伸缩结构暂定
This commit is contained in:
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commit
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@ -117,10 +117,6 @@
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@ -304,7 +300,7 @@
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|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
@ -1532,6 +1468,42 @@
|
|||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
<bShared>0</bShared>
|
<bShared>0</bShared>
|
||||||
</File>
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>10</GroupNumber>
|
||||||
|
<FileNumber>92</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>93</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>..\User\task\gimbal_ctrl.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>gimbal_ctrl.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<GroupNumber>10</GroupNumber>
|
||||||
|
<FileNumber>94</FileNumber>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<tvExp>0</tvExp>
|
||||||
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
<bDave2>0</bDave2>
|
||||||
|
<PathWithFileName>..\User\task\shoot_ctrl.c</PathWithFileName>
|
||||||
|
<FilenameWithoutPath>shoot_ctrl.c</FilenameWithoutPath>
|
||||||
|
<RteFlg>0</RteFlg>
|
||||||
|
<bShared>0</bShared>
|
||||||
|
</File>
|
||||||
</Group>
|
</Group>
|
||||||
|
|
||||||
<Group>
|
<Group>
|
||||||
@ -1542,7 +1514,7 @@
|
|||||||
<RteFlg>0</RteFlg>
|
<RteFlg>0</RteFlg>
|
||||||
<File>
|
<File>
|
||||||
<GroupNumber>11</GroupNumber>
|
<GroupNumber>11</GroupNumber>
|
||||||
<FileNumber>97</FileNumber>
|
<FileNumber>95</FileNumber>
|
||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
@ -1554,7 +1526,7 @@
|
|||||||
</File>
|
</File>
|
||||||
<File>
|
<File>
|
||||||
<GroupNumber>11</GroupNumber>
|
<GroupNumber>11</GroupNumber>
|
||||||
<FileNumber>98</FileNumber>
|
<FileNumber>96</FileNumber>
|
||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
@ -1566,7 +1538,7 @@
|
|||||||
</File>
|
</File>
|
||||||
<File>
|
<File>
|
||||||
<GroupNumber>11</GroupNumber>
|
<GroupNumber>11</GroupNumber>
|
||||||
<FileNumber>99</FileNumber>
|
<FileNumber>97</FileNumber>
|
||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
@ -1578,7 +1550,7 @@
|
|||||||
</File>
|
</File>
|
||||||
<File>
|
<File>
|
||||||
<GroupNumber>11</GroupNumber>
|
<GroupNumber>11</GroupNumber>
|
||||||
<FileNumber>100</FileNumber>
|
<FileNumber>98</FileNumber>
|
||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<tvExp>0</tvExp>
|
<tvExp>0</tvExp>
|
||||||
<tvExpOptDlg>0</tvExpOptDlg>
|
<tvExpOptDlg>0</tvExpOptDlg>
|
||||||
|
|||||||
@ -1833,6 +1833,11 @@
|
|||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<FilePath>..\User\component\crc8.c</FilePath>
|
<FilePath>..\User\component\crc8.c</FilePath>
|
||||||
</File>
|
</File>
|
||||||
|
<File>
|
||||||
|
<FileName>trapezoidal_profile.c</FileName>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<FilePath>..\User\component\trapezoidal_profile.c</FilePath>
|
||||||
|
</File>
|
||||||
</Files>
|
</Files>
|
||||||
</Group>
|
</Group>
|
||||||
<Group>
|
<Group>
|
||||||
@ -1863,11 +1868,6 @@
|
|||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<FilePath>..\User\device\motor_dm.c</FilePath>
|
<FilePath>..\User\device\motor_dm.c</FilePath>
|
||||||
</File>
|
</File>
|
||||||
<File>
|
|
||||||
<FileName>motor_step.c</FileName>
|
|
||||||
<FileType>1</FileType>
|
|
||||||
<FilePath>..\User\device\motor_step.c</FilePath>
|
|
||||||
</File>
|
|
||||||
<File>
|
<File>
|
||||||
<FileName>motor_lz.c</FileName>
|
<FileName>motor_lz.c</FileName>
|
||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
@ -1888,11 +1888,6 @@
|
|||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<FilePath>..\User\device\dr16.c</FilePath>
|
<FilePath>..\User\device\dr16.c</FilePath>
|
||||||
</File>
|
</File>
|
||||||
<File>
|
|
||||||
<FileName>Oid.c</FileName>
|
|
||||||
<FileType>1</FileType>
|
|
||||||
<FilePath>..\User\device\Oid.c</FilePath>
|
|
||||||
</File>
|
|
||||||
<File>
|
<File>
|
||||||
<FileName>motor_lk.c</FileName>
|
<FileName>motor_lk.c</FileName>
|
||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
@ -1913,6 +1908,11 @@
|
|||||||
<Group>
|
<Group>
|
||||||
<GroupName>module</GroupName>
|
<GroupName>module</GroupName>
|
||||||
<Files>
|
<Files>
|
||||||
|
<File>
|
||||||
|
<FileName>chassis.c</FileName>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<FilePath>..\User\module\chassis.c</FilePath>
|
||||||
|
</File>
|
||||||
<File>
|
<File>
|
||||||
<FileName>config.c</FileName>
|
<FileName>config.c</FileName>
|
||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
@ -1928,11 +1928,6 @@
|
|||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<FilePath>..\User\module\shoot.c</FilePath>
|
<FilePath>..\User\module\shoot.c</FilePath>
|
||||||
</File>
|
</File>
|
||||||
<File>
|
|
||||||
<FileName>chassis.c</FileName>
|
|
||||||
<FileType>1</FileType>
|
|
||||||
<FilePath>..\User\module\chassis.c</FilePath>
|
|
||||||
</File>
|
|
||||||
</Files>
|
</Files>
|
||||||
</Group>
|
</Group>
|
||||||
<Group>
|
<Group>
|
||||||
@ -1958,31 +1953,11 @@
|
|||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<FilePath>..\User\task\atti_esti.c</FilePath>
|
<FilePath>..\User\task\atti_esti.c</FilePath>
|
||||||
</File>
|
</File>
|
||||||
<File>
|
|
||||||
<FileName>gimbal_ctrl.c</FileName>
|
|
||||||
<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>
|
|
||||||
<FilePath>..\User\task\shoot_ctrl.c</FilePath>
|
|
||||||
</File>
|
|
||||||
<File>
|
<File>
|
||||||
<FileName>ET16s.c</FileName>
|
<FileName>ET16s.c</FileName>
|
||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<FilePath>..\User\task\ET16s.c</FilePath>
|
<FilePath>..\User\task\ET16s.c</FilePath>
|
||||||
</File>
|
</File>
|
||||||
<File>
|
|
||||||
<FileName>step_motor.c</FileName>
|
|
||||||
<FileType>1</FileType>
|
|
||||||
<FilePath>..\User\task\step_motor.c</FilePath>
|
|
||||||
</File>
|
|
||||||
<File>
|
<File>
|
||||||
<FileName>init.c</FileName>
|
<FileName>init.c</FileName>
|
||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
@ -1998,6 +1973,21 @@
|
|||||||
<FileType>1</FileType>
|
<FileType>1</FileType>
|
||||||
<FilePath>..\User\task\user_task.c</FilePath>
|
<FilePath>..\User\task\user_task.c</FilePath>
|
||||||
</File>
|
</File>
|
||||||
|
<File>
|
||||||
|
<FileName>chassis_ctrl.c</FileName>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<FilePath>..\User\task\chassis_ctrl.c</FilePath>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<FileName>gimbal_ctrl.c</FileName>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<FilePath>..\User\task\gimbal_ctrl.c</FilePath>
|
||||||
|
</File>
|
||||||
|
<File>
|
||||||
|
<FileName>shoot_ctrl.c</FileName>
|
||||||
|
<FileType>1</FileType>
|
||||||
|
<FilePath>..\User\task\shoot_ctrl.c</FilePath>
|
||||||
|
</File>
|
||||||
</Files>
|
</Files>
|
||||||
</Group>
|
</Group>
|
||||||
<Group>
|
<Group>
|
||||||
|
|||||||
Binary file not shown.
@ -21,8 +21,8 @@ Target DLL: Segger\JL2CM3.dll V2.99.38.0
|
|||||||
Dialog DLL: TCM.DLL V1.48.0.0
|
Dialog DLL: TCM.DLL V1.48.0.0
|
||||||
|
|
||||||
<h2>Project:</h2>
|
<h2>Project:</h2>
|
||||||
D:\yunha\git_gimbal\RM\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx
|
D:\yunha\git\RM\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx
|
||||||
Project File Date: 02/07/2026
|
Project File Date: 03/08/2026
|
||||||
|
|
||||||
<h2>Output:</h2>
|
<h2>Output:</h2>
|
||||||
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
|
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
|
||||||
@ -34,14 +34,26 @@ Note: source file '..\User\bsp\spi.c' - object file renamed from 'Steering Wheel
|
|||||||
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\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\dr16.c' - object file renamed from 'Steering Wheel_Infatry\dr16.o' to 'Steering Wheel_Infatry\dr16_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\ET16s.c' - object file renamed from 'Steering Wheel_Infatry\ET16s.o' to 'Steering Wheel_Infatry\et16s_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\task\vofa.c' - object file renamed from 'Steering Wheel_Infatry\vofa.o' to 'Steering Wheel_Infatry\vofa_1.o'.
|
Note: source file '..\User\task\vofa.c' - object file renamed from 'Steering Wheel_Infatry\vofa.o' to 'Steering Wheel_Infatry\vofa_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.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.
|
||||||
|
../User/module/chassis.c(227): warning: incompatible pointer types passing 'KPID_t (*)[2]' to parameter of type 'KPID_t *' [-Wincompatible-pointer-types]
|
||||||
|
PID_Reset(&c->pid.Telescope_omega);
|
||||||
|
^~~~~~~~~~~~~~~~~~~~~~~
|
||||||
|
../User\component/pid.h(99): note: passing argument to parameter 'pid' here
|
||||||
|
int8_t PID_Reset(KPID_t *pid);
|
||||||
|
^
|
||||||
|
../User/module/chassis.c(228): warning: incompatible pointer types passing 'KPID_t (*)[2]' to parameter of type 'KPID_t *' [-Wincompatible-pointer-types]
|
||||||
|
PID_Reset(&c->pid.Telescope_angle);
|
||||||
|
^~~~~~~~~~~~~~~~~~~~~~~
|
||||||
|
../User\component/pid.h(99): note: passing argument to parameter 'pid' here
|
||||||
|
int8_t PID_Reset(KPID_t *pid);
|
||||||
|
^
|
||||||
|
2 warnings generated.
|
||||||
compiling chassis.c...
|
compiling chassis.c...
|
||||||
linking...
|
linking...
|
||||||
Program Size: Code=67104 RO-data=1712 RW-data=1156 ZI-data=122760
|
Program Size: Code=67304 RO-data=1668 RW-data=1224 ZI-data=123044
|
||||||
FromELF: creating hex file...
|
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), 2 Warning(s).
|
||||||
|
|
||||||
<h2>Software Packages used:</h2>
|
<h2>Software Packages used:</h2>
|
||||||
|
|
||||||
@ -65,7 +77,7 @@ Package Vendor: Keil
|
|||||||
|
|
||||||
* Component: ARM::CMSIS:CORE:5.4.0
|
* Component: ARM::CMSIS:CORE:5.4.0
|
||||||
Include file: CMSIS\Core\Include\tz_context.h
|
Include file: CMSIS\Core\Include\tz_context.h
|
||||||
Build Time Elapsed: 00:00:07
|
Build Time Elapsed: 00:00:02
|
||||||
</pre>
|
</pre>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@ -65,36 +65,34 @@
|
|||||||
"steering wheel_infatry\bsp_rc.o"
|
"steering wheel_infatry\bsp_rc.o"
|
||||||
"steering wheel_infatry\calc_lib.o"
|
"steering wheel_infatry\calc_lib.o"
|
||||||
"steering wheel_infatry\crc8.o"
|
"steering wheel_infatry\crc8.o"
|
||||||
|
"steering wheel_infatry\trapezoidal_profile.o"
|
||||||
"steering wheel_infatry\bmi088.o"
|
"steering wheel_infatry\bmi088.o"
|
||||||
"steering wheel_infatry\ist8310.o"
|
"steering wheel_infatry\ist8310.o"
|
||||||
"steering wheel_infatry\motor.o"
|
"steering wheel_infatry\motor.o"
|
||||||
"steering wheel_infatry\motor_rm.o"
|
"steering wheel_infatry\motor_rm.o"
|
||||||
"steering wheel_infatry\motor_dm.o"
|
"steering wheel_infatry\motor_dm.o"
|
||||||
"steering wheel_infatry\motor_step.o"
|
|
||||||
"steering wheel_infatry\motor_lz.o"
|
"steering wheel_infatry\motor_lz.o"
|
||||||
"steering wheel_infatry\ai.o"
|
"steering wheel_infatry\ai.o"
|
||||||
"steering wheel_infatry\et16s.o"
|
"steering wheel_infatry\et16s.o"
|
||||||
"steering wheel_infatry\dr16.o"
|
"steering wheel_infatry\dr16.o"
|
||||||
"steering wheel_infatry\oid.o"
|
|
||||||
"steering wheel_infatry\motor_lk.o"
|
"steering wheel_infatry\motor_lk.o"
|
||||||
"steering wheel_infatry\led.o"
|
"steering wheel_infatry\led.o"
|
||||||
"steering wheel_infatry\vofa.o"
|
"steering wheel_infatry\vofa.o"
|
||||||
|
"steering wheel_infatry\chassis.o"
|
||||||
"steering wheel_infatry\config.o"
|
"steering wheel_infatry\config.o"
|
||||||
"steering wheel_infatry\gimbal.o"
|
"steering wheel_infatry\gimbal.o"
|
||||||
"steering wheel_infatry\shoot.o"
|
"steering wheel_infatry\shoot.o"
|
||||||
"steering wheel_infatry\chassis.o"
|
|
||||||
"steering wheel_infatry\ai_1.o"
|
"steering wheel_infatry\ai_1.o"
|
||||||
"steering wheel_infatry\cmd.o"
|
"steering wheel_infatry\cmd.o"
|
||||||
"steering wheel_infatry\dr16_1.o"
|
"steering wheel_infatry\dr16_1.o"
|
||||||
"steering wheel_infatry\atti_esti.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\et16s_1.o"
|
"steering wheel_infatry\et16s_1.o"
|
||||||
"steering wheel_infatry\step_motor_1.o"
|
|
||||||
"steering wheel_infatry\init.o"
|
"steering wheel_infatry\init.o"
|
||||||
"steering wheel_infatry\vofa_1.o"
|
"steering wheel_infatry\vofa_1.o"
|
||||||
"steering wheel_infatry\user_task.o"
|
"steering wheel_infatry\user_task.o"
|
||||||
|
"steering wheel_infatry\chassis_ctrl.o"
|
||||||
|
"steering wheel_infatry\gimbal_ctrl.o"
|
||||||
|
"steering wheel_infatry\shoot_ctrl.o"
|
||||||
"steering wheel_infatry\cmd_1.o"
|
"steering wheel_infatry\cmd_1.o"
|
||||||
"steering wheel_infatry\cmd_adapter.o"
|
"steering wheel_infatry\cmd_adapter.o"
|
||||||
"steering wheel_infatry\cmd_behavior.o"
|
"steering wheel_infatry\cmd_behavior.o"
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@ -1851,6 +1851,11 @@ I (..\User\component\crc8.h)(0x6982F1BF)
|
|||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
||||||
|
F (..\User\component\trapezoidal_profile.c)(0x69ABE819)(-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/trapezoidal_profile.o" -MD)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
||||||
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
|
||||||
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
||||||
F (..\User\device\bmi088.c)(0x6982F1BF)(-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/bmi088.o" -MD)
|
F (..\User\device\bmi088.c)(0x6982F1BF)(-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/bmi088.o" -MD)
|
||||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
||||||
@ -2079,49 +2084,6 @@ I (..\User\component\user_math.h)(0x6982F1BF)
|
|||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
|
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\math.h)(0x6035A4A8)
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
|
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
|
||||||
F (..\User\device\motor_step.c)(0x69843522)(-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/motor_step.o" -MD)
|
|
||||||
I (..\Core\Inc\main.h)(0x6982EE89)
|
|
||||||
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 (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
|
||||||
I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
|
|
||||||
I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
|
|
||||||
I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
|
|
||||||
I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
|
|
||||||
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
|
|
||||||
I (..\User\bsp\pwm.h)(0x6982F1BF)
|
|
||||||
I (..\Core\Inc\tim.h)(0x6982F10C)
|
|
||||||
I (..\User\bsp\bsp.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\motor_step.h)(0x698304D5)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
|
||||||
I (..\User\bsp\gpio.h)(0x6982F1BF)
|
|
||||||
F (..\User\device\motor_lz.c)(0x6982F1BF)(-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/motor_lz.o" -MD)
|
F (..\User\device\motor_lz.c)(0x6982F1BF)(-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/motor_lz.o" -MD)
|
||||||
I (..\User\device\motor_lz.h)(0x6982F1BF)
|
I (..\User\device\motor_lz.h)(0x6982F1BF)
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
I (..\User\device\device.h)(0x6982F1BF)
|
||||||
@ -2342,64 +2304,6 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
|
|||||||
I (..\User\bsp\bsp.h)(0x6982F1BF)
|
I (..\User\bsp\bsp.h)(0x6982F1BF)
|
||||||
I (..\User\bsp\time.h)(0x6982F1BF)
|
I (..\User\bsp\time.h)(0x6982F1BF)
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
|
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
|
||||||
F (..\User\device\Oid.c)(0x694BAAC7)(-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/oid.o" -MD)
|
|
||||||
I (..\User\device\Oid.h)(0x694B9861)
|
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
|
||||||
I (..\User\bsp\can.h)(0x6982F1BF)
|
|
||||||
I (..\Core\Inc\can.h)(0x69184414)
|
|
||||||
I (..\Core\Inc\main.h)(0x6982EE89)
|
|
||||||
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 (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
|
|
||||||
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
|
|
||||||
I (..\User\bsp\bsp.h)(0x6982F1BF)
|
|
||||||
I (..\User\bsp\mm.h)(0x6982F1BF)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
|
|
||||||
I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
|
||||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
|
|
||||||
I (..\User\bsp\time.h)(0x6982F1BF)
|
|
||||||
F (..\User\device\motor_lk.c)(0x6982F1BF)(-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/motor_lk.o" -MD)
|
F (..\User\device\motor_lk.c)(0x6982F1BF)(-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/motor_lk.o" -MD)
|
||||||
I (..\User\device\motor_lk.h)(0x6982F1BF)
|
I (..\User\device\motor_lk.h)(0x6982F1BF)
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
I (..\User\device\device.h)(0x6982F1BF)
|
||||||
@ -2510,7 +2414,74 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
|
|||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
||||||
I (..\User\bsp\bsp.h)(0x6982F1BF)
|
I (..\User\bsp\bsp.h)(0x6982F1BF)
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
I (..\User\device\device.h)(0x6982F1BF)
|
||||||
F (..\User\module\config.c)(0x698B2398)(-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\chassis.c)(0x69AC524D)(-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.o" -MD)
|
||||||
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
|
I (..\User\component\filter.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||||
|
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 (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
||||||
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
|
||||||
|
I (..\User\component\pid.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\ahrs.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\device.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\motor.h)(0x6982F1BF)
|
||||||
|
I (..\User\bsp\can.h)(0x6982F1BF)
|
||||||
|
I (..\Core\Inc\can.h)(0x69184414)
|
||||||
|
I (..\Core\Inc\main.h)(0x6982EE89)
|
||||||
|
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)(0x6982F1BF)
|
||||||
|
I (..\User\bsp\mm.h)(0x6982F1BF)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
|
||||||
|
I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
|
I (..\User\bsp\time.h)(0x6982F1BF)
|
||||||
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
|
||||||
|
F (..\User\module\config.c)(0x69AC5146)(-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)(0x6982F1BF)
|
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
|
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\math.h)(0x6035A4A8)
|
||||||
@ -2575,9 +2546,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
|||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
||||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||||
I (..\User\module\shoot.h)(0x6968CB81)
|
I (..\User\module\shoot.h)(0x6968CB81)
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
||||||
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
||||||
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
||||||
@ -2715,78 +2687,13 @@ I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
|||||||
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
||||||
I (..\User\device\ET16s.h)(0x69735766)
|
I (..\User\device\ET16s.h)(0x69735766)
|
||||||
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
I (..\User\component\ahrs.h)(0x6982F1BF)
|
I (..\User\component\ahrs.h)(0x6982F1BF)
|
||||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
I (..\User\module\gimbal.h)(0x6975DF62)
|
I (..\User\module\gimbal.h)(0x6975DF62)
|
||||||
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
||||||
F (..\User\module\chassis.c)(0x698ED0FA)(-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.o" -MD)
|
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
|
||||||
I (..\User\component\filter.h)(0x6982F1BF)
|
|
||||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
|
||||||
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 (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
|
|
||||||
I (..\User\component\pid.h)(0x6982F1BF)
|
|
||||||
I (..\User\component\ahrs.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\motor.h)(0x6982F1BF)
|
|
||||||
I (..\User\bsp\can.h)(0x6982F1BF)
|
|
||||||
I (..\Core\Inc\can.h)(0x69184414)
|
|
||||||
I (..\Core\Inc\main.h)(0x6982EE89)
|
|
||||||
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)(0x6982F1BF)
|
|
||||||
I (..\User\bsp\mm.h)(0x6982F1BF)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
|
|
||||||
I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
|
||||||
I (..\User\bsp\time.h)(0x6982F1BF)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
|
|
||||||
F (..\User\task\ai.c)(0x69765461)(-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)
|
F (..\User\task\ai.c)(0x69765461)(-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)(0x69843531)
|
I (..\User\task\user_task.h)(0x69843531)
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
||||||
@ -2869,9 +2776,10 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
|
|||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
||||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||||
I (..\User\module\shoot.h)(0x6968CB81)
|
I (..\User\module\shoot.h)(0x6968CB81)
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
||||||
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
||||||
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
||||||
@ -2964,6 +2872,236 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
|
|||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
||||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||||
I (..\User\device\ist8310.h)(0x6982F1BF)
|
I (..\User\device\ist8310.h)(0x6982F1BF)
|
||||||
|
F (..\User\task\ET16s.c)(0x69765461)(-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)(0x69843531)
|
||||||
|
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)(0x6986EEEF)
|
||||||
|
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\device\ET16s.h)(0x69735766)
|
||||||
|
I (..\User\device\device.h)(0x6982F1BF)
|
||||||
|
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
||||||
|
F (..\User\task\init.c)(0x69A7CE57)(-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/init.o" -MD)
|
||||||
|
I (..\User\task\user_task.h)(0x69843531)
|
||||||
|
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)(0x6986EEEF)
|
||||||
|
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\gimbal.h)(0x6975DF62)
|
||||||
|
I (..\User\component\ahrs.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||||
|
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\filter.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\pid.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\motor.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\device.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
||||||
|
I (..\User\bsp\can.h)(0x6982F1BF)
|
||||||
|
I (..\Core\Inc\can.h)(0x69184414)
|
||||||
|
I (..\Core\Inc\main.h)(0x6982EE89)
|
||||||
|
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)(0x6982F1BF)
|
||||||
|
I (..\User\bsp\mm.h)(0x6982F1BF)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
||||||
|
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||||
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
|
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
|
I (..\User\module\shoot.h)(0x6968CB81)
|
||||||
|
I (..\User\device\dr16.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\et16s.h)(0x69735766)
|
||||||
|
F (..\User\task\vofa.c)(0x697655EC)(-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/vofa_1.o" -MD)
|
||||||
|
I (..\User\task\user_task.h)(0x69843531)
|
||||||
|
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)(0x6986EEEF)
|
||||||
|
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\device\vofa.h)(0x6982F1BF)
|
||||||
|
I (..\User\bsp\uart.h)(0x6982F1BF)
|
||||||
|
I (..\Core\Inc\usart.h)(0x69455093)
|
||||||
|
I (..\Core\Inc\main.h)(0x6982EE89)
|
||||||
|
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 (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
||||||
|
I (..\User\bsp\bsp.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\device.h)(0x6982F1BF)
|
||||||
|
F (..\User\task\user_task.c)(0x69765461)(-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)(0x69843531)
|
||||||
|
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)(0x6986EEEF)
|
||||||
|
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)
|
||||||
|
F (..\User\task\chassis_ctrl.c)(0x69898440)(-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)(0x69843531)
|
||||||
|
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)(0x6986EEEF)
|
||||||
|
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)(0x69AC421E)
|
||||||
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
|
I (..\User\component\filter.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||||
|
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)(0x6982F1BF)
|
||||||
|
I (..\User\component\ahrs.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\device.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||||
|
I (..\User\device\motor.h)(0x6982F1BF)
|
||||||
|
I (..\User\bsp\can.h)(0x6982F1BF)
|
||||||
|
I (..\Core\Inc\can.h)(0x69184414)
|
||||||
|
I (..\Core\Inc\main.h)(0x6982EE89)
|
||||||
|
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)(0x6982F1BF)
|
||||||
|
I (..\User\bsp\mm.h)(0x6982F1BF)
|
||||||
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
|
I (..\User\module\config.h)(0x696E2066)
|
||||||
|
I (..\User\module\gimbal.h)(0x6975DF62)
|
||||||
|
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
||||||
|
I (..\User\module\shoot.h)(0x6968CB81)
|
||||||
|
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
||||||
|
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
||||||
|
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
||||||
|
I (..\User\device\ET16s.h)(0x69735766)
|
||||||
|
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
||||||
F (..\User\task\gimbal_ctrl.c)(0x69889E2F)(-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_ctrl.o" -MD)
|
F (..\User\task\gimbal_ctrl.c)(0x69889E2F)(-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_ctrl.o" -MD)
|
||||||
I (..\User\task\user_task.h)(0x69843531)
|
I (..\User\task\user_task.h)(0x69843531)
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
||||||
@ -3030,83 +3168,10 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055
|
|||||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||||
I (..\User\module\config.h)(0x696E2066)
|
I (..\User\module\config.h)(0x696E2066)
|
||||||
I (..\User\module\shoot.h)(0x6968CB81)
|
I (..\User\module\shoot.h)(0x6968CB81)
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||||
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
|
||||||
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
|
||||||
I (..\User\device\ET16s.h)(0x69735766)
|
|
||||||
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
|
||||||
F (..\User\task\chassis_ctrl.c)(0x69898440)(-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)(0x69843531)
|
|
||||||
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)(0x6986EEEF)
|
|
||||||
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)(0x698988CF)
|
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
|
||||||
I (..\User\component\filter.h)(0x6982F1BF)
|
|
||||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
|
||||||
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)(0x6982F1BF)
|
|
||||||
I (..\User\component\ahrs.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\motor.h)(0x6982F1BF)
|
|
||||||
I (..\User\bsp\can.h)(0x6982F1BF)
|
|
||||||
I (..\Core\Inc\can.h)(0x69184414)
|
|
||||||
I (..\Core\Inc\main.h)(0x6982EE89)
|
|
||||||
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)(0x6982F1BF)
|
|
||||||
I (..\User\bsp\mm.h)(0x6982F1BF)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
|
||||||
I (..\User\module\config.h)(0x696E2066)
|
|
||||||
I (..\User\module\gimbal.h)(0x6975DF62)
|
|
||||||
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
|
||||||
I (..\User\module\shoot.h)(0x6968CB81)
|
|
||||||
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
||||||
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
||||||
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
||||||
@ -3181,225 +3246,14 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
|
|||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
||||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||||
I (..\User\module\shoot.h)(0x6968CB81)
|
I (..\User\module\shoot.h)(0x6968CB81)
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
||||||
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
||||||
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
||||||
I (..\User\device\ET16s.h)(0x69735766)
|
I (..\User\device\ET16s.h)(0x69735766)
|
||||||
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
||||||
F (..\User\task\ET16s.c)(0x69765461)(-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)(0x69843531)
|
|
||||||
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)(0x6986EEEF)
|
|
||||||
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\device\ET16s.h)(0x69735766)
|
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
|
||||||
F (..\User\task\step_motor.c)(0x6986AF30)(-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)(0x69843531)
|
|
||||||
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)(0x6986EEEF)
|
|
||||||
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\device\motor_step.h)(0x698304D5)
|
|
||||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
|
||||||
I (..\User\bsp\pwm.h)(0x6982F1BF)
|
|
||||||
I (..\Core\Inc\tim.h)(0x6982F10C)
|
|
||||||
I (..\Core\Inc\main.h)(0x6982EE89)
|
|
||||||
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)(0x6982F1BF)
|
|
||||||
I (..\User\device\ET16s.h)(0x69735766)
|
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
|
||||||
I (..\User\bsp\gpio.h)(0x6982F1BF)
|
|
||||||
F (..\User\task\init.c)(0x6983037C)(-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/init.o" -MD)
|
|
||||||
I (..\User\task\user_task.h)(0x69843531)
|
|
||||||
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)(0x6986EEEF)
|
|
||||||
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\gimbal.h)(0x6975DF62)
|
|
||||||
I (..\User\component\ahrs.h)(0x6982F1BF)
|
|
||||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
|
||||||
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\filter.h)(0x6982F1BF)
|
|
||||||
I (..\User\component\pid.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\motor.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
|
||||||
I (..\User\bsp\can.h)(0x6982F1BF)
|
|
||||||
I (..\Core\Inc\can.h)(0x69184414)
|
|
||||||
I (..\Core\Inc\main.h)(0x6982EE89)
|
|
||||||
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)(0x6982F1BF)
|
|
||||||
I (..\User\bsp\mm.h)(0x6982F1BF)
|
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
|
||||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
|
||||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
|
||||||
I (..\User\module\shoot.h)(0x6968CB81)
|
|
||||||
I (..\User\device\dr16.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\et16s.h)(0x69735766)
|
|
||||||
I (..\User\device\motor_step.h)(0x698304D5)
|
|
||||||
I (..\User\bsp\pwm.h)(0x6982F1BF)
|
|
||||||
I (..\Core\Inc\tim.h)(0x6982F10C)
|
|
||||||
F (..\User\task\vofa.c)(0x697655EC)(-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/vofa_1.o" -MD)
|
|
||||||
I (..\User\task\user_task.h)(0x69843531)
|
|
||||||
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)(0x6986EEEF)
|
|
||||||
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\device\vofa.h)(0x6982F1BF)
|
|
||||||
I (..\User\bsp\uart.h)(0x6982F1BF)
|
|
||||||
I (..\Core\Inc\usart.h)(0x69455093)
|
|
||||||
I (..\Core\Inc\main.h)(0x6982EE89)
|
|
||||||
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 (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
|
|
||||||
I (..\User\bsp\bsp.h)(0x6982F1BF)
|
|
||||||
I (..\User\device\device.h)(0x6982F1BF)
|
|
||||||
F (..\User\task\user_task.c)(0x69765461)(-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)(0x69843531)
|
|
||||||
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)(0x6986EEEF)
|
|
||||||
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)
|
|
||||||
F (..\User\module\cmd\cmd.c)(0x6989CACD)(-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)
|
F (..\User\module\cmd\cmd.c)(0x6989CACD)(-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)(0x6986AEE1)
|
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
||||||
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
||||||
@ -3411,7 +3265,7 @@ I (..\User\device\device.h)(0x6982F1BF)
|
|||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
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\stddef.h)(0x6035A4A8)
|
||||||
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
I (..\User\component\filter.h)(0x6982F1BF)
|
I (..\User\component\filter.h)(0x6982F1BF)
|
||||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||||
@ -3469,6 +3323,7 @@ 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\mpu_wrappers.h)(0x68B055DB)
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
I (..\User\module\gimbal.h)(0x6975DF62)
|
I (..\User\module\gimbal.h)(0x6975DF62)
|
||||||
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
||||||
I (..\User\module\shoot.h)(0x6968CB81)
|
I (..\User\module\shoot.h)(0x6968CB81)
|
||||||
@ -3495,7 +3350,7 @@ I (..\User\device\ET16s.h)(0x69735766)
|
|||||||
I (..\User\device\device.h)(0x6982F1BF)
|
I (..\User\device\device.h)(0x6982F1BF)
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
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\stddef.h)(0x6035A4A8)
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
I (..\User\component\filter.h)(0x6982F1BF)
|
I (..\User\component\filter.h)(0x6982F1BF)
|
||||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||||
@ -3553,6 +3408,7 @@ 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\mpu_wrappers.h)(0x68B055DB)
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
I (..\User\module\gimbal.h)(0x6975DF62)
|
I (..\User\module\gimbal.h)(0x6975DF62)
|
||||||
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
||||||
I (..\User\module\shoot.h)(0x6968CB81)
|
I (..\User\module\shoot.h)(0x6968CB81)
|
||||||
@ -3568,7 +3424,7 @@ I (..\User\device\device.h)(0x6982F1BF)
|
|||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
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\stddef.h)(0x6035A4A8)
|
||||||
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
||||||
I (..\User\module\chassis.h)(0x698988CF)
|
I (..\User\module\chassis.h)(0x69AC421E)
|
||||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||||
I (..\User\component\filter.h)(0x6982F1BF)
|
I (..\User\component\filter.h)(0x6982F1BF)
|
||||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||||
@ -3626,6 +3482,7 @@ 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\mpu_wrappers.h)(0x68B055DB)
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
||||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
||||||
|
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
|
||||||
I (..\User\module\gimbal.h)(0x6975DF62)
|
I (..\User\module\gimbal.h)(0x6975DF62)
|
||||||
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
I (..\User\device\motor_dm.h)(0x6982F1BF)
|
||||||
I (..\User\module\shoot.h)(0x6968CB81)
|
I (..\User\module\shoot.h)(0x6968CB81)
|
||||||
|
|||||||
@ -55,4 +55,5 @@ steering\ wheel_infatry/chassis.o: ..\User\module\chassis.c \
|
|||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||||
..\User\bsp\time.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h
|
..\User\component\trapezoidal_profile.h ..\User\bsp\time.h \
|
||||||
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h
|
||||||
|
|||||||
Binary file not shown.
@ -57,9 +57,9 @@ steering\ wheel_infatry/chassis_ctrl.o: ..\User\task\chassis_ctrl.c \
|
|||||||
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||||
..\User\module\config.h ..\User\module\gimbal.h \
|
..\User\component\trapezoidal_profile.h ..\User\module\config.h \
|
||||||
..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
|
..\User\module\gimbal.h ..\User\device\motor_dm.h \
|
||||||
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
|
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\cmd\cmd.h \
|
||||||
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
|
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
|
||||||
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
|
..\User\device\ET16s.h ..\User\module\cmd\cmd_behavior.h \
|
||||||
..\User\module\shoot.h
|
..\User\module\gimbal.h ..\User\module\shoot.h
|
||||||
|
|||||||
Binary file not shown.
@ -60,8 +60,8 @@ steering\ wheel_infatry/cmd.o: ..\User\task\cmd.c \
|
|||||||
..\User\device\motor_rm.h ..\User\device\motor.h \
|
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
|
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
|
||||||
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
|
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
|
||||||
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
|
..\User\component\trapezoidal_profile.h ..\User\module\cmd\cmd.h \
|
||||||
..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_behavior.h \
|
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
|
||||||
..\User\module\gimbal.h ..\User\module\shoot.h \
|
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
|
||||||
..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_behavior.h \
|
..\User\module\shoot.h ..\User\module\cmd\cmd_adapter.h \
|
||||||
..\User\module\cmd\cmd_types.h
|
..\User\module\cmd\cmd_behavior.h ..\User\module\cmd\cmd_types.h
|
||||||
|
|||||||
Binary file not shown.
@ -59,6 +59,6 @@ steering\ wheel_infatry/cmd_1.o: ..\User\module\cmd\cmd.c \
|
|||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||||
..\User\module\gimbal.h ..\User\device\motor_dm.h \
|
..\User\component\trapezoidal_profile.h ..\User\module\gimbal.h \
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\bsp\time.h \
|
..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
|
||||||
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
|
..\User\bsp\time.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
|
||||||
|
|||||||
Binary file not shown.
@ -58,6 +58,6 @@ steering\ wheel_infatry/cmd_behavior.o: ..\User\module\cmd\cmd_behavior.c \
|
|||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||||
..\User\module\gimbal.h ..\User\device\motor_dm.h \
|
..\User\component\trapezoidal_profile.h ..\User\module\gimbal.h \
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h \
|
..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
|
||||||
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
|
||||||
|
|||||||
Binary file not shown.
@ -59,5 +59,5 @@ steering\ wheel_infatry/cmd_example.o: ..\User\module\cmd\cmd_example.c \
|
|||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||||
..\User\module\gimbal.h ..\User\device\motor_dm.h \
|
..\User\component\trapezoidal_profile.h ..\User\module\gimbal.h \
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h
|
..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h
|
||||||
|
|||||||
@ -58,9 +58,9 @@ steering\ wheel_infatry/config.o: ..\User\module\config.c \
|
|||||||
..\User\device\motor_rm.h ..\User\device\motor.h \
|
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
|
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
|
||||||
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
|
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
|
||||||
..\User\component\user_math.h ..\User\module\cmd\cmd.h \
|
..\User\component\user_math.h ..\User\component\trapezoidal_profile.h \
|
||||||
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
|
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
|
||||||
..\User\device\ET16s.h \
|
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||||
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
|
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
|
||||||
..\User\module\shoot.h ..\User\module\chassis.h
|
..\User\module\shoot.h ..\User\module\chassis.h
|
||||||
|
|||||||
Binary file not shown.
@ -1,21 +1,18 @@
|
|||||||
steering\ wheel_infatry/step_motor_1.o: ..\User\task\step_motor.c \
|
steering\ wheel_infatry/deformation_chassis.o: \
|
||||||
..\User\task\user_task.h \
|
..\User\module\deformation_chassis.c \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
..\User\module\deformation_chassis.h ..\User\module\struct_typedef.h \
|
||||||
|
..\User\component\filter.h ..\User\component\user_math.h \
|
||||||
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
|
||||||
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
|
||||||
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||||
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||||
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
..\User\component\pid.h ..\User\component\filter.h \
|
||||||
..\Core\Inc\FreeRTOSConfig.h \
|
..\User\component\ahrs.h ..\User\device\bmi088.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
..\User\device\device.h ..\User\component\user_math.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
|
||||||
..\User\device\motor_step.h \
|
|
||||||
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\pwm.h \
|
|
||||||
..\Core\Inc\tim.h ..\Core\Inc\main.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
|
||||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
..\Core\Inc\stm32f4xx_hal_conf.h \
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
||||||
@ -47,5 +44,15 @@ steering\ wheel_infatry/step_motor_1.o: ..\User\task\step_motor.c \
|
|||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
||||||
..\User\bsp\bsp.h ..\User\device\ET16s.h ..\User\device\device.h \
|
..\User\bsp\bsp.h ..\User\bsp\mm.h \
|
||||||
..\User\bsp\gpio.h ..\User\bsp\bsp.h
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||||
|
..\Core\Inc\FreeRTOSConfig.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h
|
||||||
BIN
MDK-ARM/Steering Wheel_Infatry/deformation_chassis.o
Normal file
BIN
MDK-ARM/Steering Wheel_Infatry/deformation_chassis.o
Normal file
Binary file not shown.
@ -60,7 +60,8 @@ steering\ wheel_infatry/gimbal_ctrl.o: ..\User\task\gimbal_ctrl.c \
|
|||||||
..\User\module\config.h ..\User\module\gimbal.h ..\User\module\shoot.h \
|
..\User\module\config.h ..\User\module\gimbal.h ..\User\module\shoot.h \
|
||||||
..\Core\Inc\main.h ..\User\module\chassis.h \
|
..\Core\Inc\main.h ..\User\module\chassis.h \
|
||||||
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
|
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
|
||||||
..\User\component\user_math.h ..\User\module\cmd\cmd.h \
|
..\User\component\user_math.h ..\User\component\trapezoidal_profile.h \
|
||||||
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
|
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
|
||||||
..\User\device\ET16s.h ..\User\module\cmd\cmd_behavior.h \
|
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
|
||||||
..\User\module\gimbal.h ..\User\module\shoot.h
|
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
|
||||||
|
..\User\module\shoot.h
|
||||||
|
|||||||
Binary file not shown.
@ -59,7 +59,6 @@ steering\ wheel_infatry/init.o: ..\User\task\init.c \
|
|||||||
..\User\device\motor_rm.h ..\User\device\motor.h \
|
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||||
..\User\module\chassis.h ..\User\module\struct_typedef.h \
|
..\User\module\chassis.h ..\User\module\struct_typedef.h \
|
||||||
..\User\device\bmi088.h ..\User\component\user_math.h \
|
..\User\device\bmi088.h ..\User\component\user_math.h \
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\device\dr16.h \
|
..\User\component\trapezoidal_profile.h ..\User\module\shoot.h \
|
||||||
..\User\device\device.h ..\User\device\et16s.h \
|
..\Core\Inc\main.h ..\User\device\dr16.h ..\User\device\device.h \
|
||||||
..\User\device\motor_step.h ..\User\bsp\pwm.h ..\Core\Inc\tim.h \
|
..\User\device\et16s.h
|
||||||
..\User\bsp\bsp.h
|
|
||||||
|
|||||||
Binary file not shown.
Binary file not shown.
14
MDK-ARM/Steering Wheel_Infatry/referee.d
Normal file
14
MDK-ARM/Steering Wheel_Infatry/referee.d
Normal file
@ -0,0 +1,14 @@
|
|||||||
|
steering\ wheel_infatry/referee.o: ..\..\referee\User\task\referee.c \
|
||||||
|
..\User\task\user_task.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||||
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
||||||
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
|
||||||
|
..\Core\Inc\FreeRTOSConfig.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
|
||||||
|
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
|
||||||
@ -61,5 +61,6 @@ steering\ wheel_infatry/shoot.o: ..\User\module\shoot.c \
|
|||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
||||||
..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
|
..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
|
||||||
..\User\module\struct_typedef.h ..\User\component\ahrs.h \
|
..\User\module\struct_typedef.h ..\User\component\ahrs.h \
|
||||||
..\User\device\bmi088.h ..\User\module\gimbal.h \
|
..\User\device\bmi088.h ..\User\component\trapezoidal_profile.h \
|
||||||
..\User\device\motor_dm.h ..\User\module\shoot.h
|
..\User\module\gimbal.h ..\User\device\motor_dm.h \
|
||||||
|
..\User\module\shoot.h
|
||||||
|
|||||||
Binary file not shown.
@ -61,7 +61,8 @@ steering\ wheel_infatry/shoot_ctrl.o: ..\User\task\shoot_ctrl.c \
|
|||||||
..\User\device\motor_rm.h ..\User\device\motor.h \
|
..\User\device\motor_rm.h ..\User\device\motor.h \
|
||||||
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
|
..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
|
||||||
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
|
..\User\module\struct_typedef.h ..\User\device\bmi088.h \
|
||||||
..\User\component\user_math.h ..\User\module\cmd\cmd.h \
|
..\User\component\user_math.h ..\User\component\trapezoidal_profile.h \
|
||||||
..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
|
..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
|
||||||
..\User\device\ET16s.h ..\User\module\cmd\cmd_behavior.h \
|
..\User\module\cmd\cmd_adapter.h ..\User\device\ET16s.h \
|
||||||
..\User\module\gimbal.h ..\User\module\shoot.h
|
..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
|
||||||
|
..\User\module\shoot.h
|
||||||
|
|||||||
Binary file not shown.
@ -1,40 +0,0 @@
|
|||||||
steering\ wheel_infatry/step_motor.o: ..\User\device\step_motor.c \
|
|
||||||
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
|
|
||||||
..\Core\Inc\stm32f4xx_hal_conf.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
|
|
||||||
..\Drivers\CMSIS\Include\core_cm4.h \
|
|
||||||
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_version.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_compiler.h \
|
|
||||||
..\Drivers\CMSIS\Include\cmsis_armclang.h \
|
|
||||||
..\Drivers\CMSIS\Include\mpu_armv7.h \
|
|
||||||
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
|
||||||
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
|
|
||||||
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
|
|
||||||
..\User\bsp\pwm.h ..\Core\Inc\tim.h ..\Core\Inc\main.h \
|
|
||||||
..\User\bsp\bsp.h ..\User\device\step_motor.h \
|
|
||||||
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
|
|
||||||
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\User\bsp\gpio.h \
|
|
||||||
..\User\bsp\bsp.h
|
|
||||||
Binary file not shown.
Binary file not shown.
6
MDK-ARM/Steering Wheel_Infatry/trapezoidal_profile.d
Normal file
6
MDK-ARM/Steering Wheel_Infatry/trapezoidal_profile.d
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
steering\ wheel_infatry/trapezoidal_profile.o: \
|
||||||
|
..\User\component\trapezoidal_profile.c \
|
||||||
|
..\User\component\trapezoidal_profile.h \
|
||||||
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
|
||||||
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
|
||||||
|
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h
|
||||||
BIN
MDK-ARM/Steering Wheel_Infatry/trapezoidal_profile.o
Normal file
BIN
MDK-ARM/Steering Wheel_Infatry/trapezoidal_profile.o
Normal file
Binary file not shown.
80
User/component/trapezoidal_profile.c
Normal file
80
User/component/trapezoidal_profile.c
Normal file
@ -0,0 +1,80 @@
|
|||||||
|
#include "trapezoidal_profile.h"
|
||||||
|
/* USER INCLUDE BEGIN */
|
||||||
|
|
||||||
|
/* USER INCLUDE END */
|
||||||
|
|
||||||
|
|
||||||
|
/* --- 梯形速度规划器相关定义与函数 --- */
|
||||||
|
|
||||||
|
// 1. 规划器初始化函数
|
||||||
|
void Profile_Init(TrapezoidalProfile *p, float start, float target, float v_max, float acc) {
|
||||||
|
p->start_pos = start;
|
||||||
|
p->target_pos = target;
|
||||||
|
float dist = target - start;
|
||||||
|
p->direction = (dist >= 0.0f) ? 1 : -1;
|
||||||
|
dist = fabsf(dist);
|
||||||
|
|
||||||
|
p->max_vel = v_max;
|
||||||
|
p->accel = acc;
|
||||||
|
p->elapsed_time = 0.0f;
|
||||||
|
|
||||||
|
p->t_acc = v_max / acc;
|
||||||
|
p->d_acc = 0.5f * acc * p->t_acc * p->t_acc;
|
||||||
|
|
||||||
|
if (dist < 2.0f * p->d_acc) { // 走不到最大速度就得减速 (三角形曲线)
|
||||||
|
p->d_acc = dist / 2.0f;
|
||||||
|
p->t_acc = sqrtf(2.0f * p->d_acc / acc);
|
||||||
|
p->t_total = 2.0f * p->t_acc;
|
||||||
|
p->d_cruise = 0.0f;
|
||||||
|
p->max_vel = acc * p->t_acc;
|
||||||
|
} else { // 标准梯形曲线
|
||||||
|
p->d_cruise = dist - 2.0f * p->d_acc;
|
||||||
|
p->t_total = 2.0f * p->t_acc + (p->d_cruise / v_max);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2. 规划器实时更新函数
|
||||||
|
void Profile_Update(TrapezoidalProfile *p, float dt) {
|
||||||
|
p->elapsed_time += dt;
|
||||||
|
float t = p->elapsed_time;
|
||||||
|
float v = 0.0f, s = 0.0f;
|
||||||
|
|
||||||
|
if (t < p->t_acc) {
|
||||||
|
// 加速段
|
||||||
|
v = p->accel * t;
|
||||||
|
s = 0.5f * p->accel * t * t;
|
||||||
|
}
|
||||||
|
else if (t < (p->t_total - p->t_acc)) {
|
||||||
|
// 匀速段
|
||||||
|
v = p->max_vel;
|
||||||
|
s = p->d_acc + p->max_vel * (t - p->t_acc);
|
||||||
|
}
|
||||||
|
else if (t < p->t_total) {
|
||||||
|
// 减速段
|
||||||
|
float t_dec = t - (p->t_total - p->t_acc);
|
||||||
|
v = p->max_vel - p->accel * t_dec;
|
||||||
|
s = p->d_acc + p->d_cruise + (p->max_vel * t_dec - 0.5f * p->accel * t_dec * t_dec);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
// 到达终点
|
||||||
|
p->current_pos = p->target_pos;
|
||||||
|
p->current_vel = 0.0f;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
p->current_vel = v * (float)p->direction;
|
||||||
|
p->current_pos = p->start_pos + s * (float)p->direction;
|
||||||
|
}
|
||||||
|
/* -------------------------------------------------------- */
|
||||||
|
|
||||||
|
|
||||||
|
/* USER DEFINE BEGIN */
|
||||||
|
|
||||||
|
/* USER DEFINE END */
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/* USER FUNCTION BEGIN */
|
||||||
|
|
||||||
|
/* USER FUNCTION END */
|
||||||
49
User/component/trapezoidal_profile.h
Normal file
49
User/component/trapezoidal_profile.h
Normal file
@ -0,0 +1,49 @@
|
|||||||
|
#pragma once
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <stddef.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
/* USER INCLUDE BEGIN */
|
||||||
|
|
||||||
|
/* USER INCLUDE END */
|
||||||
|
|
||||||
|
/* USER DEFINE BEGIN */
|
||||||
|
|
||||||
|
/* USER DEFINE END */
|
||||||
|
/* --- 梯形速度规划器相关定义与函数 --- */
|
||||||
|
typedef struct {
|
||||||
|
float target_pos; // 最终目标位置
|
||||||
|
float start_pos; // 起始位置
|
||||||
|
float current_pos; // 瞬时位置 (给PID位置环)
|
||||||
|
float current_vel; // 瞬时速度 (给PID速度环前馈)
|
||||||
|
|
||||||
|
float max_vel; // 最大速度
|
||||||
|
float accel; // 加速度
|
||||||
|
|
||||||
|
float t_acc; // 加速段时间
|
||||||
|
float t_total; // 总时间
|
||||||
|
float d_acc; // 加速段距离
|
||||||
|
float d_cruise; // 匀速段距离
|
||||||
|
|
||||||
|
float elapsed_time; // 已运行时间
|
||||||
|
int direction; // 运行方向 (1 或 -1)
|
||||||
|
} TrapezoidalProfile;
|
||||||
|
|
||||||
|
|
||||||
|
/* -------------------------------------------------------- */
|
||||||
|
void Profile_Init(TrapezoidalProfile *p, float start, float target, float v_max, float acc);
|
||||||
|
|
||||||
|
void Profile_Update(TrapezoidalProfile *p, float dt);
|
||||||
|
|
||||||
|
/* USER FUNCTION BEGIN */
|
||||||
|
|
||||||
|
/* USER FUNCTION END */
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
@ -1,476 +0,0 @@
|
|||||||
/*
|
|
||||||
oid编码器驱动
|
|
||||||
*/
|
|
||||||
|
|
||||||
/*编码器can通信的默认波特率为500kHZ*/
|
|
||||||
/* Includes ----------------------------------------------------------------- */
|
|
||||||
#include "device/Oid.h"
|
|
||||||
#include "bsp/time.h"
|
|
||||||
#include "mm.h"
|
|
||||||
#include "bsp/can.h"
|
|
||||||
/* Private function prototypes ---------------------------------------------- */
|
|
||||||
|
|
||||||
static OID_CANManager_t* OID_GetCANManager(BSP_CAN_t can);
|
|
||||||
|
|
||||||
/* Private functions -------------------------------------------------------- */
|
|
||||||
|
|
||||||
static OID_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 接收数据处理
|
|
||||||
* @param[in] none
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
uint8_t rx_data_oid[8];
|
|
||||||
static void OID_ParseFeedbackFrame( OID_t *encoder , uint8_t *rx_data )
|
|
||||||
{
|
|
||||||
// rx_data_oid[0]=rx_data[0];
|
|
||||||
// rx_data_oid[1]=rx_data[1];
|
|
||||||
// rx_data_oid[2]=rx_data[2];
|
|
||||||
// rx_data_oid[3]=rx_data[3];
|
|
||||||
// rx_data_oid[4]=rx_data[4];
|
|
||||||
// rx_data_oid[5]=rx_data[5];
|
|
||||||
// rx_data_oid[6]=rx_data[6];
|
|
||||||
// rx_data_oid[7]=rx_data[7];
|
|
||||||
if(encoder->param.id == rx_data[1])//判断编码器id
|
|
||||||
{
|
|
||||||
switch(rx_data[2])//判断指令
|
|
||||||
{
|
|
||||||
case 0x01:
|
|
||||||
encoder->feedback.angle_fbk = rx_data[3]|rx_data[4]<<8|rx_data[5]<<16|rx_data[6]<<24;
|
|
||||||
encoder->feedback.angle_360 = encoder->feedback.angle_fbk*360.0f/OID_RESOLUTION;
|
|
||||||
encoder->feedback.angle_2PI = encoder->feedback.angle_fbk*M_2PI/(OID_RESOLUTION);
|
|
||||||
|
|
||||||
break;
|
|
||||||
|
|
||||||
case 0x0A:
|
|
||||||
encoder->feedback.speed_fbk=rx_data[3]|rx_data[4]<<8|rx_data[5]<<16|rx_data[6]<<24;
|
|
||||||
encoder->feedback.speed_rpm=encoder->feedback.speed_fbk/OID_RESOLUTION/(0.1f/60.0f);
|
|
||||||
break;
|
|
||||||
|
|
||||||
default:
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
int8_t OID_Update(OID_Param_t *param)
|
|
||||||
{
|
|
||||||
|
|
||||||
if (param == NULL) return DEVICE_ERR_NULL;
|
|
||||||
|
|
||||||
OID_CANManager_t *manager = OID_GetCANManager(param->can);
|
|
||||||
if (manager == NULL) return DEVICE_ERR_NULL;
|
|
||||||
|
|
||||||
OID_t *encoder = NULL;
|
|
||||||
|
|
||||||
for (int i = 0; i < manager->encoder_count; i++) {
|
|
||||||
if (manager->encoders[i] && manager->encoders[i]->param.id == param->id) {
|
|
||||||
encoder = manager->encoders[i];
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (encoder == NULL) return DEVICE_ERR_NO_DEV;
|
|
||||||
|
|
||||||
// 从CAN队列获取数据
|
|
||||||
BSP_CAN_Message_t rx_msg;
|
|
||||||
if (BSP_CAN_GetMessage( param->can , param->id , &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK)
|
|
||||||
{
|
|
||||||
uint64_t now_time = BSP_TIME_Get();
|
|
||||||
if (now_time - encoder->header.last_online_time > 100000) // 100ms超时，单位微秒
|
|
||||||
{
|
|
||||||
encoder->header.online = false;
|
|
||||||
}
|
|
||||||
return DEVICE_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
encoder->header.online = true;
|
|
||||||
encoder->header.last_online_time = BSP_TIME_Get();
|
|
||||||
// 处理接收到的数据
|
|
||||||
OID_ParseFeedbackFrame( encoder , rx_msg.data );
|
|
||||||
return DEVICE_OK; // 没有新数据
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 更新所有编码器数据
|
|
||||||
* @return 更新结果
|
|
||||||
*/
|
|
||||||
int8_t OID_UpdateAll(void) {
|
|
||||||
int8_t ret = DEVICE_OK;
|
|
||||||
for (int can = 0; can < BSP_CAN_NUM; can++) {
|
|
||||||
OID_CANManager_t *manager = OID_GetCANManager((BSP_CAN_t)can);
|
|
||||||
if (manager == NULL) continue;
|
|
||||||
|
|
||||||
for (int i = 0; i < manager->encoder_count; i++) {
|
|
||||||
OID_t *encoder = manager->encoders[i];
|
|
||||||
if (encoder != NULL) {
|
|
||||||
if (OID_Update(&encoder->param) != DEVICE_OK) {
|
|
||||||
ret = DEVICE_ERR;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return ret;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 获取指定CAN总线的管理器
|
|
||||||
* @param can CAN总线
|
|
||||||
* @return CAN管理器指针
|
|
||||||
*/
|
|
||||||
static OID_CANManager_t* OID_GetCANManager(BSP_CAN_t can) {
|
|
||||||
if (can >= BSP_CAN_NUM) {
|
|
||||||
return NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
return can_managers[can];
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 创建CAN管理器
|
|
||||||
* @param can CAN总线
|
|
||||||
* @return 创建结果
|
|
||||||
*/
|
|
||||||
static int8_t OID_CreateCANManager(BSP_CAN_t can) {
|
|
||||||
if (can >= BSP_CAN_NUM) return DEVICE_ERR;
|
|
||||||
if (can_managers[can] != NULL) return DEVICE_OK;
|
|
||||||
|
|
||||||
can_managers[can] = (OID_CANManager_t*)BSP_Malloc(sizeof(OID_CANManager_t));
|
|
||||||
if (can_managers[can] == NULL) return DEVICE_ERR;
|
|
||||||
|
|
||||||
memset(can_managers[can], 0, sizeof(OID_CANManager_t));
|
|
||||||
can_managers[can]->can = can;
|
|
||||||
return DEVICE_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 注册一个欧艾迪编码器
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @return 注册结果
|
|
||||||
*/
|
|
||||||
int8_t OID_Register(OID_Param_t *param)
|
|
||||||
{
|
|
||||||
if (param == NULL) {
|
|
||||||
return DEVICE_ERR_NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 创建CAN管理器 */
|
|
||||||
if (OID_CreateCANManager(param->can) != DEVICE_OK) {
|
|
||||||
return DEVICE_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 获取CAN管理器 */
|
|
||||||
OID_CANManager_t *manager = OID_GetCANManager(param->can);
|
|
||||||
if (manager == NULL) {
|
|
||||||
return DEVICE_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 检查是否已注册 */
|
|
||||||
for (int i = 0; i < manager->encoder_count; i++) {
|
|
||||||
if (manager->encoders[i] && manager->encoders[i]->param.id == param->id) {
|
|
||||||
return DEVICE_ERR_INITED;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 检查是否已达到最大数量 */
|
|
||||||
if (manager->encoder_count >= OID_MAX_NUM) {
|
|
||||||
return DEVICE_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 分配内存 */
|
|
||||||
OID_t *encoder = (OID_t *)BSP_Malloc(sizeof(OID_t));
|
|
||||||
if (encoder == NULL) {
|
|
||||||
return DEVICE_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 初始化电机 */
|
|
||||||
memset(encoder, 0, sizeof(OID_t));
|
|
||||||
memcpy(&encoder->param, param, sizeof(OID_Param_t));
|
|
||||||
encoder->header.online = false;
|
|
||||||
// encoder->encoder.reverse = param->reverse;
|
|
||||||
|
|
||||||
/* 注册CAN接收ID - DM电机使用Master ID接收反馈 */
|
|
||||||
uint16_t feedback_id = param->id;
|
|
||||||
if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) {
|
|
||||||
BSP_Free(encoder);
|
|
||||||
return DEVICE_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 添加到管理器 */
|
|
||||||
manager->encoders[manager->encoder_count] = encoder;
|
|
||||||
manager->encoder_count++;
|
|
||||||
|
|
||||||
return DEVICE_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 使编码器离线（设置在线状态为false）
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @return 操作结果
|
|
||||||
*/
|
|
||||||
int8_t OID_Offline(OID_Param_t *param) {
|
|
||||||
if (param == NULL) {
|
|
||||||
return DEVICE_ERR_NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
OID_t *encoder = OID_GetEncoder(param);
|
|
||||||
if (encoder == NULL) {
|
|
||||||
return DEVICE_ERR_NO_DEV;
|
|
||||||
}
|
|
||||||
|
|
||||||
encoder->header.online = false;
|
|
||||||
return DEVICE_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 获取指定编码器的实例指针
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @return 编码器实例指针
|
|
||||||
*/
|
|
||||||
OID_t* OID_GetEncoder(OID_Param_t *param) {
|
|
||||||
if (param == NULL) {
|
|
||||||
return NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
OID_CANManager_t *manager = OID_GetCANManager(param->can);
|
|
||||||
if (manager == NULL) {
|
|
||||||
return NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* 查找对应的编码器 */
|
|
||||||
for (int i = 0; i < manager->encoder_count; i++) {
|
|
||||||
OID_t *encoder = manager->encoders[i];
|
|
||||||
if (encoder && encoder->param.can == param->can &&
|
|
||||||
encoder->param.id == param->id) {
|
|
||||||
return encoder;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
return NULL;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 读取编码器值
|
|
||||||
* @param[in] 编码器id
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Read_Value(OID_Param_t *param)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x01;
|
|
||||||
frame.data[3] = 0x00;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器id
|
|
||||||
* @param[in] 编码器当前id，编码器设置id
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_ID(OID_Param_t *param,OID_Param_t *param_new)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x02;
|
|
||||||
frame.data[3] = param_new->id;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 设置can通讯波特率 0x00：500K（默认）；0x01:1M；0x02：250K；0x03:125K；0x04：100K；
|
|
||||||
* @param[in] 编码器id，编码器设置波特率
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_Baudrate(OID_Param_t *param,OID_Baudrate_t encoder_vaud_rate)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x03;
|
|
||||||
frame.data[3] = encoder_vaud_rate;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器模式 0x00：查询，0x02：自动返回编码器角速度值，0xAA：自动返回编码器值
|
|
||||||
* @param[in] 编码器id，编码器设置模式
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_Mode(OID_Param_t *param,OID_Mode_t encoder_mode)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x04;
|
|
||||||
frame.data[3] = encoder_mode;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器自动回传时间(掉电记忆，单位：微秒)，数值范围：50~65535（16 位无符号整数）
|
|
||||||
注意：设置太短的返回时间后，通过编码器上位机再设置其他参数很容易失败，谨慎使用！
|
|
||||||
* @param[in] 编码器id，编码器自动回传时间
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_AutoFeedbackTime(OID_Param_t *param,uint8_t encoder_time)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x05;
|
|
||||||
frame.data[3] = encoder_time;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 设置当前位置值为零点
|
|
||||||
* @param[in] 编码器id
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_ZeroPoint(OID_Param_t *param)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x06;
|
|
||||||
frame.data[3] = 0x00;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器值递增方向 0x00：顺时针，0x01：逆时针
|
|
||||||
* @param[in] 编码器id
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_Polarity(OID_Param_t *param,OID_Direction_t encoder_direction)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x07;
|
|
||||||
frame.data[3] = encoder_direction;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 读取编码器角度值
|
|
||||||
* @param[in] 编码器id
|
|
||||||
* @retval none
|
|
||||||
编码器旋转速度=编码器角速度值/单圈
|
|
||||||
精度/转速计算时间（单位：转/分钟）
|
|
||||||
例如：编码器角速度值回传为1000，单圈
|
|
||||||
精度为32768，转速采样时间为
|
|
||||||
100ms(0.1/60min)
|
|
||||||
编码器旋转速度=1000/32768/(0.1/60)
|
|
||||||
=1000*0.0183=18.31转/分钟
|
|
||||||
*/
|
|
||||||
int8_t OID_Read_AngularVelocity(OID_Param_t *param)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x0A;
|
|
||||||
frame.data[3] = 0x00;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器角速度采样时间(掉电记忆，单位：毫秒)
|
|
||||||
* @param[in] 编码器id,采样时间
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_AngularVelocitySamplingTime(OID_Param_t *param,uint8_t encoder_time)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x0B;
|
|
||||||
frame.data[3] = encoder_time;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器中点 设定当前编码器值为 M(M 为单圈分辨率*圈数/2)
|
|
||||||
* @param[in] 编码器id
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_Midpoint(OID_Param_t *param)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x0C;
|
|
||||||
frame.data[3] = 0x01;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器当前位置值 数值范围：0~X（X 为单圈分辨率*圈数- 1）
|
|
||||||
* @param[in] 编码器id
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_CurrentPosition(OID_Param_t *param,uint8_t encoder_direction)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x0D;
|
|
||||||
frame.data[3] = encoder_direction;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
/**
|
|
||||||
* @brief 编码器设置当前值为 5 圈值 即当前编码器值为 Z(Z 为单圈分辨率*5)
|
|
||||||
* @param[in] 编码器id
|
|
||||||
* @retval none
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_CurrentValue5Turns(OID_Param_t *param)
|
|
||||||
{
|
|
||||||
BSP_CAN_StdDataFrame_t frame;
|
|
||||||
frame.id = param->id;
|
|
||||||
frame.dlc = 4;
|
|
||||||
frame.data[0] = 0x04;
|
|
||||||
frame.data[1] = param->id;
|
|
||||||
frame.data[2] = 0x0F;
|
|
||||||
frame.data[3] = 0x01;
|
|
||||||
|
|
||||||
|
|
||||||
return BSP_CAN_TransmitStdDataFrame(param->can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
|
|
||||||
}
|
|
||||||
|
|
||||||
@ -1,272 +0,0 @@
|
|||||||
#pragma once
|
|
||||||
|
|
||||||
#ifdef __cplusplus
|
|
||||||
extern "C" {
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/* Includes ----------------------------------------------------------------- */
|
|
||||||
#include "device/device.h"
|
|
||||||
#include "bsp/can.h"
|
|
||||||
#include "component/user_math.h"
|
|
||||||
|
|
||||||
/* Exported constants ------------------------------------------------------- */
|
|
||||||
#define OID_MAX_NUM 32
|
|
||||||
#define OID_RESOLUTION 4096 //编码器分辨率
|
|
||||||
|
|
||||||
/* Exported macro ----------------------------------------------------------- */
|
|
||||||
/* Exported types ----------------------------------------------------------- */
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 编码器工作模式枚举
|
|
||||||
*/
|
|
||||||
typedef enum {
|
|
||||||
OID_MODE_QUERY = 0x00, // 查询模式
|
|
||||||
OID_MODE_AUTO_SPEED = 0x02, // 自动返回编码器角速度值
|
|
||||||
OID_MODE_AUTO_POSITION = 0xAA // 自动返回编码器值
|
|
||||||
} OID_Mode_t;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 编码器方向枚举
|
|
||||||
*/
|
|
||||||
typedef enum {
|
|
||||||
OID_DIR_CW = 0x00, // 顺时针
|
|
||||||
OID_DIR_CCW = 0x01 // 逆时针
|
|
||||||
} OID_Direction_t;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 编码器波特率枚举
|
|
||||||
* 当编码器的ID和波特率更改后，闪灯的颜色会相应变化，状态灯颜色参照表及代表的意义如下：
|
|
||||||
*
|
|
||||||
* 颜色及其数值定义关系：
|
|
||||||
* - 蓝色(0) : 500K（默认）
|
|
||||||
* - 青色(1) : 1M
|
|
||||||
* - 橙色(2) : 250K
|
|
||||||
* - 紫色(3) : 125K
|
|
||||||
* - 绿色(4) : 100K
|
|
||||||
* - 红色(5) : 保留
|
|
||||||
*/
|
|
||||||
typedef enum {
|
|
||||||
OID_BAUD_500K = 0x00, // 蓝色 - 500K（默认）
|
|
||||||
OID_BAUD_1M = 0x01, // 青色 - 1M
|
|
||||||
OID_BAUD_250K = 0x02, // 橙色 - 250K
|
|
||||||
OID_BAUD_125K = 0x03, // 紫色 - 125K
|
|
||||||
OID_BAUD_100K = 0x04 // 绿色 - 100K
|
|
||||||
} OID_Baudrate_t;
|
|
||||||
|
|
||||||
typedef struct {
|
|
||||||
BSP_CAN_t can;
|
|
||||||
uint16_t id;
|
|
||||||
|
|
||||||
} OID_Param_t;
|
|
||||||
|
|
||||||
typedef struct {
|
|
||||||
//0x01 编码器值反馈
|
|
||||||
float angle_fbk;
|
|
||||||
float angle_360;
|
|
||||||
float angle_2PI;
|
|
||||||
|
|
||||||
//0x0A 速度反馈
|
|
||||||
float speed_fbk;
|
|
||||||
float speed_rpm;
|
|
||||||
|
|
||||||
} OID_Feedback_t;
|
|
||||||
|
|
||||||
typedef struct {
|
|
||||||
DEVICE_Header_t header;
|
|
||||||
OID_Param_t param;
|
|
||||||
OID_Feedback_t feedback;
|
|
||||||
} OID_t;
|
|
||||||
|
|
||||||
/*CAN管理器，管理一个CAN总线上所有的编码器*/
|
|
||||||
typedef struct {
|
|
||||||
BSP_CAN_t can;
|
|
||||||
OID_t *encoders[OID_MAX_NUM];
|
|
||||||
uint8_t encoder_count;
|
|
||||||
} OID_CANManager_t;
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 更新指定编码器数据
|
|
||||||
* @param param 编码器参数指针
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR_NULL: 参数为空
|
|
||||||
* - DEVICE_ERR_NO_DEV: 编码器未找到
|
|
||||||
* - DEVICE_ERR: 其他错误
|
|
||||||
*/
|
|
||||||
int8_t OID_Update(OID_Param_t *param);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 更新所有已注册编码器数据
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 全部成功
|
|
||||||
* - DEVICE_ERR: 部分或全部失败
|
|
||||||
*/
|
|
||||||
int8_t OID_UpdateAll(void);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 注册一个欧艾迪编码器
|
|
||||||
* @param param 编码器参数指针
|
|
||||||
* @return 注册结果
|
|
||||||
* - DEVICE_OK: 注册成功
|
|
||||||
* - DEVICE_ERR_NULL: 参数为空
|
|
||||||
* - DEVICE_ERR_INITED: 已注册
|
|
||||||
* - DEVICE_ERR: 其他错误
|
|
||||||
*/
|
|
||||||
int8_t OID_Register(OID_Param_t *param);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器离线状态
|
|
||||||
* @param param 编码器参数指针
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR_NULL: 参数为空
|
|
||||||
* - DEVICE_ERR_NO_DEV: 编码器未找到
|
|
||||||
*/
|
|
||||||
int8_t OID_Offline(OID_Param_t *param);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 获取指定编码器实例指针
|
|
||||||
* @param param 编码器参数指针
|
|
||||||
* @return 编码器实例指针，失败返回NULL
|
|
||||||
*/
|
|
||||||
OID_t* OID_GetEncoder(OID_Param_t *param);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器ID
|
|
||||||
* @param param 当前编码器参数
|
|
||||||
* @param param_new 新编码器参数（包含新ID）
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_ID(OID_Param_t *param, OID_Param_t *param_new);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器CAN通信波特率
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @param encoder_vaud_rate 波特率设置
|
|
||||||
* - 0x00: 500K（默认）
|
|
||||||
* - 0x01: 1M
|
|
||||||
* - 0x02: 250K
|
|
||||||
* - 0x03: 125K
|
|
||||||
* - 0x04: 100K
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_Baudrate(OID_Param_t *param, OID_Baudrate_t encoder_vaud_rate);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器工作模式
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @param encoder_mode 工作模式
|
|
||||||
* - 0x00: 查询模式
|
|
||||||
* - 0x02: 自动返回编码器角速度值
|
|
||||||
* - 0xAA: 自动返回编码器值
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_Mode(OID_Param_t *param, OID_Mode_t encoder_mode);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器自动回传时间
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @param encoder_time 自动回传时间（单位：微秒）
|
|
||||||
* 数值范围：50~65535（16位无符号整数）
|
|
||||||
* @note 注意：设置太短的返回时间后，通过编码器上位机再设置其他参数很容易失败，谨慎使用！
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_AutoFeedbackTime(OID_Param_t *param, uint8_t encoder_time);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置当前位置为零点
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_ZeroPoint(OID_Param_t *param);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器值递增方向
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @param encoder_direction 方向设置
|
|
||||||
* - 0x00: 顺时针
|
|
||||||
* - 0x01: 逆时针
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_Polarity(OID_Param_t *param, OID_Direction_t encoder_direction);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器角速度采样时间
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @param encoder_time 采样时间（单位：毫秒）
|
|
||||||
* @note 掉电记忆功能
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_AngularVelocitySamplingTime(OID_Param_t *param, uint8_t encoder_time);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器中点位置
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @note 设定当前编码器值为 M（M 为单圈分辨率 × 圈数 / 2）
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_Midpoint(OID_Param_t *param);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器当前位置值
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @param encoder_direction 位置值
|
|
||||||
* 数值范围：0~X（X 为单圈分辨率 × 圈数 - 1）
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_CurrentPosition(OID_Param_t *param, uint8_t encoder_direction);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 设置编码器当前值为5圈值
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @note 即当前编码器值为 Z（Z 为单圈分辨率 × 5）
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Set_CurrentValue5Turns(OID_Param_t *param);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 读取编码器角速度值
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @note 编码器旋转速度 = 编码器角速度值 / 单圈精度 / 转速计算时间（单位：转/分钟）
|
|
||||||
* 例如：编码器角速度值回传为1000，单圈精度为32768，转速采样时间为100ms(0.1/60min)
|
|
||||||
* 编码器旋转速度 = 1000 / 32768 / (0.1/60) = 1000 × 0.0183 = 18.31转/分钟
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Read_AngularVelocity(OID_Param_t *param);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief 读取编码器值
|
|
||||||
* @param param 编码器参数
|
|
||||||
* @return 操作结果
|
|
||||||
* - DEVICE_OK: 成功
|
|
||||||
* - DEVICE_ERR: 失败
|
|
||||||
*/
|
|
||||||
int8_t OID_Read_Value(OID_Param_t *param);
|
|
||||||
|
|
||||||
#ifdef __cplusplus
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
@ -1,37 +0,0 @@
|
|||||||
/* 底盘固定模组,用步进 */
|
|
||||||
#include "main.h"
|
|
||||||
#include "bsp/pwm.h"
|
|
||||||
#include "motor_step.h"
|
|
||||||
#include "bsp/gpio.h"
|
|
||||||
#include "cmsis_os2.h"
|
|
||||||
|
|
||||||
int8_t Motor_Step_Init(MOTOR_STEP_t *motor_step){
|
|
||||||
|
|
||||||
BSP_PWM_Start(motor_step->param.channel);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
int8_t Motor_Step_Ctrl(MOTOR_STEP_t *motor_step){
|
|
||||||
|
|
||||||
/* 控制方向 */
|
|
||||||
if(motor_step->param.reverse==true){
|
|
||||||
BSP_GPIO_WritePin(BSP_GPIO_DIR_P, true);
|
|
||||||
BSP_PWM_SetComp(motor_step->param.channel,0.5);
|
|
||||||
}
|
|
||||||
|
|
||||||
if(motor_step->param.reverse==false){
|
|
||||||
BSP_GPIO_WritePin(BSP_GPIO_DIR_P, true);
|
|
||||||
|
|
||||||
BSP_PWM_SetComp(motor_step->param.channel,0.9);
|
|
||||||
// osDelay(100);
|
|
||||||
// BSP_PWM_SetComp(motor_step->param.channel,0);
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
int8_t Motor_Step_Stop(MOTOR_STEP_t *motor_step){
|
|
||||||
|
|
||||||
BSP_PWM_Stop(motor_step->param.channel) ;
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
@ -1,43 +0,0 @@
|
|||||||
/*
|
|
||||||
* 步进电机
|
|
||||||
*/
|
|
||||||
|
|
||||||
#pragma once
|
|
||||||
|
|
||||||
#ifdef __cplusplus
|
|
||||||
extern "C" {
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/* Includes ----------------------------------------------------------------- */
|
|
||||||
#include "cmsis_os2.h"
|
|
||||||
#include <stdbool.h>
|
|
||||||
#include "bsp/pwm.h"
|
|
||||||
/* Exported constants ------------------------------------------------------- */
|
|
||||||
|
|
||||||
|
|
||||||
/* Exported macro ----------------------------------------------------------- */
|
|
||||||
/* Exported types ----------------------------------------------------------- */
|
|
||||||
|
|
||||||
|
|
||||||
/*每个电机需要的参数*/
|
|
||||||
typedef struct {
|
|
||||||
BSP_PWM_Channel_t channel;
|
|
||||||
bool reverse;
|
|
||||||
bool gear;
|
|
||||||
} MOTOR_STEP_Param_t;
|
|
||||||
|
|
||||||
typedef struct{
|
|
||||||
|
|
||||||
MOTOR_STEP_Param_t param;
|
|
||||||
/* 脉冲个数 */
|
|
||||||
int pulse;
|
|
||||||
|
|
||||||
}MOTOR_STEP_t;
|
|
||||||
|
|
||||||
int8_t Motor_Step_Init(MOTOR_STEP_t *param);
|
|
||||||
int8_t Motor_Step_Ctrl(MOTOR_STEP_t *param);
|
|
||||||
int8_t Motor_Step_Stop(MOTOR_STEP_t *motor_step);
|
|
||||||
#ifdef __cplusplus
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
@ -41,7 +41,7 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ);
|
|||||||
#include "component/pid.h"
|
#include "component/pid.h"
|
||||||
#include "component/filter.h"
|
#include "component/filter.h"
|
||||||
#include "stdlib.h"
|
#include "stdlib.h"
|
||||||
|
#include "trapezoidal_profile.h"
|
||||||
/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处(define.h里有快捷方法)，
|
/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处(define.h里有快捷方法)，
|
||||||
进debug将四个轮子编码器朝右（左右无所谓，可能会导致5065方向反，在解算里加个负号就行）
|
进debug将四个轮子编码器朝右（左右无所谓，可能会导致5065方向反，在解算里加个负号就行）
|
||||||
查看6020反馈值，将6020反馈值放入motor_offset中*/
|
查看6020反馈值，将6020反馈值放入motor_offset中*/
|
||||||
@ -65,55 +65,146 @@ fp32 vofa_send[8]; //vofa输出数据
|
|||||||
#define CHASSIS_ROTOR_WZ_MAX 0.8f /* 小陀螺旋转位移上界 */
|
#define CHASSIS_ROTOR_WZ_MAX 0.8f /* 小陀螺旋转位移上界 */
|
||||||
#define ONE_MINUTE 60.0f /* 一分钟时间 */
|
#define ONE_MINUTE 60.0f /* 一分钟时间 */
|
||||||
|
|
||||||
float motor_add_anagle(float current_angle){
|
/**
|
||||||
static int cirle;
|
* @brief 获取多个电机多圈角度
|
||||||
static float prev_angle;
|
* @param current_angle 编码器当前的原始值
|
||||||
float delta = current_angle - prev_angle;
|
* @param motor_id 电机在数组内是第几个
|
||||||
prev_angle=current_angle;
|
* @return 多圈角度
|
||||||
if(delta>M_PI){
|
*/
|
||||||
cirle-=1;
|
static float motor_add_angle(float current_angle, int motor_id){
|
||||||
}else if(delta<-M_PI){
|
static int circle[2]; // 支持2个电机
|
||||||
cirle+=1;
|
static float prev_angle[2]; // 各自维护前一值
|
||||||
}
|
|
||||||
current_angle+=cirle*M_2PI;
|
|
||||||
|
|
||||||
return current_angle;
|
float delta = current_angle - prev_angle[motor_id];
|
||||||
|
prev_angle[motor_id] = current_angle;
|
||||||
|
|
||||||
|
if(delta > M_PI){
|
||||||
|
circle[motor_id] -= 1;
|
||||||
|
}else if(delta < -M_PI){
|
||||||
|
circle[motor_id] += 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
return current_angle + circle[motor_id] * M_2PI;
|
||||||
|
}
|
||||||
|
/**
|
||||||
|
* @brief 获取映射后的逻辑位置（范围始终在 0 ~ range）
|
||||||
|
* @param raw 编码器当前的原始值
|
||||||
|
* @param offset 归零时记录的原始值
|
||||||
|
* @param range 循环范围（比如 M_2PI）
|
||||||
|
* @return 转换后的逻辑位置
|
||||||
|
*/
|
||||||
|
float GetLogicalPosition(float raw, float offset, float range) {
|
||||||
|
float logic_pos = raw - offset;
|
||||||
|
|
||||||
|
// 如果差值为负，说明跨越了 0 点，加上 range 补回循环
|
||||||
|
if (logic_pos < 0.0f) {
|
||||||
|
logic_pos += range;
|
||||||
|
}
|
||||||
|
// 如果差值超过范围，减去 range
|
||||||
|
else if (logic_pos >= range) {
|
||||||
|
logic_pos -= range;
|
||||||
|
}
|
||||||
|
|
||||||
|
return logic_pos;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
TrapezoidalProfile telescope_profile;
|
||||||
|
// float last_target_angle ;
|
||||||
|
static int8_t Set_Chassis_Attitude(Chassis_t *c,CHASSIS_ATTITUDE_MODE_t mode){
|
||||||
|
float Telescope_omega_set_point[2];
|
||||||
|
// c->Set_TelescopeAngle=c->param->Set_TelescopeAngle;
|
||||||
|
// c->feedfrward=c->param->feedfrward;
|
||||||
|
|
||||||
static int8_t Set_Chassis_Attitude(Chassis_t *c,CHASSIS_ATTITUDE_MODE_t mode){
|
|
||||||
float Telescope_omega_set_point;
|
|
||||||
c->Set_TelescopeAngle=c->param->Set_TelescopeAngle;
|
|
||||||
switch(mode)
|
|
||||||
{
|
|
||||||
case STOP_MODE:
|
|
||||||
c->out.Telescope = 0.0f;
|
|
||||||
break;
|
|
||||||
case EXPAND_MODE:
|
|
||||||
|
|
||||||
Telescope_omega_set_point = PID_Calc(&(c->pid.Telescope_angle), c->Set_TelescopeAngle,
|
//【关键参数】这里的最大速度和加速度需要你根据实际伸缩机构的物理极限来调试！
|
||||||
c->feedback.motor.Telescope_SuperiorAngle, 0.0f, c->dt);
|
// 你的位置单位似乎是弧度(rad)，速度是 rad/s。请根据实际情况微调这两个值。
|
||||||
c->out.Telescope = PID_Calc(&(c->pid.Telescope_omega), Telescope_omega_set_point,
|
// const float V_MAX = 5.0f; // 最大角速度 (rad/s)
|
||||||
c->feedback.motor.Telescope_Omega, 0.f, c->dt);
|
// const float ACCEL = 10.0f; // 最大角加速度 (rad/s^2)
|
||||||
break;
|
//
|
||||||
case REDUCE_MODE:
|
// // 1. 如果检测到目标角度发生改变，重新初始化规划器
|
||||||
|
// if (c->Set_TelescopeAngle != c->Last_Set_TelescopeAngle) {
|
||||||
|
// // 以电机0当前的实际位置作为规划起点
|
||||||
|
// Profile_Init(&telescope_profile,
|
||||||
|
// c->feedback.motor_transformation.Telescope_SuperiorAngle[0],
|
||||||
|
// c->Set_TelescopeAngle,
|
||||||
|
// V_MAX, ACCEL);
|
||||||
|
// c->Last_Set_TelescopeAngle = c->Set_TelescopeAngle;
|
||||||
|
// }
|
||||||
|
// // 2. 更新规划器状态，计算出当前 dt 周期下应该达到的 瞬时位置 和 瞬时速度
|
||||||
|
// Profile_Update(&telescope_profile, c->accl_time.dt);
|
||||||
|
|
||||||
Telescope_omega_set_point = PID_Calc(&(c->pid.Telescope_angle), 0,
|
// // 计算两电机真实位置差值，用于监控或其它补偿（保留你的原代码变量）
|
||||||
c->feedback.motor.Telescope_SuperiorAngle, 0.0f, c->dt);
|
// c->Telescope_err = (c->feedback.motor_transformation.Telescope_SuperiorAngle[0] -
|
||||||
c->out.Telescope = PID_Calc(&(c->pid.Telescope_omega), Telescope_omega_set_point,
|
// c->feedback.motor_transformation.Telescope_SuperiorAngle[1]);
|
||||||
c->feedback.motor.Telescope_Omega, 0.f, c->dt);
|
//
|
||||||
break;
|
|
||||||
default:
|
// c->Follow_TelescopeAngle=c->feedback.motor_transformation.Telescope_SuperiorAngle[0];
|
||||||
c->out.Telescope = 0.0f;
|
//
|
||||||
break;
|
//// A. 位置环计算：追踪瞬时位置 profile.current_pos
|
||||||
}
|
// for(int i = 0; i < 2; i++){
|
||||||
|
// float angle_pid_out = PID_Calc(&(c->pid.Telescope_angle[i]),
|
||||||
|
// telescope_profile.current_pos,
|
||||||
|
// c->feedback.motor_transformation.Telescope_SuperiorAngle[i],
|
||||||
|
// 0.0f, c->dt);
|
||||||
|
//
|
||||||
|
// // B. 【消除滞后的核心：速度前馈】
|
||||||
|
// // 目标速度 = 位置环的补偿量 + 规划器输出的瞬时速度
|
||||||
|
// // (如果你的位置单位是rad，速度单位是rad/s，前馈系数直接乘1.0f即可)
|
||||||
|
// float target_omega = angle_pid_out + telescope_profile.current_vel * 1.0f;
|
||||||
|
|
||||||
|
// // C. 速度环计算
|
||||||
|
// c->out.Telescope[i] = PID_Calc(&(c->pid.Telescope_omega[i]),
|
||||||
|
// target_omega,
|
||||||
|
// c->feedback.motor_transformation.Telescope_Omega[i],
|
||||||
|
// 0.0f, c->dt);
|
||||||
|
// }
|
||||||
|
/* 前馈添加 */
|
||||||
|
// c->out.Telescope[1]+=c->feedfrward*c->Telescope_err;
|
||||||
|
|
||||||
|
// c->out.Telescope[0]=1;
|
||||||
|
// switch(mode)
|
||||||
|
// {
|
||||||
|
// case STOP_MODE:
|
||||||
|
// for(int i = 0; i < 2; i++)
|
||||||
|
// c->out.Telescope[i] = 0.0f;
|
||||||
|
// break;
|
||||||
|
// case EXPAND_MODE:
|
||||||
|
Telescope_omega_set_point[0] = PID_Calc(&(c->pid.Telescope_angle[0]), c->Set_TelescopeAngle,
|
||||||
|
c->feedback.motor_transformation.Telescope_SuperiorAngle[0], 0.0f, c->dt);
|
||||||
|
c->out.Telescope[0] = PID_Calc(&(c->pid.Telescope_omega[0]), Telescope_omega_set_point[0],
|
||||||
|
c->feedback.motor_transformation.Telescope_Omega[0], 0.f, c->dt);
|
||||||
|
Telescope_omega_set_point[1] = PID_Calc(&(c->pid.Telescope_angle[1]), c->Set_TelescopeAngle,
|
||||||
|
c->feedback.motor_transformation.Telescope_SuperiorAngle[1], 0.0f, c->dt);
|
||||||
|
c->out.Telescope[1] = PID_Calc(&(c->pid.Telescope_omega[1]), Telescope_omega_set_point[1],
|
||||||
|
c->feedback.motor_transformation.Telescope_Omega[1], 0.f, c->dt);
|
||||||
|
// break;
|
||||||
|
// case REDUCE_MODE:
|
||||||
|
//
|
||||||
|
// // Telescope_omega_set_point = PID_Calc(&(c->pid.Telescope_angle), 0,
|
||||||
|
// // c->feedback.motor.Telescope_SuperiorAngle, 0.0f, c->dt);
|
||||||
|
// // c->out.Telescope = PID_Calc(&(c->pid.Telescope_omega), Telescope_omega_set_point,
|
||||||
|
// // c->feedback.motor.Telescope_Omega, 0.f, c->dt);
|
||||||
|
// break;
|
||||||
|
// default:
|
||||||
|
// for(int i = 0; i < 2; i++)
|
||||||
|
// c->out.Telescope[i] = 0.0f;
|
||||||
|
// break;
|
||||||
|
// }
|
||||||
return CHASSIS_OK;
|
return CHASSIS_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
static int8_t TelescopeChassis_Control(Chassis_t *c,CHASSIS_ATTITUDE_MODE_t mode){
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
return CHASSIS_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode ,uint32_t now)
|
static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode ,uint32_t now)
|
||||||
{
|
{
|
||||||
if (c == NULL)
|
if (c == NULL)
|
||||||
@ -179,12 +270,19 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
|
|||||||
MOTOR_RM_Register(&(c->param->motor.Radder_DIR[i]));
|
MOTOR_RM_Register(&(c->param->motor.Radder_DIR[i]));
|
||||||
}
|
}
|
||||||
/*注册伸缩电机*/
|
/*注册伸缩电机*/
|
||||||
MOTOR_RM_Register(&(c->param->motor.Telescope_motor));
|
for (int i = 0; i < 2; i++)
|
||||||
|
{
|
||||||
|
MOTOR_RM_Register(&(c->param->motor.Telescope_motor[i]));
|
||||||
|
}
|
||||||
// 舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
|
// 舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
|
||||||
MotorOffset_t motor_offset = {{0.961805999 / M_PI * 180.0f, 5.18102026/ M_PI * 180.0f,
|
MotorOffset_t motor_offset = {{0.961805999 / M_PI * 180.0f, 5.18102026/ M_PI * 180.0f,
|
||||||
5.20326281 / M_PI * 180.0f, 4.70702028/ M_PI * 180.0f}}; // 右右右右
|
5.20326281 / M_PI * 180.0f, 4.70702028/ M_PI * 180.0f}}; // 右右右右
|
||||||
|
TelescopeMotorOffset_t telescope_motor_offset={ 1.51131201, 5.19333458};
|
||||||
|
c->telescope_motor_offset=telescope_motor_offset;
|
||||||
c->motoroffset = motor_offset;
|
c->motoroffset = motor_offset;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/*对3508的速度环和6020的角速度以及位置环pid进行初始化*/
|
/*对3508的速度环和6020的角速度以及位置环pid进行初始化*/
|
||||||
for (int i = 0; i < 4; i++)
|
for (int i = 0; i < 4; i++)
|
||||||
{
|
{
|
||||||
@ -199,8 +297,12 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
|
|||||||
KPID_MODE_CALC_D,
|
KPID_MODE_CALC_D,
|
||||||
target_freq,
|
target_freq,
|
||||||
&c->param->pid.chassis_follow_gimbal);
|
&c->param->pid.chassis_follow_gimbal);
|
||||||
PID_Init(&c->pid.Telescope_angle, KPID_MODE_CALC_D, target_freq,&c->param->pid.Telescope_Angle);
|
|
||||||
PID_Init(&c->pid.Telescope_omega, KPID_MODE_CALC_D, target_freq,&c->param->pid.Telescope_Omega);
|
for (int i = 0; i < 2; i++)
|
||||||
|
{
|
||||||
|
PID_Init(&c->pid.Telescope_angle[i], KPID_MODE_CALC_D, target_freq,&c->param->pid.Telescope_Angle[i]);
|
||||||
|
PID_Init(&c->pid.Telescope_omega[i], KPID_MODE_CALC_D, target_freq,&c->param->pid.Telescope_Omega[i]);
|
||||||
|
}
|
||||||
LowPassFilter2p_Init(&c->filled[0], target_freq, 20.0f); // vx
|
LowPassFilter2p_Init(&c->filled[0], target_freq, 20.0f); // vx
|
||||||
LowPassFilter2p_Init(&c->filled[1], target_freq, 20.0f); // vy
|
LowPassFilter2p_Init(&c->filled[1], target_freq, 20.0f); // vy
|
||||||
LowPassFilter2p_Init(&c->filled[2], target_freq, 20.0f); // vw
|
LowPassFilter2p_Init(&c->filled[2], target_freq, 20.0f); // vw
|
||||||
@ -215,7 +317,8 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
|
|||||||
LowPassFilter2p_Init(&c->filled[9], target_freq, 20.0f); // 6020-3
|
LowPassFilter2p_Init(&c->filled[9], target_freq, 20.0f); // 6020-3
|
||||||
LowPassFilter2p_Init(&c->filled[10], target_freq, 20.0f); // 6020-4
|
LowPassFilter2p_Init(&c->filled[10], target_freq, 20.0f); // 6020-4
|
||||||
|
|
||||||
|
LowPassFilter2p_Init(&c->accl_filled[0], target_freq, 50.0f);
|
||||||
|
LowPassFilter2p_Init(&c->accl_filled[1], target_freq, 100.0f);
|
||||||
return CHASSIS_OK;
|
return CHASSIS_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -329,7 +432,7 @@ void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd)
|
|||||||
for (uint8_t i = 0; i < 4; i++)
|
for (uint8_t i = 0; i < 4; i++)
|
||||||
{
|
{
|
||||||
float angle_error[4]; // 角度误差
|
float angle_error[4]; // 角度误差
|
||||||
angle_error[i] = c->hopemotorout.Radder_DIR_Solving_1[i] - c->feedback.motor.Radder_DIR_Angle[i];
|
angle_error[i] = c->hopemotorout.Radder_DIR_Solving_1[i] - c->feedback.motor_transformation.Radder_DIR_Angle[i];
|
||||||
// 误差角度归化到-180°——+180°
|
// 误差角度归化到-180°——+180°
|
||||||
while (angle_error[i] > 180)
|
while (angle_error[i] > 180)
|
||||||
angle_error[i] -= 360;
|
angle_error[i] -= 360;
|
||||||
@ -340,17 +443,17 @@ void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd)
|
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if (angle_error[i] > 90 && angle_error[i] <= 180)
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if (angle_error[i] > 90 && angle_error[i] <= 180)
|
||||||
{
|
{
|
||||||
c->hopemotorout.Wheel_DIR_Solving_2[i] = c->hopemotorout.Wheel_DIR_Solving_1[i];
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c->hopemotorout.Wheel_DIR_Solving_2[i] = c->hopemotorout.Wheel_DIR_Solving_1[i];
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||||||
c->hopemotorout.Radder_DIR_Solving_2[i] = c->feedback.motor.Radder_DIR_Angle[i] + angle_error[i] - 180;
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c->hopemotorout.Radder_DIR_Solving_2[i] = c->feedback.motor_transformation.Radder_DIR_Angle[i] + angle_error[i] - 180;
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||||||
}
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}
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||||||
else if (angle_error[i] < -90 && angle_error[i] >= -180)
|
else if (angle_error[i] < -90 && angle_error[i] >= -180)
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||||||
{
|
{
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||||||
c->hopemotorout.Wheel_DIR_Solving_2[i] = c->hopemotorout.Wheel_DIR_Solving_1[i];
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c->hopemotorout.Wheel_DIR_Solving_2[i] = c->hopemotorout.Wheel_DIR_Solving_1[i];
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||||||
c->hopemotorout.Radder_DIR_Solving_2[i] = c->feedback.motor.Radder_DIR_Angle[i] + angle_error[i] + 180;
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c->hopemotorout.Radder_DIR_Solving_2[i] = c->feedback.motor_transformation.Radder_DIR_Angle[i] + angle_error[i] + 180;
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||||||
}
|
}
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||||||
else
|
else
|
||||||
{
|
{
|
||||||
c->hopemotorout.Wheel_DIR_Solving_2[i] = -c->hopemotorout.Wheel_DIR_Solving_1[i];
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c->hopemotorout.Wheel_DIR_Solving_2[i] = -c->hopemotorout.Wheel_DIR_Solving_1[i];
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||||||
c->hopemotorout.Radder_DIR_Solving_2[i] = c->feedback.motor.Radder_DIR_Angle[i] + angle_error[i];
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c->hopemotorout.Radder_DIR_Solving_2[i] = c->feedback.motor_transformation.Radder_DIR_Angle[i] + angle_error[i];
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||||||
}
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}
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||||||
}
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}
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||||||
}
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}
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@ -369,7 +472,7 @@ int8_t Chassis_update(Chassis_t *c)
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MOTOR_RM_t *Wheel_DIR_MOTOR[4];
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MOTOR_RM_t *Wheel_DIR_MOTOR[4];
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||||||
MOTOR_RM_t *Radder_DIR_MOTOR[4];
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MOTOR_RM_t *Radder_DIR_MOTOR[4];
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||||||
|
MOTOR_RM_t *Telescope_RM[2];
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||||||
/*更新电机反馈*/
|
/*更新电机反馈*/
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||||||
for (int i = 0; i < 4; i++)
|
for (int i = 0; i < 4; i++)
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||||||
{
|
{
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||||||
@ -385,24 +488,47 @@ int8_t Chassis_update(Chassis_t *c)
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||||||
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||||||
/* 单位转换 */
|
/* 单位转换 */
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||||||
c->feedback.motor.Radder_DIR_Angle[i]=c->feedback.motor.Radder_DIR[i].rotor_abs_angle/ M_PI * 180.0f;
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c->feedback.motor_transformation.Radder_DIR_Angle[i]=c->feedback.motor.Radder_DIR[i].rotor_abs_angle/ M_PI * 180.0f;
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||||||
c->feedback.motor.Radder_DIR_Omega[i]= c->feedback.motor.Radder_DIR[i].rotor_speed/320;
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c->feedback.motor_transformation.Radder_DIR_Omega[i]= c->feedback.motor.Radder_DIR[i].rotor_speed/320;
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||||||
c->feedback.motor.Wheel_DIR_Omega[i]= c->feedback.motor.Wheel_DIR[i].rotor_speed/10000;
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c->feedback.motor_transformation.Wheel_DIR_Omega[i]= c->feedback.motor.Wheel_DIR[i].rotor_speed/10000;
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||||||
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c->feedback.motor_transformation.Radder_DIR_Angle[i] = fmod(c->feedback.motor_transformation.Radder_DIR_Angle[i] - c->motoroffset.MOTOR_OFFSET[i], 360.0);
|
||||||
|
|
||||||
c->feedback.motor.Radder_DIR_Angle[i] = fmod(c->feedback.motor.Radder_DIR_Angle[i] - c->motoroffset.MOTOR_OFFSET[i], 360.0);
|
if (c->feedback.motor_transformation.Radder_DIR_Angle[i] < 0)
|
||||||
if (c->feedback.motor.Radder_DIR_Angle[i] < 0)
|
|
||||||
{
|
{
|
||||||
c->feedback.motor.Radder_DIR_Angle[i] += 360;
|
c->feedback.motor_transformation.Radder_DIR_Angle[i] += 360;
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
/* 伸缩电机 */
|
||||||
MOTOR_RM_Update(&(c->param->motor.Telescope_motor));
|
for (int i = 0; i < 2; i++)
|
||||||
MOTOR_RM_t *Telescope_RM = MOTOR_RM_GetMotor(&(c->param->motor.Telescope_motor));
|
{
|
||||||
if (Telescope_RM != NULL)
|
if (Telescope_RM[i] != NULL)
|
||||||
c->feedback.motor.Telescope = Telescope_RM->feedback;
|
{
|
||||||
c->feedback.motor.Telescope_Omega=c->feedback.motor.Telescope.rotor_speed*M_2PI/ONE_MINUTE;
|
MOTOR_RM_Update(&(c->param->motor.Telescope_motor[i]));
|
||||||
c->feedback.motor.Telescope_SuperiorAngle=motor_add_anagle(c->feedback.motor.Telescope.rotor_abs_angle);
|
Telescope_RM[i]= MOTOR_RM_GetMotor(&(c->param->motor.Telescope_motor[i]));
|
||||||
|
c->feedback.motor.Telescope[i] = Telescope_RM[i]->feedback;
|
||||||
|
c->feedback.motor_transformation.Telescope_Omega[i]=c->feedback.motor.Telescope[i].rotor_speed*M_2PI/ONE_MINUTE;
|
||||||
|
// /* 转换 */
|
||||||
|
c->feedback.motor_transformation.Telescope_Angle[i]=GetLogicalPosition(
|
||||||
|
c->feedback.motor.Telescope[i].rotor_abs_angle,
|
||||||
|
c->telescope_motor_offset.TELESCOPE_MOTOR_OFFSET[i],
|
||||||
|
M_2PI);
|
||||||
|
/* 加速度计算 */
|
||||||
|
// c->accl_time.dt = (BSP_TIME_Get_us() - c->accl_time.last_wakeup) / 1000000.0f;
|
||||||
|
// c->accl_time.last_wakeup = BSP_TIME_Get_us();
|
||||||
|
// c->feedback.motor_transformation.Telescope_Accl[i]=(
|
||||||
|
// (c->feedback.motor_transformation.Telescope_Omega[i]-
|
||||||
|
// c->feedback.motor_transformation.Last_Telescope_Omega[i])/c->accl_time.dt);
|
||||||
|
// c->feedback.motor_transformation.Last_Telescope_Omega[i]=c->feedback.motor_transformation.Telescope_Omega[i];
|
||||||
|
/* 加速度滤波 */
|
||||||
|
// c->feedback.motor_transformation.Telescope_Accl[i]=
|
||||||
|
// LowPassFilter2p_Apply(&c->accl_filled[i],c->feedback.motor_transformation.Telescope_Accl[i]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
c->feedback.motor_transformation.Telescope_SuperiorAngle[0]=motor_add_angle(
|
||||||
|
c->feedback.motor_transformation.Telescope_Angle[0],0);
|
||||||
|
c->feedback.motor_transformation.Telescope_SuperiorAngle[1]=motor_add_angle(
|
||||||
|
c->feedback.motor_transformation.Telescope_Angle[1],1);
|
||||||
return CHASSIS_OK;
|
return CHASSIS_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -495,18 +621,17 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
|
|||||||
float chassis6020_detangle[4]; // 6020解算出的角度
|
float chassis6020_detangle[4]; // 6020解算出的角度
|
||||||
c->hopemotorout.Radder_DIR_target[i] = c->hopemotorout.Radder_DIR_Solving_2[i];
|
c->hopemotorout.Radder_DIR_target[i] = c->hopemotorout.Radder_DIR_Solving_2[i];
|
||||||
chassis6020_detangle[i] = PID_Calc(&(c->pid.Radder_DIR_angle[i]), c->hopemotorout.Radder_DIR_target[i],
|
chassis6020_detangle[i] = PID_Calc(&(c->pid.Radder_DIR_angle[i]), c->hopemotorout.Radder_DIR_target[i],
|
||||||
c->feedback.motor.Radder_DIR_Angle[i], 0.0f, c->dt);
|
c->feedback.motor_transformation.Radder_DIR_Angle[i], 0.0f, c->dt);
|
||||||
// c->final_out.final_6020out[i] = chassis6020_detangle[i] ; //单环控制就用这个
|
// c->final_out.final_6020out[i] = chassis6020_detangle[i] ; //单环控制就用这个
|
||||||
c->chassis6020_detangle[i]=chassis6020_detangle[i];
|
c->chassis6020_detangle[i]=chassis6020_detangle[i];
|
||||||
c->final_out.final_Radder_DIR[i] = PID_Calc(&(c->pid.Radder_DIR_omega[i]), chassis6020_detangle[i],
|
c->final_out.final_Radder_DIR[i] = PID_Calc(&(c->pid.Radder_DIR_omega[i]), chassis6020_detangle[i],
|
||||||
c->feedback.motor.Radder_DIR_Omega[i], 0.0f, c->dt);
|
c->feedback.motor_transformation.Radder_DIR_Omega[i], 0.0f, c->dt);
|
||||||
|
|
||||||
c->out.Radder_DIR[i] = LowPassFilter2p_Apply(&c->filled[7+i], c->final_out.final_Radder_DIR[i]);
|
c->out.Radder_DIR[i] = LowPassFilter2p_Apply(&c->filled[7+i], c->final_out.final_Radder_DIR[i]);
|
||||||
c->hopemotorout.Wheel_DIR_target[i] = c->hopemotorout.Wheel_DIR_Solving_2[i];
|
c->hopemotorout.Wheel_DIR_target[i] = c->hopemotorout.Wheel_DIR_Solving_2[i];
|
||||||
c->final_out.final_Wheel_DIR[i] = PID_Calc(&(c->pid.Wheel_DIR_omega[i]), c->hopemotorout.Wheel_DIR_target[i],
|
c->final_out.final_Wheel_DIR[i] = PID_Calc(&(c->pid.Wheel_DIR_omega[i]), c->hopemotorout.Wheel_DIR_target[i],
|
||||||
c->feedback.motor.Wheel_DIR_Omega[i], 0.0f, c->dt);
|
c->feedback.motor_transformation.Wheel_DIR_Omega[i], 0.0f, c->dt);
|
||||||
c->out.Wheel_DIR[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_Wheel_DIR[i]);
|
c->out.Wheel_DIR[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_Wheel_DIR[i]);
|
||||||
// c->out.Wheel_DIR[i]=c->move_vec.Vy;
|
|
||||||
|
|
||||||
}
|
}
|
||||||
return CHASSIS_OK;
|
return CHASSIS_OK;
|
||||||
@ -520,11 +645,12 @@ void Chassis_Setoutput(Chassis_t *c)
|
|||||||
MOTOR_RM_SetOutput(&(c->param->motor.Radder_DIR[i]), c->out.Radder_DIR[i]);
|
MOTOR_RM_SetOutput(&(c->param->motor.Radder_DIR[i]), c->out.Radder_DIR[i]);
|
||||||
}
|
}
|
||||||
MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[0]));
|
MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[0]));
|
||||||
|
|
||||||
MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[0]));
|
MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[0]));
|
||||||
MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[3]));
|
MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[3]));
|
||||||
/* 正数展开 */
|
/* */
|
||||||
// MOTOR_RM_SetOutput(&(c->param->motor.Telescope_motor), c->out.Telescope);
|
for (uint8_t i = 0; i < 2; i++) {
|
||||||
// MOTOR_RM_Ctrl(&(c->param->motor.Telescope_motor));
|
MOTOR_RM_SetOutput(&(c->param->motor.Telescope_motor[i]), c->out.Telescope[i]);
|
||||||
|
MOTOR_RM_Ctrl(&(c->param->motor.Telescope_motor[i]));
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@ -14,7 +14,7 @@ extern "C"
|
|||||||
#include "component/user_math.h"
|
#include "component/user_math.h"
|
||||||
#include "component/filter.h"
|
#include "component/filter.h"
|
||||||
#include "device/motor_rm.h"
|
#include "device/motor_rm.h"
|
||||||
|
#include "trapezoidal_profile.h"
|
||||||
#define CHASSIS_OK (0)
|
#define CHASSIS_OK (0)
|
||||||
#define CHASSIS_ERR (-1)
|
#define CHASSIS_ERR (-1)
|
||||||
#define CHASSIS_ERR_NULL (-2)
|
#define CHASSIS_ERR_NULL (-2)
|
||||||
@ -77,9 +77,11 @@ typedef struct
|
|||||||
|
|
||||||
typedef struct
|
typedef struct
|
||||||
{
|
{
|
||||||
|
fp32 TELESCOPE_MOTOR_OFFSET[2];
|
||||||
|
} TelescopeMotorOffset_t;
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
/*可通过该枚举类型来决定Imu的数据量纲*/
|
/*可通过该枚举类型来决定Imu的数据量纲*/
|
||||||
enum
|
enum
|
||||||
{
|
{
|
||||||
@ -93,12 +95,15 @@ typedef struct
|
|||||||
/*底盘参数结构体*/
|
/*底盘参数结构体*/
|
||||||
typedef struct
|
typedef struct
|
||||||
{
|
{
|
||||||
|
|
||||||
/* 改变角度 */
|
/* 改变角度 */
|
||||||
float Set_TelescopeAngle;
|
float Set_TelescopeAngle;
|
||||||
|
/* 前馈系数 */
|
||||||
|
float feedfrward;
|
||||||
struct{
|
struct{
|
||||||
/*该部分决定PID的参数整定在config中修改*/
|
/*该部分决定PID的参数整定在config中修改*/
|
||||||
KPID_Params_t Telescope_Omega;
|
KPID_Params_t Telescope_Omega[2];
|
||||||
KPID_Params_t Telescope_Angle;
|
KPID_Params_t Telescope_Angle[2];
|
||||||
KPID_Params_t Radder_DIR_Omega;
|
KPID_Params_t Radder_DIR_Omega;
|
||||||
KPID_Params_t Radder_DIR_Angle;
|
KPID_Params_t Radder_DIR_Angle;
|
||||||
KPID_Params_t Wheel_DIR_Omega;
|
KPID_Params_t Wheel_DIR_Omega;
|
||||||
@ -109,7 +114,7 @@ typedef struct
|
|||||||
MOTOR_RM_Param_t Wheel_DIR[4]; // 四个轮向电机
|
MOTOR_RM_Param_t Wheel_DIR[4]; // 四个轮向电机
|
||||||
MOTOR_RM_Param_t Radder_DIR[4]; // 四个舵向电机
|
MOTOR_RM_Param_t Radder_DIR[4]; // 四个舵向电机
|
||||||
MOTOR_RM_Param_t chassis_follow_gimbal; // 底盘跟随云台
|
MOTOR_RM_Param_t chassis_follow_gimbal; // 底盘跟随云台
|
||||||
MOTOR_RM_Param_t Telescope_motor; //2006电机
|
MOTOR_RM_Param_t Telescope_motor[2]; //2006电机
|
||||||
|
|
||||||
}motor;
|
}motor;
|
||||||
float mech_zero;/*云台6020的机械中点*/
|
float mech_zero;/*云台6020的机械中点*/
|
||||||
@ -127,20 +132,31 @@ typedef struct
|
|||||||
|
|
||||||
typedef struct
|
typedef struct
|
||||||
{
|
{
|
||||||
float Telescope;
|
float Telescope[2];
|
||||||
float Wheel_DIR[4];
|
float Wheel_DIR[4];
|
||||||
float Radder_DIR[4];
|
float Radder_DIR[4];
|
||||||
} Chassis_out_t;
|
} Chassis_out_t;
|
||||||
|
|
||||||
typedef struct
|
typedef struct
|
||||||
{
|
{
|
||||||
|
|
||||||
uint32_t last_wakeup;
|
uint32_t last_wakeup;
|
||||||
float dt;
|
float dt;
|
||||||
float chassis6020_detangle[4];
|
float chassis6020_detangle[4];
|
||||||
Chassis_Mode_t mode;
|
Chassis_Mode_t mode;
|
||||||
ChassisMove_Vec move_vec; // 最终输入速度
|
ChassisMove_Vec move_vec; // 最终输入速度
|
||||||
|
/* 设立角度和跟随角度 */
|
||||||
float Set_TelescopeAngle;
|
float Set_TelescopeAngle;
|
||||||
|
float Last_Set_TelescopeAngle;
|
||||||
|
float Follow_TelescopeAngle;
|
||||||
|
float feedfrward;
|
||||||
|
float Telescope_err;
|
||||||
/*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
|
/*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
|
||||||
|
struct{
|
||||||
|
uint32_t last_wakeup;
|
||||||
|
float dt;
|
||||||
|
}accl_time;
|
||||||
|
|
||||||
struct
|
struct
|
||||||
{
|
{
|
||||||
fp32 Wheel_DIR_Solving_1[4];
|
fp32 Wheel_DIR_Solving_1[4];
|
||||||
@ -160,27 +176,35 @@ typedef struct
|
|||||||
fp32 final_Radder_DIR[4];
|
fp32 final_Radder_DIR[4];
|
||||||
fp32 final_Wheel_DIR[4];
|
fp32 final_Wheel_DIR[4];
|
||||||
} final_out;
|
} final_out;
|
||||||
|
/* 原始数据 */
|
||||||
struct
|
struct
|
||||||
{
|
{
|
||||||
struct{
|
struct{
|
||||||
float Telescope_SuperiorAngle;
|
MOTOR_Feedback_t Telescope[2]; // 四个轮向电机
|
||||||
float Telescope_Omega;
|
|
||||||
float Radder_DIR_Angle[4];
|
|
||||||
float Radder_DIR_Omega[4];
|
|
||||||
float Wheel_DIR_Angle[4];
|
|
||||||
float Wheel_DIR_Omega[4];
|
|
||||||
MOTOR_Feedback_t Telescope; // 四个轮向电机
|
|
||||||
MOTOR_Feedback_t Wheel_DIR[4]; // 四个轮向电机
|
MOTOR_Feedback_t Wheel_DIR[4]; // 四个轮向电机
|
||||||
MOTOR_Feedback_t Radder_DIR[4];
|
MOTOR_Feedback_t Radder_DIR[4];
|
||||||
MOTOR_Feedback_t gimbal_yaw;
|
MOTOR_Feedback_t gimbal_yaw;
|
||||||
}motor;
|
}motor;
|
||||||
|
/* 转化数据 */
|
||||||
|
struct{
|
||||||
|
float Telescope_Accl[2];
|
||||||
|
float Last_Telescope_Angle[2];
|
||||||
|
float Telescope_Angle[2];
|
||||||
|
float Telescope_SuperiorAngle[2];
|
||||||
|
float Last_Telescope_Omega[2];
|
||||||
|
float Telescope_Omega[2];
|
||||||
|
float Radder_DIR_Angle[4];
|
||||||
|
float Radder_DIR_Omega[4];
|
||||||
|
float Wheel_DIR_Angle[4];
|
||||||
|
float Wheel_DIR_Omega[4];
|
||||||
|
}motor_transformation;
|
||||||
|
|
||||||
} feedback;
|
} feedback;
|
||||||
|
|
||||||
struct
|
struct
|
||||||
{
|
{
|
||||||
KPID_t Telescope_angle;
|
KPID_t Telescope_angle[2];
|
||||||
KPID_t Telescope_omega;
|
KPID_t Telescope_omega[2];
|
||||||
KPID_t Radder_DIR_angle[4];
|
KPID_t Radder_DIR_angle[4];
|
||||||
KPID_t Radder_DIR_omega[4];
|
KPID_t Radder_DIR_omega[4];
|
||||||
KPID_t Wheel_DIR_omega[4];
|
KPID_t Wheel_DIR_omega[4];
|
||||||
@ -196,8 +220,12 @@ typedef struct
|
|||||||
|
|
||||||
ChassisImu_t pos088; // 088的实时姿态
|
ChassisImu_t pos088; // 088的实时姿态
|
||||||
MotorOffset_t motoroffset; // 5065校准数据
|
MotorOffset_t motoroffset; // 5065校准数据
|
||||||
|
TelescopeMotorOffset_t telescope_motor_offset;
|
||||||
|
|
||||||
|
|
||||||
Chassis_Param_t *param; // 一些固定的参数
|
Chassis_Param_t *param; // 一些固定的参数
|
||||||
LowPassFilter2p_t filled[11]; // 低通滤波器
|
LowPassFilter2p_t filled[11]; // 低通滤波器
|
||||||
|
LowPassFilter2p_t accl_filled[2]; // 加速度滤波器
|
||||||
float keep_angle[4]; // 保持的 舵向 角度
|
float keep_angle[4]; // 保持的 舵向 角度
|
||||||
|
|
||||||
Chassis_out_t out;
|
Chassis_out_t out;
|
||||||
|
|||||||
@ -18,21 +18,22 @@
|
|||||||
// 机器人参数配置
|
// 机器人参数配置
|
||||||
Config_RobotParam_t robot_config = {
|
Config_RobotParam_t robot_config = {
|
||||||
.chassis={
|
.chassis={
|
||||||
|
.feedfrward=0.2,
|
||||||
.Set_TelescopeAngle=10,
|
.Set_TelescopeAngle=10,
|
||||||
.pid={
|
.pid={
|
||||||
.Telescope_Omega={
|
.Telescope_Omega[0]={
|
||||||
.k=1.0f,
|
.k=0.4f,
|
||||||
.p=0.3f,
|
.p=0.5f,
|
||||||
.i=0.0f,
|
.i=0.2f,
|
||||||
.d=0.001f,
|
.d=0.0f,
|
||||||
.i_limit=1.0f,
|
.i_limit=1.0f,
|
||||||
.out_limit=1.0f,
|
.out_limit=1.0f,
|
||||||
.d_cutoff_freq= -1.0f,
|
.d_cutoff_freq= -1.0f,
|
||||||
.range=-1.0f
|
.range=-1.0f
|
||||||
},
|
},
|
||||||
.Telescope_Angle={
|
.Telescope_Angle[0]={
|
||||||
.k=1.0f,
|
.k=1.0f,
|
||||||
.p=1.0f,
|
.p=20.0f,
|
||||||
.i=0.2f,
|
.i=0.2f,
|
||||||
.d=0.3f,
|
.d=0.3f,
|
||||||
.i_limit=3.0f,
|
.i_limit=3.0f,
|
||||||
@ -40,9 +41,31 @@ Config_RobotParam_t robot_config = {
|
|||||||
.d_cutoff_freq= -1.0f,
|
.d_cutoff_freq= -1.0f,
|
||||||
.range=-M_2PI,
|
.range=-M_2PI,
|
||||||
},
|
},
|
||||||
|
|
||||||
|
.Telescope_Omega[1]={
|
||||||
|
.k=0.4f,
|
||||||
|
.p=0.5f,
|
||||||
|
.i=0.2f,
|
||||||
|
.d=0.0f,
|
||||||
|
.i_limit=1.0f,
|
||||||
|
.out_limit=1.0f,
|
||||||
|
.d_cutoff_freq= -1.0f,
|
||||||
|
.range=-1.0f
|
||||||
|
},
|
||||||
|
.Telescope_Angle[1]={
|
||||||
|
.k=1.0f,
|
||||||
|
.p=20.0f,
|
||||||
|
.i=0.2f,
|
||||||
|
.d=0.3f,
|
||||||
|
.i_limit=3.0f,
|
||||||
|
.out_limit=35.0f,
|
||||||
|
.d_cutoff_freq= -1.0f,
|
||||||
|
.range=-M_2PI,
|
||||||
|
},
|
||||||
|
|
||||||
.Radder_DIR_Omega={
|
.Radder_DIR_Omega={
|
||||||
.k=1.0f,
|
.k=1.0f,
|
||||||
.p=0.4f,
|
.p=20.0,
|
||||||
.i=0.15f,
|
.i=0.15f,
|
||||||
.d=0.0f,
|
.d=0.0f,
|
||||||
.i_limit=1.0f,
|
.i_limit=1.0f,
|
||||||
@ -61,7 +84,7 @@ Config_RobotParam_t robot_config = {
|
|||||||
.range=360
|
.range=360
|
||||||
},
|
},
|
||||||
.Wheel_DIR_Omega={
|
.Wheel_DIR_Omega={
|
||||||
.k=0.2f,
|
.k=0.5f,
|
||||||
.p=2.0f,
|
.p=2.0f,
|
||||||
.i=0.1f,
|
.i=0.1f,
|
||||||
.d=0.7f,
|
.d=0.7f,
|
||||||
@ -76,7 +99,8 @@ Config_RobotParam_t robot_config = {
|
|||||||
.Wheel_DIR[1]={BSP_CAN_2,0x202,MOTOR_M3508,true,false},
|
.Wheel_DIR[1]={BSP_CAN_2,0x202,MOTOR_M3508,true,false},
|
||||||
.Wheel_DIR[2]={BSP_CAN_2,0x203,MOTOR_M3508,true,false},
|
.Wheel_DIR[2]={BSP_CAN_2,0x203,MOTOR_M3508,true,false},
|
||||||
.Wheel_DIR[3]={BSP_CAN_2,0x204,MOTOR_M3508,false,false},
|
.Wheel_DIR[3]={BSP_CAN_2,0x204,MOTOR_M3508,false,false},
|
||||||
.Telescope_motor={BSP_CAN_1,0x205,MOTOR_M2006,false,true},
|
.Telescope_motor[0]={BSP_CAN_1,0x204,MOTOR_M2006,false,true},
|
||||||
|
.Telescope_motor[1]={BSP_CAN_1,0x205,MOTOR_M2006,false,true},
|
||||||
.Radder_DIR[0]={BSP_CAN_2,0x206,MOTOR_GM6020,false,false},
|
.Radder_DIR[0]={BSP_CAN_2,0x206,MOTOR_GM6020,false,false},
|
||||||
.Radder_DIR[1]={BSP_CAN_2,0x207,MOTOR_GM6020,false,false},
|
.Radder_DIR[1]={BSP_CAN_2,0x207,MOTOR_GM6020,false,false},
|
||||||
.Radder_DIR[2]={BSP_CAN_2,0x208,MOTOR_GM6020,false,false},
|
.Radder_DIR[2]={BSP_CAN_2,0x208,MOTOR_GM6020,false,false},
|
||||||
@ -345,7 +369,6 @@ Config_RobotParam_t robot_config = {
|
|||||||
.shoot_sw_up = SHOOT_MODE_SAFE,
|
.shoot_sw_up = SHOOT_MODE_SAFE,
|
||||||
.shoot_sw_mid = SHOOT_MODE_SINGLE,
|
.shoot_sw_mid = SHOOT_MODE_SINGLE,
|
||||||
.shoot_sw_down = SHOOT_MODE_CONTINUE,
|
.shoot_sw_down = SHOOT_MODE_CONTINUE,
|
||||||
|
|
||||||
},
|
},
|
||||||
},
|
},
|
||||||
|
|
||||||
|
|||||||
@ -12,7 +12,6 @@
|
|||||||
#include "module/shoot.h"
|
#include "module/shoot.h"
|
||||||
#include "device/dr16.h"
|
#include "device/dr16.h"
|
||||||
#include "device/et16s.h"
|
#include "device/et16s.h"
|
||||||
#include "device/motor_step.h"
|
|
||||||
/* USER INCLUDE END */
|
/* USER INCLUDE END */
|
||||||
|
|
||||||
/* Private typedef ---------------------------------------------------------- */
|
/* Private typedef ---------------------------------------------------------- */
|
||||||
@ -42,7 +41,6 @@ void Task_Init(void *argument) {
|
|||||||
task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
|
task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
|
||||||
task_runtime.thread.dr16 = osThreadNew(Task_dr16, NULL, &attr_dr16);
|
task_runtime.thread.dr16 = osThreadNew(Task_dr16, NULL, &attr_dr16);
|
||||||
task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
|
task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
|
||||||
task_runtime.thread.step_motor = osThreadNew(Task_step_motor, NULL, &attr_step_motor);
|
|
||||||
task_runtime.thread.ET16s = osThreadNew(Task_ET16s, NULL, &attr_ET16s);
|
task_runtime.thread.ET16s = osThreadNew(Task_ET16s, NULL, &attr_ET16s);
|
||||||
task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
|
task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
|
||||||
|
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user