ET16s_IsOnline(void *data) {
ET16s_t *et16s = (ET16s_t *)data;
return et16s->header.online;
}
CMD_DEFINE_ADAPTER(ET16s, et16s, CMD_SRC_RC, CMD_ET16s_Init, CMD_ET16s_GetInput, CMD_ET16s_IsOnline)
#endif /* CMD_RC_DEVICE_TYPE == 3 */
/* ========================================================================== */
/* 适配器管理实现 */
/* ========================================================================== */
@ -140,6 +224,9 @@ int8_t CMD_Adapter_InitAll(void) {
#elif CMD_RC_DEVICE_TYPE == 1
/* AT9S 目前只支持 RC 输入 */
CMD_Adapter_Register(&g_adapter_AT9S);
#elif CMD_RC_DEVICE_TYPE == 3
/* ET16s 目前只支持 RC 输入 */
CMD_Adapter_Register(&g_adapter_ET16s);
#endif
/* 初始化所有已注册的适配器 */

7
User/module/cmd/cmd_adapter.h
View File

@ -70,7 +70,7 @@ typedef struct {
/* ========================================================================== */
/* 选择使用的RC设备 - 只需修改这里 */
#define CMD_RC_DEVICE_TYPE 0 /* 0:DR16, 1:AT9S, 2:VT13 */
#define CMD_RC_DEVICE_TYPE 3 /* 0:DR16, 1:AT9S, 2:VT13 3:ET16s*/
#if CMD_RC_DEVICE_TYPE == 0
#include "device/dr16.h"
@ -88,6 +88,11 @@ typedef struct {
CMD_DECLARE_ADAPTER(VT13, vt13, VT13_t)
#define CMD_RC_ADAPTER_NAME VT13
#define CMD_RC_ADAPTER_VAR vt13
#elif CMD_RC_DEVICE_TYPE == 3
#include "device/ET16s.h"
CMD_DECLARE_ADAPTER(ET16s, et16s, ET16s_t)
#define CMD_RC_ADAPTER_NAME ET16s
#define CMD_RC_ADAPTER_VAR ET16s
#endif
/* ========================================================================== */

2
User/module/cmd/cmd_types.h
View File

@ -100,7 +100,7 @@ typedef struct {
typedef struct {
CMD_Joystick_t joy_left; /* 左摇杆 */
CMD_Joystick_t joy_right; /* 右摇杆 */
CMD_SwitchPos_t sw[4]; /* 4个拨杆 */
CMD_SwitchPos_t sw[8]; /* 4个拨杆 */
float dial; /* 拨轮 */
} CMD_RawInput_RC_t;

6
User/module/config.c
View File

@ -341,9 +341,15 @@ Config_RobotParam_t robot_config = {
.sw_left_up = CHASSIS_MODE_RELAX,
.sw_left_mid = CHASSIS_MODE_FOLLOW_GIMBAL,
.sw_left_down = CHASSIS_MODE_RELAX,
.gimbal_sw_up = GIMBAL_MODE_ABSOLUTE,
.gimbal_sw_mid = GIMBAL_MODE_RELATIVE,
.gimbal_sw_down = GIMBAL_MODE_ABSOLUTE,
.shoot_sw_up = SHOOT_MODE_SAFE,
.shoot_sw_mid = SHOOT_MODE_SINGLE,
.shoot_sw_down = SHOOT_MODE_BURST,
},
},

13
User/task/cmd.c
View File

@ -21,12 +21,16 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
#define CMD_RCTypeTable_Index 2
#if CMD_RCTypeTable_Index == 0
DR16_t cmd_dr16;
ET16s_t cmd_et16s;
#elif CMD_RCTypeTable_Index == 1
AT9S_t cmd_at9s;
#elif CMD_RCTypeTable_Index == 2
ET16s_t cmd_et16s;
#endif
Shoot_CMD_t *cmd_for_shoot;
Chassis_CMD_t *cmd_for_chassis;
Gimbal_CMD_t *cmd_for_gimbal;
@ -54,10 +58,15 @@ void Task_cmd(void *argument) {
/* USER CODE BEGIN */
#if CMD_RCTypeTable_Index == 0
osMessageQueueGet(task_runtime.msgq.rc.dr16, &cmd_dr16, NULL, 0);
osMessageQueueGet(task_runtime.msgq.rc.et16s, &cmd_et16s, NULL, 0);
#elif CMD_RCTypeTable_Index == 1
osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
#elif CMD_RCTypeTable_Index == 2
osMessageQueueGet(task_runtime.msgq.rc.et16s, &cmd_et16s, NULL, 0);
#endif
CMD_UpdateInput(&cmd);
CMD_Arbitrate(&cmd);
CMD_GenerateCommands(&cmd);
CMD_Update(&cmd);
/* 获取命令发送到各模块 */
cmd_for_chassis = CMD_GetChassisCmd(&cmd);