cmd

MDK-ARM/.vscode/keil-assistant.log

@@ -32,3 +32,11 @@
 
 [info] Log at : 2025/12/25|22:11:12|GMT+0800
 
+[info] Log at : 2025/12/27|17:35:42|GMT+0800
+
+[info] Log at : 2025/12/27|17:35:47|GMT+0800
+
+[info] Log at : 2026/1/15|19:09:32|GMT+0800
+
+[info] Log at : 2026/1/15|19:09:36|GMT+0800
+

MDK-ARM/.vscode/settings.json

@@ -18,6 +18,7 @@
         "random": "c",
         "*.tcc": "c",
         "cmd_behavior.h": "c",
-        "cmd_types.h": "c"
+        "cmd_types.h": "c",
+        "filter.h": "c"
     }
 }

MDK-ARM/.vscode/uv4.log

@@ -1,19 +1,11 @@
 *** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
 Build target 'Steering Wheel_Infatry'
-Note: source file '..\User\bsp\can.c' - object file renamed from 'Steering Wheel_Infatry\can.o' to 'Steering Wheel_Infatry\can_1.o'.Note: source file '..\User\bsp\gpio.c' - object file renamed from 'Steering Wheel_Infatry\gpio.o' to 'Steering Wheel_Infatry\gpio_1.o'.Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Steering Wheel_Infatry\i2c.o' to 'Steering Wheel_Infatry\i2c_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'Steering Wheel_Infatry\spi.o' to 'Steering Wheel_Infatry\spi_1.o'.Note: source file '..\User\task\ai.c' - object file renamed from 'Steering Wheel_Infatry\ai.o' to 'Steering Wheel_Infatry\ai_1.o'.Note: source file '..\User\task\dr16.c' - object file renamed from 'Steering Wheel_Infatry\dr16.o' to 'Steering Wheel_Infatry\dr16_1.o'.Note: source file '..\User\task\Oid.c' - object file renamed from 'Steering Wheel_Infatry\Oid.o' to 'Steering Wheel_Infatry\oid_1.o'.Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.Note: source file '..\User\module\cmd\cmd_adapter.c' - object file renamed from 'Steering Wheel_Infatry\cmd_adapter.o' to 'Steering Wheel_Infatry\cmd_adapter_1.o'.Note: source file '..\User\module\cmd\cmd_behavior.c' - object file renamed from 'Steering Wheel_Infatry\cmd_behavior.o' to 'Steering Wheel_Infatry\cmd_behavior_1.o'.../User/module/cmd/cmd_adapter.c(1): warning: In file included from...../User\module\cmd\cmd_adapter.h(22): warning: 'CMD_ERR_NULL' macro redefined [-Wmacro-redefined]
+Note: source file '..\User\bsp\can.c' - object file renamed from 'Steering Wheel_Infatry\can.o' to 'Steering Wheel_Infatry\can_1.o'.Note: source file '..\User\bsp\gpio.c' - object file renamed from 'Steering Wheel_Infatry\gpio.o' to 'Steering Wheel_Infatry\gpio_1.o'.Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Steering Wheel_Infatry\i2c.o' to 'Steering Wheel_Infatry\i2c_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'Steering Wheel_Infatry\spi.o' to 'Steering Wheel_Infatry\spi_1.o'.Note: source file '..\User\task\ai.c' - object file renamed from 'Steering Wheel_Infatry\ai.o' to 'Steering Wheel_Infatry\ai_1.o'.Note: source file '..\User\task\dr16.c' - object file renamed from 'Steering Wheel_Infatry\dr16.o' to 'Steering Wheel_Infatry\dr16_1.o'.Note: source file '..\User\task\Oid.c' - object file renamed from 'Steering Wheel_Infatry\Oid.o' to 'Steering Wheel_Infatry\oid_1.o'.Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.Note: source file '..\User\module\cmd\cmd_adapter.c' - object file renamed from 'Steering Wheel_Infatry\cmd_adapter.o' to 'Steering Wheel_Infatry\cmd_adapter_1.o'.Note: source file '..\User\module\cmd\cmd_behavior.c' - object file renamed from 'Steering Wheel_Infatry\cmd_behavior.o' to 'Steering Wheel_Infatry\cmd_behavior_1.o'.compiling shoot.c...
-#define CMD_ERR_NULL (-2)
-        ^
-../User\module\cmd\cmd_types.h(18): note: previous definition is here
-#define CMD_ERR_NULL     (-1)
-        ^
-../User/module/cmd/cmd_adapter.c(21): warning: implicitly declaring library function 'memset' with type 'void *(void *, int, unsigned int)' [-Wimplicit-function-declaration]
-    memset(&output->rc, 0, sizeof(CMD_RawInput_RC_t));
-    ^
-../User/module/cmd/cmd_adapter.c(21): note: include the header <string.h> or explicitly provide a declaration for 'memset'
-2 warnings generated.
-compiling cmd_adapter.c...
 linking...
-Program Size: Code=59352 RO-data=1276 RW-data=972 ZI-data=117436  
+Steering Wheel_Infatry\Steering Wheel_Infatry.axf: Error: L6218E: Undefined symbol Chassis_UpdateFeedback (referred from shoot_ctrl.o).
-FromELF: creating hex file...
+Not enough information to list image symbols.
-"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 2 Warning(s).
+Not enough information to list load addresses in the image map.
-Build Time Elapsed:  00:00:04
+Finished: 2 information, 0 warning and 1 error messages.
+"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 1 Error(s), 0 Warning(s).
+Target not created.
+Build Time Elapsed:  00:00:03

MDK-ARM/.vscode/uv4.log.lock

@@ -1 +1 @@
-2025/12/27 16:58:40
+2026/1/15 19:27:35

MDK-ARM/Steering Wheel_Infatry.uvoptx

@@ -1206,7 +1206,7 @@
 
   <Group>
     <GroupName>module</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1274,7 +1274,7 @@
 
   <Group>
     <GroupName>task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1285,47 +1285,47 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\ai.c</PathWithFileName>
-      <FilenameWithoutPath>ai.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>10</GroupNumber>
-      <FileNumber>83</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\dr16.c</PathWithFileName>
-      <FilenameWithoutPath>dr16.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>10</GroupNumber>
-      <FileNumber>84</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\atti_esti.c</PathWithFileName>
-      <FilenameWithoutPath>atti_esti.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>10</GroupNumber>
-      <FileNumber>85</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>83</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\ai.c</PathWithFileName>
+      <FilenameWithoutPath>ai.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>84</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\cmd.c</PathWithFileName>
+      <FilenameWithoutPath>cmd.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>85</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\dr16.c</PathWithFileName>
+      <FilenameWithoutPath>dr16.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
     <File>
       <GroupNumber>10</GroupNumber>
       <FileNumber>86</FileNumber>
@@ -1333,8 +1333,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\gimbal_ctrl.c</PathWithFileName>
+      <PathWithFileName>..\User\task\atti_esti.c</PathWithFileName>
-      <FilenameWithoutPath>gimbal_ctrl.c</FilenameWithoutPath>
+      <FilenameWithoutPath>atti_esti.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1345,8 +1345,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\remote_ctrl.c</PathWithFileName>
+      <PathWithFileName>..\User\task\gimbal_ctrl.c</PathWithFileName>
-      <FilenameWithoutPath>remote_ctrl.c</FilenameWithoutPath>
+      <FilenameWithoutPath>gimbal_ctrl.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1398,41 +1398,17 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-    <File>
-      <GroupNumber>10</GroupNumber>
-      <FileNumber>92</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\Oid.c</PathWithFileName>
-      <FilenameWithoutPath>Oid.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\cmd.c</PathWithFileName>
-      <FilenameWithoutPath>cmd.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
   </Group>
 
   <Group>
     <GroupName>cmd</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>94</FileNumber>
+      <FileNumber>92</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1444,7 +1420,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>95</FileNumber>
+      <FileNumber>93</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1456,7 +1432,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>96</FileNumber>
+      <FileNumber>94</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1468,13 +1444,13 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>97</FileNumber>
+      <FileNumber>95</FileNumber>
-      <FileType>5</FileType>
+      <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\module\cmd\cmd_types.h</PathWithFileName>
+      <PathWithFileName>..\User\module\cmd\cmd_example.c</PathWithFileName>
-      <FilenameWithoutPath>cmd_types.h</FilenameWithoutPath>
+      <FilenameWithoutPath>cmd_example.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>

MDK-ARM/Steering Wheel_Infatry.uvprojx

@@ -1923,11 +1923,21 @@
         <Group>
           <GroupName>task</GroupName>
           <Files>
+            <File>
+              <FileName>chassis_ctrl.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\chassis_ctrl.c</FilePath>
+            </File>
             <File>
               <FileName>ai.c</FileName>
               <FileType>1</FileType>
               <FilePath>..\User\task\ai.c</FilePath>
             </File>
+            <File>
+              <FileName>cmd.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\cmd.c</FilePath>
+            </File>
             <File>
               <FileName>dr16.c</FileName>
               <FileType>1</FileType>
@@ -1938,21 +1948,11 @@
               <FileType>1</FileType>
               <FilePath>..\User\task\atti_esti.c</FilePath>
             </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>remote_ctrl.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\task\remote_ctrl.c</FilePath>
-            </File>
             <File>
               <FileName>shoot_ctrl.c</FileName>
               <FileType>1</FileType>
@@ -1973,16 +1973,6 @@
               <FileType>1</FileType>
               <FilePath>..\User\task\user_task.c</FilePath>
             </File>
-            <File>
-              <FileName>Oid.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\task\Oid.c</FilePath>
-            </File>
-            <File>
-              <FileName>cmd.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\task\cmd.c</FilePath>
-            </File>
           </Files>
         </Group>
         <Group>
@@ -2004,9 +1994,9 @@
               <FilePath>..\User\module\cmd\cmd_behavior.c</FilePath>
             </File>
             <File>
-              <FileName>cmd_types.h</FileName>
+              <FileName>cmd_example.c</FileName>
-              <FileType>5</FileType>
+              <FileType>1</FileType>
-              <FilePath>..\User\module\cmd\cmd_types.h</FilePath>
+              <FilePath>..\User\module\cmd\cmd_example.c</FilePath>
             </File>
           </Files>
         </Group>

MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm

@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\yunha\git_gimbal\RM\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx
-Project File Date:  12/27/2025
+Project File Date:  01/17/2026
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -33,163 +33,12 @@ Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Steering Wheel
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'Steering Wheel_Infatry\spi.o' to 'Steering Wheel_Infatry\spi_1.o'.
 Note: source file '..\User\task\ai.c' - object file renamed from 'Steering Wheel_Infatry\ai.o' to 'Steering Wheel_Infatry\ai_1.o'.
 Note: source file '..\User\task\dr16.c' - object file renamed from 'Steering Wheel_Infatry\dr16.o' to 'Steering Wheel_Infatry\dr16_1.o'.
-Note: source file '..\User\task\Oid.c' - object file renamed from 'Steering Wheel_Infatry\Oid.o' to 'Steering Wheel_Infatry\oid_1.o'.
 Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.
-Note: source file '..\User\module\cmd\cmd_adapter.c' - object file renamed from 'Steering Wheel_Infatry\cmd_adapter.o' to 'Steering Wheel_Infatry\cmd_adapter_1.o'.
-Note: source file '..\User\module\cmd\cmd_behavior.c' - object file renamed from 'Steering Wheel_Infatry\cmd_behavior.o' to 'Steering Wheel_Infatry\cmd_behavior_1.o'.
-compiling stm32f4xx_it.c...
-compiling can.c...
-compiling dwt.c...
-compiling mm.c...
-compiling ahrs.c...
-compiling uart.c...
-compiling crc16.c...
-compiling capacity.c...
-compiling i2c.c...
-compiling filter.c...
-compiling error_detect.c...
-compiling freertos.c...
-compiling gpio.c...
-compiling time.c...
-compiling pwm.c...
-compiling spi.c...
-compiling limiter.c...
-compiling freertos_cli.c...
-compiling mixer.c...
-compiling pid.c...
-compiling user_math.c...
-compiling ui.c...
-compiling crc8.c...
-compiling motor_rm.c...
-compiling motor.c...
-compiling bmi088.c...
-compiling ist8310.c...
-compiling dr16.c...
-compiling config.c...
-compiling motor_dm.c...
-../User/device/ai.c(20): warning: incompatible pointer types passing 'struct VisionToGimbal *' to parameter of type 'uint8_t *' (aka 'unsigned char *') [-Wincompatible-pointer-types]
-  if (BSP_UART_Receive(BSP_UART_AI,&ai->RX,sizeof(ai->RX), true)==HAL_OK) {
-                                   ^~~~~~~
-../User\bsp/uart.h(63): note: passing argument to parameter 'data' here
-int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
-                                                  ^
-../User/device/ai.c(60): warning: implicit declaration of function 'CRC16_Calc' is invalid in C99 [-Wimplicit-function-declaration]
-                ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t),ai->TX.crc16);
-                             ^
-../User/device/ai.c(61): warning: implicit declaration of function 'CRC16_Verify' is invalid in C99 [-Wimplicit-function-declaration]
-                if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){
-                   ^
-../User/device/ai.c(69): warning: incompatible pointer types passing 'struct GimbalToVision *' to parameter of type 'uint8_t *' (aka 'unsigned char *') [-Wincompatible-pointer-types]
-      if (BSP_UART_Transmit(BSP_UART_AI,&ai->TX,sizeof(ai->TX), true)==HAL_OK)  
-                                        ^~~~~~~
-../User\bsp/uart.h(62): note: passing argument to parameter 'data' here
-int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
-                                                   ^
-../User/device/ai.c(81): warning: non-void function does not return a value in all control paths [-Wreturn-type]
-}
-^
-5 warnings generated.
-compiling ai.c...
-../User/device/Oid.c(142): warning: implicitly declaring library function 'memset' with type 'void *(void *, int, unsigned int)' [-Wimplicit-function-declaration]
-    memset(can_managers[can], 0, sizeof(OID_CANManager_t));
-    ^
-../User/device/Oid.c(142): note: include the header <string.h> or explicitly provide a declaration for 'memset'
-../User/device/Oid.c(189): warning: implicitly declaring library function 'memcpy' with type 'void *(void *, const void *, unsigned int)' [-Wimplicit-function-declaration]
-    memcpy(&encoder->param, param, sizeof(OID_Param_t));
-    ^
-../User/device/Oid.c(189): note: include the header <string.h> or explicitly provide a declaration for 'memcpy'
-2 warnings generated.
-compiling Oid.c...
-compiling motor_lz.c...
-../User/module/gimbal.c(302): warning: non-void function does not return a value in all control paths [-Wreturn-type]
-}
-^
-1 warning generated.
-compiling gimbal.c...
-compiling shoot.c...
-../User/module/telecoping_gimbal.c(57): warning: incompatible pointer types passing 'float *' to parameter of type 'AHRS_Eulr_t *' [-Wincompatible-pointer-types]
-  AHRS_ResetEulr(&(t->setpoint.telescoping)); /* 切换模式后重置设定值 */
-                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
-../User\component/ahrs.h(106): note: passing argument to parameter 'eulr' here
-void AHRS_ResetEulr(AHRS_Eulr_t *eulr);
-                                 ^
-../User/module/telecoping_gimbal.c(157): warning: non-void function does not return a value in all control paths [-Wreturn-type]
-}
-^
-2 warnings generated.
-compiling telecoping_gimbal.c...
-compiling ai.c...
-compiling dr16.c...
-../User/module/chassis.c(73): warning: implicit declaration of function 'srand' is invalid in C99 [-Wimplicit-function-declaration]
-    srand(now);
-    ^
-../User/module/chassis.c(74): warning: implicit declaration of function 'rand' is invalid in C99 [-Wimplicit-function-declaration]
-    c->wz_multi = (rand() % 2) ? -1 : 1;
-                   ^
-2 warnings generated.
-compiling chassis.c...
-compiling atti_esti.c...
-compiling chassis_ctrl.c...
 compiling gimbal_ctrl.c...
-compiling remote_ctrl.c...
-compiling shoot_ctrl.c...
-compiling telecoping.c...
-compiling init.c...
-compiling user_task.c...
-compiling cmd.c...
-compiling Oid.c...
-../User/module/cmd/cmd_adapter.c(1): warning: In file included from...
-../User\module\cmd\cmd_adapter.h(22): warning: 'CMD_ERR_NULL' macro redefined [-Wmacro-redefined]
-#define CMD_ERR_NULL (-2)
-        ^
-../User\module\cmd\cmd_types.h(18): note: previous definition is here
-#define CMD_ERR_NULL     (-1)
-        ^
-../User/module/cmd/cmd_adapter.c(21): warning: implicitly declaring library function 'memset' with type 'void *(void *, int, unsigned int)' [-Wimplicit-function-declaration]
-    memset(&output->rc, 0, sizeof(CMD_RawInput_RC_t));
-    ^
-../User/module/cmd/cmd_adapter.c(21): note: include the header <string.h> or explicitly provide a declaration for 'memset'
-2 warnings generated.
-compiling cmd_adapter.c...
-../User/module/cmd/cmd.c(108): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration]
-  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS);
-  ^
-../User/module/cmd/cmd.c(125): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration]
-  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL);
-  ^
-../User/module/cmd/cmd.c(138): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration]
-  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_SHOOT);
-  ^
-../User/module/cmd/cmd.c(162): warning: implicit declaration of function 'CMD_Adapter_InitAll' is invalid in C99 [-Wimplicit-function-declaration]
-  CMD_Adapter_InitAll();
-  ^
-../User/module/cmd/cmd.c(165): warning: implicit declaration of function 'CMD_Behavior_Init' is invalid in C99 [-Wimplicit-function-declaration]
-  CMD_Behavior_Init();
-  ^
-../User/module/cmd/cmd.c(180): warning: implicit declaration of function 'CMD_Adapter_GetInput' is invalid in C99 [-Wimplicit-function-declaration]
-      CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input);
-      ^
-../User/module/cmd/cmd.c(233): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration]
-  CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE);
-  ^
-../User/module/cmd/cmd.c(244): warning: implicit declaration of function 'BSP_TIME_Get_us' is invalid in C99 [-Wimplicit-function-declaration]
-  uint64_t now_us = BSP_TIME_Get_us();
-                    ^
-8 warnings generated.
-compiling cmd.c...
-../User/module/cmd/cmd_behavior.c(3): warning: In file included from...
-../User\module/cmd/cmd_adapter.h(22): warning: 'CMD_ERR_NULL' macro redefined [-Wmacro-redefined]
-#define CMD_ERR_NULL (-2)
-        ^
-../User\module\cmd\cmd_types.h(18): note: previous definition is here
-#define CMD_ERR_NULL     (-1)
-        ^
-1 warning generated.
-compiling cmd_behavior.c...
 linking...
-Program Size: Code=59440 RO-data=1316 RW-data=972 ZI-data=117444  
+Program Size: Code=59816 RO-data=1420 RW-data=1164 ZI-data=118908  
 FromELF: creating hex file...
-"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 23 Warning(s).
+"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -213,7 +62,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:08
+Build Time Elapsed:  00:00:03
 </pre>
 </body>
 </html>

MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.lnp

@@ -80,21 +80,20 @@
 "steering wheel_infatry\shoot.o"
 "steering wheel_infatry\telecoping_gimbal.o"
 "steering wheel_infatry\chassis.o"
+"steering wheel_infatry\chassis_ctrl.o"
 "steering wheel_infatry\ai_1.o"
+"steering wheel_infatry\cmd.o"
 "steering wheel_infatry\dr16_1.o"
 "steering wheel_infatry\atti_esti.o"
-"steering wheel_infatry\chassis_ctrl.o"
 "steering wheel_infatry\gimbal_ctrl.o"
-"steering wheel_infatry\remote_ctrl.o"
 "steering wheel_infatry\shoot_ctrl.o"
 "steering wheel_infatry\telecoping.o"
 "steering wheel_infatry\init.o"
 "steering wheel_infatry\user_task.o"
-"steering wheel_infatry\oid_1.o"
-"steering wheel_infatry\cmd.o"
 "steering wheel_infatry\cmd_1.o"
-"steering wheel_infatry\cmd_adapter_1.o"
+"steering wheel_infatry\cmd_adapter.o"
-"steering wheel_infatry\cmd_behavior_1.o"
+"steering wheel_infatry\cmd_behavior.o"
+"steering wheel_infatry\cmd_example.o"
 --strict --scatter "Steering Wheel_Infatry\Steering Wheel_Infatry.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers

MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep

@@ -139,7 +139,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (..\User\task\user_task.h)(0x694F9FF5)
+I (..\User\task\user_task.h)(0x696B3410)
 F (../Core/Src/can.c)(0x694E815E)(-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/can.o" -MD)
 I (..\Core\Inc\can.h)(0x69184414)
 I (..\Core\Inc\main.h)(0x69186346)
@@ -2352,14 +2352,14 @@ I (..\User\component\user_math.h)(0x694F9FF8)
 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)(0x694F9FF8)
-F (..\User\module\config.c)(0x694F9400)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/config.o" -MD)
+F (..\User\module\config.c)(0x696B2E38)(-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)(0x694F9FF8)
 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\module\config.h)(0x69455AE3)
+I (..\User\module\config.h)(0x696B2CA9)
 I (..\User\module\gimbal.h)(0x69455D3C)
 I (..\User\component\ahrs.h)(0x694F9FF8)
 I (..\User\component\filter.h)(0x694F9FF8)
@@ -2416,10 +2416,15 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x694F9FF8)
-I (..\User\module\shoot.h)(0x68EE6FF5)
+I (..\User\module\shoot.h)(0x6968CB81)
 I (..\User\module\chassis.h)(0x69455F1A)
 I (..\User\module\struct_typedef.h)(0x68DBD148)
 I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd.h)(0x696B301E)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 I (..\User\module\telescoping_gimal.h)(0x6941B794)
 F (..\User\module\gimbal.c)(0x69455D21)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/gimbal.o" -MD)
 I (..\User\module\gimbal.h)(0x69455D3C)
@@ -2485,9 +2490,11 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x694F9FF8)
 I (..\User\bsp\time.h)(0x694F9FF8)
-F (..\User\module\shoot.c)(0x68EE49C5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/shoot.o" -MD)
+F (..\User\module\shoot.c)(0x6968CF1F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/shoot.o" -MD)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\module\shoot.h)(0x68EE6FF5)
+I (..\User\module\shoot.h)(0x6968CB81)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\Core\Inc\main.h)(0x69186346)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x691865D1)
@@ -2503,7 +2510,6 @@ 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)
@@ -2523,12 +2529,11 @@ 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\component\pid.h)(0x694F9FF8)
 I (..\User\component\filter.h)(0x694F9FF8)
 I (..\User\component\user_math.h)(0x694F9FF8)
 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\device\motor_rm.h)(0x694F9FF8)
 I (..\User\device\motor.h)(0x694F9FF8)
 I (..\User\device\device.h)(0x694F9FF8)
@@ -2548,6 +2553,17 @@ 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)(0x694F9FF8)
+I (..\User\module\cmd\cmd.h)(0x696B301E)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
+I (..\User\module\chassis.h)(0x69455F1A)
+I (..\User\module\struct_typedef.h)(0x68DBD148)
+I (..\User\component\ahrs.h)(0x694F9FF8)
+I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\module\gimbal.h)(0x69455D3C)
+I (..\User\device\motor_dm.h)(0x694F9FF8)
 F (..\User\module\telecoping_gimbal.c)(0x6946A959)(-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/telecoping_gimbal.o" -MD)
 I (..\User\module\telescoping_gimal.h)(0x6941B794)
 I (..\User\component\ahrs.h)(0x694F9FF8)
@@ -2678,8 +2694,8 @@ 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)(0x694F9FF8)
-F (..\User\task\ai.c)(0x694F9FF5)(-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\chassis_ctrl.c)(0x696B3410)(-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)(0x694F9FF5)
+I (..\User\task\user_task.h)(0x696B3410)
 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)
@@ -2692,8 +2708,69 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-F (..\User\task\dr16.c)(0x694F9FF5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/dr16_1.o" -MD)
+I (..\User\module\chassis.h)(0x69455F1A)
-I (..\User\task\user_task.h)(0x694F9FF5)
+I (..\User\module\struct_typedef.h)(0x68DBD148)
+I (..\User\component\filter.h)(0x694F9FF8)
+I (..\User\component\user_math.h)(0x694F9FF8)
+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)(0x694F9FF8)
+I (..\User\component\ahrs.h)(0x694F9FF8)
+I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\device\device.h)(0x694F9FF8)
+I (..\User\device\motor_rm.h)(0x694F9FF8)
+I (..\User\device\motor.h)(0x694F9FF8)
+I (..\User\bsp\can.h)(0x694F9FF8)
+I (..\Core\Inc\can.h)(0x69184414)
+I (..\Core\Inc\main.h)(0x69186346)
+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)(0x694F9FF8)
+I (..\User\bsp\mm.h)(0x694F9FF8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
+I (..\User\module\config.h)(0x696B2CA9)
+I (..\User\module\gimbal.h)(0x69455D3C)
+I (..\User\device\motor_dm.h)(0x694F9FF8)
+I (..\User\module\shoot.h)(0x6968CB81)
+I (..\User\module\cmd\cmd.h)(0x696B301E)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
+I (..\User\module\telescoping_gimal.h)(0x6941B794)
+F (..\User\task\ai.c)(0x696B3410)(-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)(0x696B3410)
 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)
@@ -2706,8 +2783,97 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-F (..\User\task\atti_esti.c)(0x694F9FF5)(-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/atti_esti.o" -MD)
+F (..\User\task\cmd.c)(0x696B3410)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/cmd.o" -MD)
-I (..\User\task\user_task.h)(0x694F9FF5)
+I (..\User\task\user_task.h)(0x696B3410)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6919977C)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\User\component\user_math.h)(0x694F9FF8)
+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\device\device.h)(0x694F9FF8)
+I (..\User\module\config.h)(0x696B2CA9)
+I (..\User\module\gimbal.h)(0x69455D3C)
+I (..\User\component\ahrs.h)(0x694F9FF8)
+I (..\User\component\filter.h)(0x694F9FF8)
+I (..\User\component\pid.h)(0x694F9FF8)
+I (..\User\device\motor.h)(0x694F9FF8)
+I (..\User\device\motor_dm.h)(0x694F9FF8)
+I (..\User\bsp\can.h)(0x694F9FF8)
+I (..\Core\Inc\can.h)(0x69184414)
+I (..\Core\Inc\main.h)(0x69186346)
+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)(0x694F9FF8)
+I (..\User\bsp\mm.h)(0x694F9FF8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
+I (..\User\device\motor_rm.h)(0x694F9FF8)
+I (..\User\module\shoot.h)(0x6968CB81)
+I (..\User\module\chassis.h)(0x69455F1A)
+I (..\User\module\struct_typedef.h)(0x68DBD148)
+I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd.h)(0x696B301E)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
+I (..\User\module\telescoping_gimal.h)(0x6941B794)
+F (..\User\task\dr16.c)(0x696B3410)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/dr16_1.o" -MD)
+I (..\User\task\user_task.h)(0x696B3410)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6919977C)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
+F (..\User\task\atti_esti.c)(0x696B3410)(-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/atti_esti.o" -MD)
+I (..\User\task\user_task.h)(0x696B3410)
 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)
@@ -2774,78 +2940,8 @@ I (..\User\bsp\mm.h)(0x694F9FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x694F9FF8)
 I (..\User\device\ist8310.h)(0x694F9FF8)
-F (..\User\task\chassis_ctrl.c)(0x694F9FF5)(-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)
+F (..\User\task\gimbal_ctrl.c)(0x696B3441)(-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)(0x694F9FF5)
+I (..\User\task\user_task.h)(0x696B3410)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6919977C)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\module\chassis.h)(0x69455F1A)
-I (..\User\module\struct_typedef.h)(0x68DBD148)
-I (..\User\component\filter.h)(0x694F9FF8)
-I (..\User\component\user_math.h)(0x694F9FF8)
-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)(0x694F9FF8)
-I (..\User\component\ahrs.h)(0x694F9FF8)
-I (..\User\device\bmi088.h)(0x694F9FF8)
-I (..\User\device\device.h)(0x694F9FF8)
-I (..\User\device\motor_rm.h)(0x694F9FF8)
-I (..\User\device\motor.h)(0x694F9FF8)
-I (..\User\bsp\can.h)(0x694F9FF8)
-I (..\Core\Inc\can.h)(0x69184414)
-I (..\Core\Inc\main.h)(0x69186346)
-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)(0x694F9FF8)
-I (..\User\bsp\mm.h)(0x694F9FF8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
-I (..\User\module\config.h)(0x69455AE3)
-I (..\User\module\gimbal.h)(0x69455D3C)
-I (..\User\device\motor_dm.h)(0x694F9FF8)
-I (..\User\module\shoot.h)(0x68EE6FF5)
-I (..\User\module\telescoping_gimal.h)(0x6941B794)
-F (..\User\task\gimbal_ctrl.c)(0x694F9FF5)(-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)(0x694F9FF5)
 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)
@@ -2908,14 +3004,19 @@ I (..\User\bsp\bsp.h)(0x694F9FF8)
 I (..\User\bsp\mm.h)(0x694F9FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x694F9FF8)
-I (..\User\module\config.h)(0x69455AE3)
+I (..\User\module\config.h)(0x696B2CA9)
-I (..\User\module\shoot.h)(0x68EE6FF5)
+I (..\User\module\shoot.h)(0x6968CB81)
 I (..\User\module\chassis.h)(0x69455F1A)
 I (..\User\module\struct_typedef.h)(0x68DBD148)
 I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd.h)(0x696B301E)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 I (..\User\module\telescoping_gimal.h)(0x6941B794)
-F (..\User\task\remote_ctrl.c)(0x694F9FF5)(-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/remote_ctrl.o" -MD)
+F (..\User\task\shoot_ctrl.c)(0x696B3410)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/shoot_ctrl.o" -MD)
-I (..\User\task\user_task.h)(0x694F9FF5)
+I (..\User\task\user_task.h)(0x696B3410)
 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)
@@ -2932,79 +3033,7 @@ I (..\User\device\remote_control.h)(0x68FA0FDA)
 I (..\User\module\struct_typedef.h)(0x68DBD148)
 I (..\User\component\bsp_rc.h)(0x62055230)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\cmd\cmd.h)(0x694F9B3D)
+I (..\User\module\config.h)(0x696B2CA9)
-I (..\User\component\user_math.h)(0x694F9FF8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x69455D3C)
-I (..\User\component\ahrs.h)(0x694F9FF8)
-I (..\User\component\filter.h)(0x694F9FF8)
-I (..\User\component\pid.h)(0x694F9FF8)
-I (..\User\device\motor.h)(0x694F9FF8)
-I (..\User\device\device.h)(0x694F9FF8)
-I (..\User\device\motor_dm.h)(0x694F9FF8)
-I (..\User\bsp\can.h)(0x694F9FF8)
-I (..\Core\Inc\can.h)(0x69184414)
-I (..\Core\Inc\main.h)(0x69186346)
-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)(0x694F9FF8)
-I (..\User\bsp\mm.h)(0x694F9FF8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
-I (..\User\device\motor_rm.h)(0x694F9FF8)
-I (..\User\module\chassis.h)(0x69455F1A)
-I (..\User\device\bmi088.h)(0x694F9FF8)
-I (..\User\module\shoot.h)(0x68EE6FF5)
-I (..\User\module\cmd\cmd_types.h)(0x694F801A)
-F (..\User\task\shoot_ctrl.c)(0x694F9FF5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/shoot_ctrl.o" -MD)
-I (..\User\task\user_task.h)(0x694F9FF5)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6919977C)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\device\remote_control.h)(0x68FA0FDA)
-I (..\User\module\struct_typedef.h)(0x68DBD148)
-I (..\User\component\bsp_rc.h)(0x62055230)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\config.h)(0x69455AE3)
 I (..\User\module\gimbal.h)(0x69455D3C)
 I (..\User\component\ahrs.h)(0x694F9FF8)
 I (..\User\component\user_math.h)(0x694F9FF8)
@@ -3054,12 +3083,17 @@ I (..\User\bsp\bsp.h)(0x694F9FF8)
 I (..\User\bsp\mm.h)(0x694F9FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x694F9FF8)
-I (..\User\module\shoot.h)(0x68EE6FF5)
+I (..\User\module\shoot.h)(0x6968CB81)
 I (..\User\module\chassis.h)(0x69455F1A)
 I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd.h)(0x696B301E)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
 I (..\User\module\telescoping_gimal.h)(0x6941B794)
-F (..\User\task\telecoping.c)(0x694F9FF5)(-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/telecoping.o" -MD)
+F (..\User\task\telecoping.c)(0x696B3410)(-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/telecoping.o" -MD)
-I (..\User\task\user_task.h)(0x694F9FF5)
+I (..\User\task\user_task.h)(0x696B3410)
 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)
@@ -3122,14 +3156,19 @@ I (..\User\bsp\bsp.h)(0x694F9FF8)
 I (..\User\bsp\mm.h)(0x694F9FF8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x694F9FF8)
-I (..\User\module\config.h)(0x69455AE3)
+I (..\User\module\config.h)(0x696B2CA9)
 I (..\User\module\gimbal.h)(0x69455D3C)
-I (..\User\module\shoot.h)(0x68EE6FF5)
+I (..\User\module\shoot.h)(0x6968CB81)
 I (..\User\module\chassis.h)(0x69455F1A)
 I (..\User\module\struct_typedef.h)(0x68DBD148)
 I (..\User\device\bmi088.h)(0x694F9FF8)
-F (..\User\task\init.c)(0x694F9FF5)(-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\module\cmd\cmd.h)(0x696B301E)
-I (..\User\task\user_task.h)(0x694F9FF5)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
+F (..\User\task\init.c)(0x696B3410)(-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)(0x696B3410)
 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)
@@ -3195,11 +3234,10 @@ I (..\User\device\motor_rm.h)(0x694F9FF8)
 I (..\User\module\chassis.h)(0x69455F1A)
 I (..\User\module\struct_typedef.h)(0x68DBD148)
 I (..\User\device\bmi088.h)(0x694F9FF8)
-I (..\User\device\remote_control.h)(0x68FA0FDA)
+I (..\User\device\dr16.h)(0x694F9FF8)
-I (..\User\component\bsp_rc.h)(0x62055230)
 I (..\User\module\telescoping_gimal.h)(0x6941B794)
-F (..\User\task\user_task.c)(0x694F9FF5)(-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)
+F (..\User\task\user_task.c)(0x696B3410)(-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)(0x694F9FF5)
+I (..\User\task\user_task.h)(0x696B3410)
 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)
@@ -3212,93 +3250,28 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-F (..\User\task\Oid.c)(0x694F9FF5)(-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_1.o" -MD)
+F (..\User\module\cmd\cmd.c)(0x696B3047)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/cmd_1.o" -MD)
-I (..\User\task\user_task.h)(0x694F9FF5)
+I (..\User\module\cmd\cmd.h)(0x696B301E)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
+I (..\User\component\user_math.h)(0x694F9FF8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6919977C)
+I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-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\Oid.h)(0x694B9861)
 I (..\User\device\device.h)(0x694F9FF8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
-I (..\User\bsp\can.h)(0x694F9FF8)
+I (..\User\module\chassis.h)(0x69455F1A)
-I (..\Core\Inc\can.h)(0x69184414)
+I (..\User\module\struct_typedef.h)(0x68DBD148)
-I (..\Core\Inc\main.h)(0x69186346)
-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)(0x694F9FF8)
-I (..\User\bsp\mm.h)(0x694F9FF8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
-I (..\User\component\user_math.h)(0x694F9FF8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-F (..\User\task\cmd.c)(0x694F9FF5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/cmd.o" -MD)
-I (..\User\task\user_task.h)(0x694F9FF5)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6919977C)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-F (..\User\module\cmd\cmd.c)(0x694F9B98)(-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)(0x694F9B3D)
-I (..\User\component\user_math.h)(0x694F9FF8)
-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\module\gimbal.h)(0x69455D3C)
-I (..\User\component\ahrs.h)(0x694F9FF8)
 I (..\User\component\filter.h)(0x694F9FF8)
 I (..\User\component\pid.h)(0x694F9FF8)
+I (..\User\component\ahrs.h)(0x694F9FF8)
+I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\device\motor_rm.h)(0x694F9FF8)
 I (..\User\device\motor.h)(0x694F9FF8)
-I (..\User\device\device.h)(0x694F9FF8)
-I (..\User\device\motor_dm.h)(0x694F9FF8)
 I (..\User\bsp\can.h)(0x694F9FF8)
 I (..\Core\Inc\can.h)(0x69184414)
 I (..\Core\Inc\main.h)(0x69186346)
@@ -3346,35 +3319,46 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (..\User\module\gimbal.h)(0x69455D3C)
-I (..\User\device\motor_rm.h)(0x694F9FF8)
+I (..\User\device\motor_dm.h)(0x694F9FF8)
-I (..\User\device\remote_control.h)(0x68FA0FDA)
+I (..\User\module\shoot.h)(0x6968CB81)
-I (..\User\module\struct_typedef.h)(0x68DBD148)
+I (..\User\bsp\time.h)(0x694F9FF8)
-I (..\User\component\bsp_rc.h)(0x62055230)
-I (..\User\module\chassis.h)(0x69455F1A)
-I (..\User\device\bmi088.h)(0x694F9FF8)
-I (..\User\module\shoot.h)(0x68EE6FF5)
-I (..\User\module\cmd\cmd_types.h)(0x694F801A)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\bsp\uart.h)(0x694F9FF8)
+F (..\User\module\cmd\cmd_adapter.c)(0x695FA70F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/cmd_adapter.o" -MD)
-I (..\Core\Inc\usart.h)(0x69455093)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
-I (..\User\component\crc16.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
-I (..\User\component\crc8.h)(0x694F9FF8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-F (..\User\module\cmd\cmd_adapter.c)(0x694F9FB5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/cmd_adapter_1.o" -MD)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\cmd\cmd_adapter.h)(0x694F85FD)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\User\component\user_math.h)(0x694F9FF8)
 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\device\device.h)(0x694F9FF8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
+F (..\User\module\cmd\cmd_behavior.c)(0x696B2FEB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/cmd_behavior.o" -MD)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\module\cmd\cmd.h)(0x696B301E)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x69455D3C)
+I (..\User\component\user_math.h)(0x694F9FF8)
-I (..\User\component\ahrs.h)(0x694F9FF8)
+I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (..\User\device\device.h)(0x694F9FF8)
+I (..\User\module\chassis.h)(0x69455F1A)
+I (..\User\module\struct_typedef.h)(0x68DBD148)
 I (..\User\component\filter.h)(0x694F9FF8)
 I (..\User\component\pid.h)(0x694F9FF8)
+I (..\User\component\ahrs.h)(0x694F9FF8)
+I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\device\motor_rm.h)(0x694F9FF8)
 I (..\User\device\motor.h)(0x694F9FF8)
-I (..\User\device\device.h)(0x694F9FF8)
-I (..\User\device\motor_dm.h)(0x694F9FF8)
 I (..\User\bsp\can.h)(0x694F9FF8)
 I (..\Core\Inc\can.h)(0x69184414)
 I (..\Core\Inc\main.h)(0x69186346)
@@ -3422,33 +3406,32 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (..\User\module\gimbal.h)(0x69455D3C)
-I (..\User\device\motor_rm.h)(0x694F9FF8)
+I (..\User\device\motor_dm.h)(0x694F9FF8)
-I (..\User\device\remote_control.h)(0x68FA0FDA)
+I (..\User\module\shoot.h)(0x6968CB81)
-I (..\User\module\struct_typedef.h)(0x68DBD148)
+I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\component\bsp_rc.h)(0x62055230)
+F (..\User\module\cmd\cmd_example.c)(0x695FA70F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/cmd_example.o" -MD)
-I (..\User\module\chassis.h)(0x69455F1A)
+I (..\User\module\cmd\cmd.h)(0x696B301E)
-I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\module\cmd\cmd_types.h)(0x695FA70F)
-I (..\User\module\shoot.h)(0x68EE6FF5)
-I (..\User\device\dr16.h)(0x694F9FF8)
-I (..\User\module\cmd\cmd_types.h)(0x694F801A)
-F (..\User\module\cmd\cmd_behavior.c)(0x694F9CA6)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/cmd_behavior_1.o" -MD)
-I (..\User\module\cmd\cmd_behavior.h)(0x694F9951)
-I (..\User\module\cmd\cmd_types.h)(0x694F801A)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\cmd\cmd_adapter.h)(0x694F85FD)
+I (..\User\module\cmd\cmd_adapter.h)(0x695FA70F)
+I (..\User\device\dr16.h)(0x694F9FF8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\User\component\user_math.h)(0x694F9FF8)
 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\stddef.h)(0x6035A4A8)
+I (..\User\device\device.h)(0x694F9FF8)
-I (..\User\module\gimbal.h)(0x69455D3C)
+I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
-I (..\User\component\ahrs.h)(0x694F9FF8)
+I (..\User\module\chassis.h)(0x69455F1A)
+I (..\User\module\struct_typedef.h)(0x68DBD148)
 I (..\User\component\filter.h)(0x694F9FF8)
 I (..\User\component\pid.h)(0x694F9FF8)
+I (..\User\component\ahrs.h)(0x694F9FF8)
+I (..\User\device\bmi088.h)(0x694F9FF8)
+I (..\User\device\motor_rm.h)(0x694F9FF8)
 I (..\User\device\motor.h)(0x694F9FF8)
-I (..\User\device\device.h)(0x694F9FF8)
-I (..\User\device\motor_dm.h)(0x694F9FF8)
 I (..\User\bsp\can.h)(0x694F9FF8)
 I (..\Core\Inc\can.h)(0x69184414)
 I (..\Core\Inc\main.h)(0x69186346)
@@ -3496,14 +3479,6 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (..\User\module\gimbal.h)(0x69455D3C)
-I (..\User\device\motor_rm.h)(0x694F9FF8)
+I (..\User\device\motor_dm.h)(0x694F9FF8)
-I (..\User\device\remote_control.h)(0x68FA0FDA)
+I (..\User\module\shoot.h)(0x6968CB81)
-I (..\User\module\struct_typedef.h)(0x68DBD148)
-I (..\User\component\bsp_rc.h)(0x62055230)
-I (..\User\module\chassis.h)(0x69455F1A)
-I (..\User\device\bmi088.h)(0x694F9FF8)
-I (..\User\module\shoot.h)(0x68EE6FF5)
-I (..\User\device\dr16.h)(0x694F9FF8)
-I (..\User\module\cmd\cmd.h)(0x694F9B3D)
-F (..\User\module\cmd\cmd_types.h)(0x694F801A)()

MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.d

@@ -59,4 +59,8 @@ steering\ wheel_infatry/chassis_ctrl.o: ..\User\task\chassis_ctrl.c \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\module\config.h ..\User\module\gimbal.h \
   ..\User\device\motor_dm.h ..\User\module\shoot.h ..\Core\Inc\main.h \
+  ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+  ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+  ..\User\device\device.h ..\User\module\cmd\cmd_behavior.h \
+  ..\User\module\gimbal.h ..\User\module\shoot.h \
   ..\User\module\telescoping_gimal.h

MDK-ARM/Steering Wheel_Infatry/cmd.d

@@ -11,4 +11,57 @@ steering\ wheel_infatry/cmd.o: ..\User\task\cmd.c \
   ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\User\device\dr16.h ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\device\device.h ..\User\module\config.h \
+  ..\User\module\gimbal.h ..\User\component\ahrs.h \
+  ..\User\component\user_math.h ..\User\component\filter.h \
+  ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\device\motor.h ..\User\device\device.h \
+  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\Core\Inc\stm32f4xx_hal_conf.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  ..\Drivers\CMSIS\Include\core_cm4.h \
+  ..\Drivers\CMSIS\Include\cmsis_version.h \
+  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+  ..\Drivers\CMSIS\Include\mpu_armv7.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
+  ..\User\module\struct_typedef.h ..\User\device\bmi088.h \
+  ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+  ..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_behavior.h \
+  ..\User\module\gimbal.h ..\User\module\shoot.h \
+  ..\User\module\telescoping_gimal.h ..\User\module\cmd\cmd_adapter.h \
+  ..\User\module\cmd\cmd_behavior.h ..\User\module\cmd\cmd_types.h

MDK-ARM/Steering Wheel_Infatry/cmd_1.d

@@ -1,15 +1,20 @@
 steering\ wheel_infatry/cmd_1.o: ..\User\module\cmd\cmd.c \
-  ..\User\module\cmd\cmd.h ..\User\component\user_math.h \
+  ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.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\stdbool.h \
+  ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
+  ..\User\component\user_math.h \
-  ..\User\component\user_math.h ..\User\component\filter.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
-  ..\User\device\motor.h ..\User\device\device.h \
+  ..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\User\module\struct_typedef.h ..\User\component\filter.h \
+  ..\User\component\user_math.h ..\User\component\pid.h \
+  ..\User\component\filter.h ..\User\component\ahrs.h \
+  ..\User\device\bmi088.h ..\User\device\device.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
   ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
@@ -54,13 +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\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\module\gimbal.h ..\User\device\motor_dm.h \
-  ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\bsp\time.h \
-  ..\User\component\bsp_rc.h ..\User\module\chassis.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
-  ..\User\module\struct_typedef.h ..\User\device\bmi088.h \
-  ..\User\component\user_math.h ..\User\module\shoot.h \
-  ..\Core\Inc\main.h ..\User\module\cmd\cmd_types.h \
-  ..\User\module\chassis.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \
-  ..\Core\Inc\usart.h ..\User\component\crc16.h ..\User\component\crc8.h \
-  ..\User\module\shoot.h

MDK-ARM/Steering Wheel_Infatry/cmd_adapter.d

@@ -1,64 +1,10 @@
 steering\ wheel_infatry/cmd_adapter.o: ..\User\module\cmd\cmd_adapter.c \
-  ..\User\module\cmd\cmd_adapter.h ..\User\component\user_math.h \
+  ..\User\module\cmd\cmd_adapter.h ..\User\module\cmd\cmd_types.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\stdbool.h ..\User\device\dr16.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
+  ..\User\component\user_math.h \
-  ..\User\component\user_math.h ..\User\component\filter.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
-  ..\User\device\motor.h ..\User\device\device.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
-  ..\Core\Inc\stm32f4xx_hal_conf.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
-  ..\Drivers\CMSIS\Include\core_cm4.h \
-  ..\Drivers\CMSIS\Include\cmsis_version.h \
-  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
-  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
-  ..\Drivers\CMSIS\Include\mpu_armv7.h \
-  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
-  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
-  ..\Core\Inc\FreeRTOSConfig.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
-  ..\User\component\bsp_rc.h ..\User\module\chassis.h \
-  ..\User\module\struct_typedef.h ..\User\device\bmi088.h \
-  ..\User\component\user_math.h ..\User\module\shoot.h \
-  ..\Core\Inc\main.h ..\User\device\dr16.h \
-  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\device.h

MDK-ARM/Steering Wheel_Infatry/cmd_behavior.d

@@ -1,16 +1,22 @@
 steering\ wheel_infatry/cmd_behavior.o: ..\User\module\cmd\cmd_behavior.c \
-  ..\User\module\cmd\cmd_behavior.h ..\User\component\user_math.h \
+  ..\User\module\cmd\cmd_behavior.h ..\User\module\cmd\cmd_types.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\stdbool.h \
+  ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_adapter.h \
+  ..\User\device\dr16.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
+  ..\User\component\user_math.h \
-  ..\User\component\user_math.h ..\User\component\filter.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
+  ..\User\module\chassis.h ..\User\module\struct_typedef.h \
+  ..\User\component\filter.h ..\User\component\user_math.h \
   ..\User\component\pid.h ..\User\component\filter.h \
-  ..\User\device\motor.h ..\User\device\device.h \
+  ..\User\component\ahrs.h ..\User\device\bmi088.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\User\device\device.h ..\User\device\motor_rm.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\User\device\motor.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\Core\Inc\can.h ..\Core\Inc\main.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@@ -54,9 +60,6 @@ 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\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\module\gimbal.h ..\User\device\motor_dm.h \
-  ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h \
-  ..\User\component\bsp_rc.h ..\User\module\chassis.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
-  ..\User\module\struct_typedef.h ..\User\device\bmi088.h \
-  ..\User\component\user_math.h ..\User\module\shoot.h \
-  ..\Core\Inc\main.h

MDK-ARM/Steering Wheel_Infatry/cmd_example.d

@@ -0,0 +1,63 @@
+steering\ wheel_infatry/cmd_example.o: ..\User\module\cmd\cmd_example.c \
+  ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
+  ..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
+  ..\User\module\struct_typedef.h ..\User\component\filter.h \
+  ..\User\component\user_math.h ..\User\component\pid.h \
+  ..\User\component\filter.h ..\User\component\ahrs.h \
+  ..\User\device\bmi088.h ..\User\device\device.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\Core\Inc\stm32f4xx_hal_conf.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  ..\Drivers\CMSIS\Include\core_cm4.h \
+  ..\Drivers\CMSIS\Include\cmsis_version.h \
+  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+  ..\Drivers\CMSIS\Include\mpu_armv7.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h

MDK-ARM/Steering Wheel_Infatry/config.d

@@ -58,5 +58,10 @@ steering\ wheel_infatry/config.o: ..\User\module\config.c \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
   ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
   ..\User\module\struct_typedef.h ..\User\device\bmi088.h \
-  ..\User\component\user_math.h ..\User\module\telescoping_gimal.h \
+  ..\User\component\user_math.h ..\User\module\cmd\cmd.h \
-  ..\User\module\chassis.h
+  ..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
+  ..\User\device\dr16.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\device\device.h ..\User\module\cmd\cmd_behavior.h \
+  ..\User\module\gimbal.h ..\User\module\shoot.h \
+  ..\User\module\telescoping_gimal.h ..\User\module\chassis.h

MDK-ARM/Steering Wheel_Infatry/gimbal_ctrl.d

@@ -60,4 +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 \
   ..\Core\Inc\main.h ..\User\module\chassis.h \
   ..\User\module\struct_typedef.h ..\User\device\bmi088.h \
-  ..\User\component\user_math.h ..\User\module\telescoping_gimal.h
+  ..\User\component\user_math.h ..\User\module\cmd\cmd.h \
+  ..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
+  ..\User\device\dr16.h ..\User\device\device.h \
+  ..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
+  ..\User\module\shoot.h ..\User\module\telescoping_gimal.h

MDK-ARM/Steering Wheel_Infatry/init.d

@@ -59,5 +59,5 @@ steering\ wheel_infatry/init.o: ..\User\task\init.c \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
   ..\User\module\chassis.h ..\User\module\struct_typedef.h \
   ..\User\device\bmi088.h ..\User\component\user_math.h \
-  ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
+  ..\User\device\dr16.h ..\User\device\device.h \
-  ..\User\component\bsp_rc.h ..\User\module\telescoping_gimal.h
+  ..\User\module\telescoping_gimal.h

MDK-ARM/Steering Wheel_Infatry/remote_ctrl.d

@@ -15,15 +15,19 @@ steering\ wheel_infatry/remote_ctrl.o: ..\User\task\remote_ctrl.c \
   ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
   ..\User\component\bsp_rc.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\module\cmd\cmd.h ..\User\component\user_math.h \
+  ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+  ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+  ..\User\component\user_math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\module\gimbal.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\device\device.h \
-  ..\User\component\ahrs.h ..\User\component\user_math.h \
+  ..\User\module\cmd\cmd_behavior.h ..\User\module\chassis.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
+  ..\User\module\struct_typedef.h ..\User\component\filter.h \
-  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\component\user_math.h ..\User\component\pid.h \
-  ..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
+  ..\User\component\filter.h ..\User\component\ahrs.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h \
+  ..\User\device\bmi088.h ..\User\device\device.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\motor.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@@ -58,8 +62,6 @@ steering\ wheel_infatry/remote_ctrl.o: ..\User\task\remote_ctrl.c \
   ..\User\bsp\bsp.h ..\User\bsp\mm.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\module\gimbal.h ..\User\device\motor_dm.h \
-  ..\User\module\chassis.h ..\User\module\struct_typedef.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\shoot.h \
-  ..\User\device\bmi088.h ..\User\component\user_math.h \
+  ..\User\module\chassis.h
-  ..\User\module\shoot.h ..\Core\Inc\main.h \
-  ..\User\module\cmd\cmd_types.h ..\User\module\shoot.h

MDK-ARM/Steering Wheel_Infatry/shoot.d

@@ -1,6 +1,8 @@
 steering\ wheel_infatry/shoot.o: ..\User\module\shoot.c \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\module\shoot.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h ..\Core\Inc\main.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@@ -14,7 +16,6 @@ steering\ wheel_infatry/shoot.o: ..\User\module\shoot.c \
   ..\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 \
@@ -34,11 +35,10 @@ steering\ wheel_infatry/shoot.o: ..\User\module\shoot.c \
   ..\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 \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
   ..\User\component\pid.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 \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
   ..\User\device\device.h ..\User\device\motor.h ..\User\bsp\can.h \
   ..\Core\Inc\can.h ..\Core\Inc\main.h ..\User\bsp\bsp.h \
@@ -55,4 +55,12 @@ steering\ wheel_infatry/shoot.o: ..\User\module\shoot.c \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\bsp\time.h ..\User\component\filter.h \
-  ..\User\component\user_math.h
+  ..\User\component\user_math.h ..\User\module\cmd\cmd.h \
+  ..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
+  ..\User\device\dr16.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\device\device.h ..\User\module\cmd\cmd_behavior.h \
+  ..\User\module\chassis.h ..\User\module\struct_typedef.h \
+  ..\User\component\ahrs.h ..\User\device\bmi088.h \
+  ..\User\module\gimbal.h ..\User\device\motor_dm.h \
+  ..\User\module\shoot.h

MDK-ARM/Steering Wheel_Infatry/shoot_ctrl.d

@@ -61,4 +61,8 @@ steering\ wheel_infatry/shoot_ctrl.o: ..\User\task\shoot_ctrl.c \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
   ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\chassis.h \
   ..\User\module\struct_typedef.h ..\User\device\bmi088.h \
-  ..\User\component\user_math.h ..\User\module\telescoping_gimal.h
+  ..\User\component\user_math.h ..\User\module\cmd\cmd.h \
+  ..\User\module\cmd\cmd_types.h ..\User\module\cmd\cmd_adapter.h \
+  ..\User\device\dr16.h ..\User\device\device.h \
+  ..\User\module\cmd\cmd_behavior.h ..\User\module\gimbal.h \
+  ..\User\module\shoot.h ..\User\module\telescoping_gimal.h

MDK-ARM/Steering Wheel_Infatry/telecoping.d

@@ -60,4 +60,8 @@ steering\ wheel_infatry/telecoping.o: ..\User\task\telecoping.c \
   ..\User\module\config.h ..\User\module\gimbal.h ..\User\module\shoot.h \
   ..\User\module\chassis.h ..\User\module\struct_typedef.h \
   ..\User\device\bmi088.h ..\User\component\user_math.h \
+  ..\User\module\cmd\cmd.h ..\User\module\cmd\cmd_types.h \
+  ..\User\module\cmd\cmd_adapter.h ..\User\device\dr16.h \
+  ..\User\device\device.h ..\User\module\cmd\cmd_behavior.h \
+  ..\User\module\gimbal.h ..\User\module\shoot.h \
   ..\User\module\telescoping_gimal.h

User/module/cmd/cmd.c

@@ -1,16 +1,10 @@
-#include "module\cmd\cmd.h"
+/*
-#include "module\chassis.h"
+ * CMD 模块 V2 - 主控制模块实现
+ */
+#include "cmd.h"
+#include "bsp/time.h"
+#include <stdint.h>
 #include <string.h>
-#include "bsp\uart.h"
-#include "component\crc16.h"
-#include "component\crc8.h"
-#include "component\user_math.h"
-#include "gimbal.h"
-#include "remote_control.h"
-#include "shoot.h"
-
- 
-
 
 /* ========================================================================== */
 /*                           命令构建函数                                       */
@@ -203,7 +197,7 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
   }
   
   /* 自动仲裁：优先级 PC > RC > NUC */
-  CMD_InputSource_t candidates[] = {CMD_SRC_PC, CMD_SRC_RC, CMD_SRC_NUC};
+  CMD_InputSource_t candidates[] = {CMD_SRC_RC, CMD_SRC_PC, CMD_SRC_NUC};
   const int num_candidates = sizeof(candidates) / sizeof(candidates[0]);
   
   /* 如果当前输入源仍然在线且有效，保持使用 */
@@ -269,6 +263,3 @@ int8_t CMD_Update(CMD_t *ctx) {
     ret = CMD_GenerateCommands(ctx);
     return ret;
 }
-
-
-

User/module/cmd/cmd.h

@@ -1,23 +1,24 @@
 /*
- * cmd模组
+ * CMD 模块 V2 - 主控制模块
+ * 统一的命令控制接口
  */
-
 #pragma once
 
+#include "cmd_types.h"
+#include "cmd_adapter.h"
+#include "cmd_behavior.h"
+
+/* 引入输出模块的命令类型 */
+#include "module/chassis.h"
+#include "module/gimbal.h"
+#include "module/shoot.h"
+#include <stdint.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/* Includes ----------------------------------------------------------------- */
+/* ========================================================================== */
-#include "component\user_math.h"
-#include "gimbal.h"
-#include "remote_control.h"
-#include "chassis.h"
-#include "module\shoot.h"
-#include "module\cmd\cmd_types.h"
-
-
- 	/* ========================================================================== */
 /*                           输出命令结构                                       */
 /* ========================================================================== */
 
@@ -60,11 +61,6 @@ typedef struct {
     Gimbal_Mode_t gimbal_sw_up;
     Gimbal_Mode_t gimbal_sw_mid;
     Gimbal_Mode_t gimbal_sw_down;
-	
-	Shoot_Mode_t    shoot_sw_up;
-    Shoot_Mode_t    shoot_sw_mid;
-    Shoot_Mode_t    shoot_sw_down;  
-	
 } CMD_RCModeMap_t;
 
 /* 整体配置 */
@@ -113,38 +109,63 @@ typedef struct CMD_Context {
 } CMD_t;
 
 /* ========================================================================== */
-/*                           全局配置实例                                       */
+/*                           主API接口                                          */
-static CMD_Config_t g_cmd_config = { 
+/* ========================================================================== */
-     /* 灵敏度设置 */
-     .sensitivity = {
-         .mouse_sens = 0.8f,
-         .move_sens = 1.0f,
-         .move_fast_mult = 1.5f,
-         .move_slow_mult = 0.5f,
-     },
 
-     /* RC拨杆模式映射 */
+/**
-     .rc_mode_map = {
+ * @brief 初始化CMD模块
-         /* 左拨杆控制底盘模式 */
+ * @param ctx CMD上下文
+ * @param config 配置指针
+ * @return CMD_OK成功，其他失败
+ */
+int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config);
 
-         .sw_left_up   = CHASSIS_MODE_BREAK,
+/**
-         .sw_left_mid  = CHASSIS_MODE_FOLLOW_GIMBAL,
+ * @brief 更新所有输入源的数据
-         .sw_left_down = CHASSIS_MODE_ROTOR,
+ * @param ctx CMD上下文
+ * @return CMD_OK成功
+ */
+int8_t CMD_UpdateInput(CMD_t *ctx);
 
-         /* 用于云台模式 */
+/**
-         .gimbal_sw_up   = GIMBAL_MODE_RELAX,
+ * @brief 执行仲裁，决定使用哪个输入源
-         .gimbal_sw_mid  = GIMBAL_MODE_ABSOLUTE,
+ * @param ctx CMD上下文
-         .gimbal_sw_down = GIMBAL_MODE_RELATIVE,
+ * @return 选中的输入源
+ */
+int8_t CMD_Arbitrate(CMD_t *ctx);
 
-		.shoot_sw_up=SHOOT_MODE_SAFE,
+/**
-		.shoot_sw_mid=SHOOT_MODE_SINGLE,
+ * @brief 生成所有模块的控制命令
-		.shoot_sw_down=SHOOT_MODE_BURST,
+ * @param ctx CMD上下文
+ * @return CMD_OK成功
+ */
+int8_t CMD_GenerateCommands(CMD_t *ctx);
 
+/**
+ * @brief 一键更新（包含UpdateInput + Arbitrate + GenerateCommands）
+ * @param ctx CMD上下文
+ * @return CMD_OK成功
+ */
+int8_t CMD_Update(CMD_t *ctx);
 
-     },
+/* ========================================================================== */
+/*                           输出获取接口                                       */
+/* ========================================================================== */
 
- };
+/* 获取底盘命令 */
+static inline Chassis_CMD_t* CMD_GetChassisCmd(CMD_t *ctx) {
+    return &ctx->output.chassis.cmd;
+  }
 
+/* 获取云台命令 */
+static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_t *ctx) {
+    return &ctx->output.gimbal.cmd;
+}
+
+/* 获取射击命令 */
+static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_t *ctx) {
+    return &ctx->output.shoot.cmd;
+}
 
 #ifdef __cplusplus
 }

User/module/cmd/cmd_adapter.c

@@ -1,6 +1,9 @@
-#include "module\cmd\cmd_adapter.h"
+/*
-#include "dr16.h"
+ * CMD 模块 V2 - 输入适配器实现
-#include "module\cmd\cmd_types.h"
+ */
+#include "cmd_adapter.h"
+#include <string.h>
+
 /* ========================================================================== */
 /*                           适配器存储                                         */
 /* ========================================================================== */
@@ -9,7 +12,8 @@ CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
 /* ========================================================================== */
 /*                        DR16 适配器实现                                       */
 /* ========================================================================== */
-//#if CMD_RC_DEVICE_TYPE == 0
+#if CMD_RC_DEVICE_TYPE == 0
+
 int8_t CMD_DR16_Init(void *data) {
     DR16_t *dr16 = (DR16_t *)data;
     return DR16_Init(dr16);
@@ -43,7 +47,7 @@ int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
     }
     
     /* 拨轮映射 */
-    output->rc.dial = dr16->data.res;
+    output->rc.dial = dr16->data.ch_res;
     
     return CMD_OK;
 }
@@ -71,15 +75,54 @@ bool CMD_DR16_IsOnline(void *data) {
     DR16_t *dr16 = (DR16_t *)data;
     return dr16->header.online;
 }
+extern DR16_t cmd_dr16;
+/* 定义适配器实例 */
+CMD_DEFINE_ADAPTER(DR16_RC, cmd_dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_IsOnline)
+CMD_DEFINE_ADAPTER(DR16_PC, cmd_dr16, CMD_SRC_PC, CMD_DR16_Init, CMD_DR16_PC_GetInput, CMD_DR16_IsOnline)
 
+#endif /* CMD_RC_DEVICE_TYPE == 0 */
 
+/* ========================================================================== */
+/*                        AT9S 适配器实现 (示例框架)                            */
+/* ========================================================================== */
+#if CMD_RC_DEVICE_TYPE == 1
+
+int8_t CMD_AT9S_Init(void *data) {
+    AT9S_t *at9s = (AT9S_t *)data;
+    return AT9S_Init(at9s);
+}
+
+int8_t CMD_AT9S_GetInput(void *data, CMD_RawInput_t *output) {
+    AT9S_t *at9s = (AT9S_t *)data;
+    
+    memset(output, 0, sizeof(CMD_RawInput_RC_t));
+    
+    output->online[CMD_SRC_RC] = at9s->header.online;
+    
+    /* TODO: 按照AT9S的数据格式进行映射 */
+    output->joy_left.x  = at9s->data.ch_l_x;
+    output->joy_left.y  = at9s->data.ch_l_y;
+    output->joy_right.x = at9s->data.ch_r_x;
+    output->joy_right.y = at9s->data.ch_r_y;
+    
+    /* 拨杆映射需要根据AT9S的实际定义 */
+    
+    return CMD_OK;
+}
+
+bool CMD_AT9S_IsOnline(void *data) {
+    AT9S_t *at9s = (AT9S_t *)data;
+    return at9s->header.online;
+}
+
+CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD_AT9S_IsOnline)
+
+#endif /* CMD_RC_DEVICE_TYPE == 1 */
 
 /* ========================================================================== */
 /*                           适配器管理实现                                     */
 /* ========================================================================== */
 
-//CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
-
 int8_t CMD_Adapter_Register(CMD_InputAdapter_t *adapter) {
     if (adapter == NULL || adapter->source >= CMD_SRC_NUM) {
         return CMD_ERR_NULL;
@@ -88,9 +131,6 @@ int8_t CMD_Adapter_Register(CMD_InputAdapter_t *adapter) {
     return CMD_OK;
 }
 
-CMD_InputAdapter_t g_adapter_DR16_RC;
-CMD_InputAdapter_t g_adapter_DR16_PC;
-
 int8_t CMD_Adapter_InitAll(void) {
     /* 注册编译时选择的RC设备适配器 */
 #if CMD_RC_DEVICE_TYPE == 0
@@ -102,10 +142,6 @@ int8_t CMD_Adapter_InitAll(void) {
     CMD_Adapter_Register(&g_adapter_AT9S);
 #endif
     
-    /* 注册NUC适配器 */
-
-    /* 注册REF适配器 */
-    
     /* 初始化所有已注册的适配器 */
     for (int i = 0; i < CMD_SRC_NUM; i++) {
         if (g_adapters[i] != NULL && g_adapters[i]->init != NULL) {
@@ -142,5 +178,3 @@ bool CMD_Adapter_IsOnline(CMD_InputSource_t source) {
     
     return adapter->is_online(adapter->device_data);
 }
-
-

User/module/cmd/cmd_adapter.h

@@ -1,31 +1,15 @@
 /*
- * cmd_adapter模组
+ * CMD 模块 V2 - 输入适配器接口
+ * 定义设备到统一输入结构的转换接口
  */
-
 #pragma once
 
+#include "cmd_types.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/* Includes ----------------------------------------------------------------- */
-#include "component\user_math.h"
-#include "gimbal.h"
-#include "remote_control.h"
-#include "chassis.h"
-#include "shoot.h"
-#include "dr16.h"
-#include "module\cmd\cmd_types.h"
-
-#define CMD_OK (0)
-#define CMD_ERR (-1)
-#define CMD_ERR_NULL (-2)
-#define CMD_ERR_INITED (-3)
-#define CMD_ERR_NO_DEV (-4)
-
-
-
-
 /* ========================================================================== */
 /*                           适配器接口定义                                     */
 /* ========================================================================== */
@@ -35,6 +19,7 @@ typedef int8_t (*CMD_AdapterInitFunc)(void *device_data);
 typedef int8_t (*CMD_AdapterGetInputFunc)(void *device_data, CMD_RawInput_t *output);
 typedef bool   (*CMD_AdapterIsOnlineFunc)(void *device_data);
 
+/* 适配器描述结构 */
 typedef struct {
     const char *name;                   /* 适配器名称 */
     CMD_InputSource_t source;           /* 对应的输入源 */
@@ -44,10 +29,82 @@ typedef struct {
     CMD_AdapterIsOnlineFunc is_online;  /* 在线检测函数 */
 } CMD_InputAdapter_t;
 
+/* ========================================================================== */
+/*                           适配器注册宏                                       */
+/* ========================================================================== */
 
+/* 
+ * 声明适配器
+ * 使用示例:
+ * CMD_DECLARE_ADAPTER(DR16, dr16, DR16_t)
+ * 
+ * 会生成:
+ * - extern DR16_t dr16;  // 设备实例声明
+ * - int8_t CMD_DR16_Init(void *data);
+ * - int8_t CMD_DR16_GetInput(void *data, CMD_RawInput_t *output);
+ * - bool CMD_DR16_IsOnline(void *data);
+ */
+#define CMD_DECLARE_ADAPTER(NAME, var, TYPE) \
+    extern TYPE var; \
+    int8_t CMD_##NAME##_Init(void *data); \
+    int8_t CMD_##NAME##_GetInput(void *data, CMD_RawInput_t *output); \
+    bool CMD_##NAME##_IsOnline(void *data);
 
+/* 
+ * 定义适配器实例
+ * 使用示例:
+ * CMD_DEFINE_ADAPTER(DR16_RC, dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_RC_IsOnline)
+ */
+#define CMD_DEFINE_ADAPTER(NAME, var, source_enum, init_func, get_func, online_func) \
+    static CMD_InputAdapter_t g_adapter_##NAME = { \
+        .name = #NAME, \
+        .source = source_enum, \
+        .device_data = (void*)&var, \
+        .init = init_func, \
+        .get_input = get_func, \
+        .is_online = online_func, \
+    };
 
+/* ========================================================================== */
+/*                        RC设备适配器配置                                      */
+/* ========================================================================== */
 
+/* 选择使用的RC设备 - 只需修改这里 */
+#define CMD_RC_DEVICE_TYPE  0   /* 0:DR16, 1:AT9S, 2:VT13 */
+
+#if CMD_RC_DEVICE_TYPE == 0
+    #include "device/dr16.h"
+    CMD_DECLARE_ADAPTER(DR16_RC, dr16, DR16_t)
+    CMD_DECLARE_ADAPTER(DR16_PC, dr16, DR16_t)
+    #define CMD_RC_ADAPTER_NAME DR16
+    #define CMD_RC_ADAPTER_VAR  dr16
+#elif CMD_RC_DEVICE_TYPE == 1
+    #include "device/at9s_pro.h"
+    CMD_DECLARE_ADAPTER(AT9S, at9s, AT9S_t)
+    #define CMD_RC_ADAPTER_NAME AT9S
+    #define CMD_RC_ADAPTER_VAR  at9s
+#elif CMD_RC_DEVICE_TYPE == 2
+    #include "device/vt13.h"
+    CMD_DECLARE_ADAPTER(VT13, vt13, VT13_t)
+    #define CMD_RC_ADAPTER_NAME VT13
+    #define CMD_RC_ADAPTER_VAR  vt13
+#endif
+
+/* ========================================================================== */
+/*                           适配器管理接口                                     */
+/* ========================================================================== */
+
+/* 初始化所有适配器 */
+int8_t CMD_Adapter_InitAll(void);
+
+/* 获取指定输入源的原始输入 */
+int8_t CMD_Adapter_GetInput(CMD_InputSource_t source, CMD_RawInput_t *output);
+
+/* 检查输入源是否在线 */
+bool CMD_Adapter_IsOnline(CMD_InputSource_t source);
+
+/* 注册适配器 (运行时注册，可选) */
+int8_t CMD_Adapter_Register(CMD_InputAdapter_t *adapter);
 
 #ifdef __cplusplus
 }

User/module/cmd/cmd_behavior.c

@@ -1,8 +1,11 @@
-#include "module/cmd/cmd_behavior.h"
+/*
-#include "module/cmd/cmd_types.h"
+ * CMD 模块 V2 - 行为处理器实现
-#include "module/cmd/cmd_adapter.h"
+ */
+#include "cmd_behavior.h"
 #include "module/cmd/cmd.h"
-#include "module/shoot.h"
+#include "module/gimbal.h"
+#include <string.h>
+
 /* ========================================================================== */
 /*                           行为回调函数                                        */
 /* ========================================================================== */
@@ -46,13 +49,13 @@ int8_t CMD_Behavior_Handle_FIRE(CMD_t *ctx) {
 }
 
 int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_t *ctx) {
-  //  ctx->output.shoot.cmd.mode = (ctx->output.shoot.cmd.mode + 1) % SHOOT_MODE_NUM;
+    ctx->output.shoot.cmd.mode = (ctx->output.shoot.cmd.mode + 1) % SHOOT_MODE_NUM;
     return CMD_OK;
 }
 
 int8_t CMD_Behavior_Handle_ROTOR(CMD_t *ctx) {
   ctx->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
-//ctx->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
+//  ctx->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
   ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
   return CMD_OK;
 }
@@ -167,4 +170,3 @@ const CMD_BehaviorConfig_t* CMD_Behavior_GetConfig(CMD_Behavior_t behavior) {
     }
     return NULL;
 }
-

User/module/cmd/cmd_example.c

@@ -0,0 +1,167 @@
+/*
+ * CMD 模块 V2 - 使用示例和配置模板
+ * 
+ * 本文件展示如何配置和使用新的CMD模块
+ */
+#include "cmd.h"
+
+/* ========================================================================== */
+/*                           config示例                                          */
+/* ========================================================================== */
+
+/* 默认配置 */
+// static CMD_Config_t g_cmd_config = { 
+//     /* 灵敏度设置 */
+//     .sensitivity = {
+//         .mouse_sens = 0.8f,
+//         .move_sens = 1.0f,
+//         .move_fast_mult = 1.5f,
+//         .move_slow_mult = 0.5f,
+//     },
+    
+//     /* RC拨杆模式映射 */
+//     .rc_mode_map = {
+//         /* 左拨杆控制底盘模式 */
+//         .sw_left_up   = CHASSIS_MODE_BREAK,
+//         .sw_left_mid  = CHASSIS_MODE_FOLLOW_GIMBAL,
+//         .sw_left_down = CHASSIS_MODE_ROTOR,
+        
+//         /* 用于云台模式 */
+//         .gimbal_sw_up   = GIMBAL_MODE_ABSOLUTE,
+//         .gimbal_sw_mid  = GIMBAL_MODE_ABSOLUTE,
+//         .gimbal_sw_down = GIMBAL_MODE_RELATIVE,
+//     },
+    
+// };
+
+// /* CMD上下文 */
+// static CMD_t g_cmd_ctx;
+
+/* ========================================================================== */
+/*                          队列创建示例                                       */
+/* ========================================================================== */
+// #if CMD_RCTypeTable_Index == 0
+//   task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL);
+// #elif CMD_RCTypeTable_Index == 1
+//   task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(AT9S_t), NULL);
+// #endif
+
+/* ========================================================================== */
+/*                           任务示例                                          */
+/* ========================================================================== */
+
+// #if CMD_RCTypeTable_Index == 0
+// DR16_t cmd_dr16;
+// #elif CMD_RCTypeTable_Index == 1
+// AT9S_t cmd_at9s;
+// #endif
+// Shoot_CMD_t    *cmd_for_shoot;
+// Chassis_CMD_t  *cmd_for_chassis;
+// Gimbal_CMD_t   *cmd_for_gimbal;
+
+// static CMD_t cmd;
+
+// void Task_cmd() {
+
+//   CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
+  
+//   while (1) {
+//     #if CMD_RCTypeTable_Index == 0
+//     osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0);
+//     #elif CMD_RCTypeTable_Index == 1
+//     osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
+//     #endif
+//     CMD_Update(&cmd);
+    
+//     /* 获取命令发送到各模块 */
+//     cmd_for_chassis = CMD_GetChassisCmd(&cmd);
+//     cmd_for_gimbal = CMD_GetGimbalCmd(&cmd);
+//     cmd_for_shoot = CMD_GetShootCmd(&cmd);
+// 	osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
+//     osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0);
+// 	osMessageQueueReset(task_runtime.msgq.shoot.cmd);
+//     osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
+// 	osMessageQueueReset(task_runtime.msgq.chassis.cmd);
+//     osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
+//   }
+  
+// }
+
+
+
+/* ========================================================================== */
+/*                   架构说明                                                   */
+/* ========================================================================== */
+
+/*
+ * ## 新架构优势
+ * 
+ * ### 1. 统一的输入抽象层 (CMD_RawInput_t)
+ * - 所有设备（DR16/AT9S/VT13等）都转换成相同格式
+ * - 上层代码无需关心具体设备类型
+ * - 添加新设备只需实现适配器，不改动主逻辑
+ * 
+ * ### 2. 适配器模式
+ * - 每个设备一个适配器文件
+ * - 实现 Init, GetInput, IsOnline 三个函数
+ * - 通过宏选择编译哪个适配器
+ * 
+ * ### 3. X-Macro配置表
+ * - CMD_INPUT_SOURCE_TABLE: 配置输入源
+ * - CMD_OUTPUT_MODULE_TABLE: 配置输出模块  
+ * - CMD_BEHAVIOR_TABLE: 配置按键行为映射
+ * - 编译时生成枚举、配置数组、处理函数
+ * 
+ * ### 4. 行为驱动设计
+ * - 行为与按键解耦
+ * - 运行时可修改映射
+ * - 支持边沿触发和持续触发
+ * 
+ * ### 5. 清晰的分层
+ * 
+ *     ┌──────────────────────────────────────┐
+ *     │          应用层 (cmd.c)              │
+ *     │  - CMD_Update()                      │
+ *     │  - 仲裁、命令生成                     │
+ *     └──────────────┬───────────────────────┘
+ *                    │
+ *     ┌──────────────▼───────────────────────┐
+ *     │        行为处理层 (cmd_behavior.c)    │
+ *     │  - 按键触发检测                       │
+ *     │  - 行为函数调用                       │
+ *     └──────────────┬───────────────────────┘
+ *                    │
+ *     ┌──────────────▼──────────────────────────┐
+ *     │        抽象输入层 (cmd_types.h)          │
+ *     │  - 多输入源操作同一CMD_RawInput_t不同分区 │
+ *     │  - 统一的摇杆、开关、键鼠结构             │
+ *     └──────────────┬──────────────────────────┘
+ *                    │
+ *     ┌──────────────▼───────────────────────┐
+ *     │        适配器层 (cmd_adapter.c)       │
+ *     │  - DR16_Adapter                      │
+ *     │  - AT9S_Adapter                      │
+ *     │  - 设备数据 → CMD_RawInput_t          │
+ *     └──────────────────────────────────────┘
+ * 
+ * ## 扩展指南
+ * 
+ * ### 添加新遥控器设备
+ * 1. 在 cmd_adapter.h 中添加宏定义选项
+ * 2. 在 cmd_adapter.c 中实现三个适配器函数
+ * 3. 修改 CMD_RC_DEVICE_TYPE 宏选择新设备
+ * 
+ * ### 添加新输入源（如自定义协议）
+ * 1. 在 CMD_INPUT_SOURCE_TABLE 添加条目
+ * 2. 实现对应的适配器
+ * 3. 在 CMD_GenerateCommands 添加处理分支
+ * 
+ * ### 添加新行为
+ * 1. 在 CMD_BEHAVIOR_TABLE 添加条目,并修正BEHAVIOR_CONFIG_COUNT
+ * 2. 实现 CMD_Behavior_Handle_XXX 函数
+ * 
+ * ### 添加新输出模块
+ * 1. 在 CMD_OUTPUT_MODULE_TABLE 添加条目
+ * 2. 在 CMD_t 中添加输出成员
+ * 3. 实现对应的 BuildXXXCmd 函数
+ */

User/module/cmd/cmd_types.h

@@ -24,7 +24,7 @@ extern "C" {
 /*                            输入源配置宏表                                    */
 /* ========================================================================== */
 /* 
-	 * 使用方法：在config中定义需要启用的输入源
+ * 使用方法：在config中定义需要启用的输入源
  * 格式: X(枚举名, 优先级, 适配器初始化函数, 获取数据函数)
  */
 #define CMD_INPUT_SOURCE_TABLE(X) \

User/module/config.c

@@ -66,113 +66,7 @@ Config_RobotParam_t robot_config = {
 
 
 
-	.shoot_param = {
+
-		.proj=SHOOT_PROJECTILE_17MM,
-		.fric_num=4,
-		.extra_deceleration_ratio=1.0f,
-        .num_trig_tooth=2,
-        .shot_freq=20.0f,
-        .shot_burst_num=10,
-		.num_multilevel=1,
-        .jam_enable=false,
-        .jam_threshold=120.0f, 
-        .jam_suspected_time=0.5f, 
-        .trig_motor_param = {
-            .can = BSP_CAN_2, 
-            .id = 0x207,
-            .module = MOTOR_M2006,
-            .reverse = true,
-            .gear=true,
-        },
-//		.fric_motor_param = (Shoot_MOTOR_RM_Param_t[]){
-//    {
-//			.param = {
-//								.can = BSP_CAN_2, 
-//								.id = 0x201, 
-//								.module = MOTOR_M3508,
-//								.reverse = false,
-//								.gear=true,},
-//								.level = 1},
-//								{
-//			.param = {
-//								.can = BSP_CAN_2, 	
-//								.id = 0x203,
-//								.module = MOTOR_M3508,
-//								.reverse = true,
-//								.gear=true,}, 
-//								.level = 1},
-////    {.param = {.can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M3508}, .level = 2},
-//    {.param = {.can = BSP_CAN_1, .id = 0x204, .module = MOTOR_M3508}, .level = 2},
-//							},
-        .fric_follow = {
-            .k=1.0f,
-            .p=1.8f,
-            .i=0.0f,
-            .d=0.0f,
-            .i_limit=0.0f,
-            .out_limit=0.9f, 
-            .d_cutoff_freq=30.0f,
-            .range=-1.0f,
-        },
-        .fric_err = {
-            .k=1.0f,
-            .p=4.0f,
-            .i=0.4f,
-            .d=0.04f,
-            .i_limit=0.25f,
-            .out_limit=0.25f, 
-            .d_cutoff_freq=40.0f,
-            .range=-1.0f, 
-        },
-        .trig_2006 = {
-            .k=2.5f,
-            .p=1.0f,
-            .i=0.1f,
-            .d=0.04f,
-            .i_limit=0.4f,
-            .out_limit=1.0f,
-            .d_cutoff_freq=-1.0f,
-            .range=M_2PI,
-        },
-        .trig_omg_2006 = {
-            .k=1.0f,
-            .p=1.5f,
-            .i=0.3f,
-            .d=0.5f,
-            .i_limit=0.2f,
-            .out_limit=1.0f,
-            .d_cutoff_freq=-1.0f,
-            .range=-1.0f,
-        },
-        .trig_3508 = {
-            .k=0.5f,
-            .p=1.8f,
-            .i=0.3f,
-            .d=0.1f,
-            .i_limit=0.15f,
-            .out_limit=1.0f,
-            .d_cutoff_freq=-1.0f,
-            .range=M_2PI,
-        },
-        .trig_omg_3508 = {
-            .k=1.0f,
-            .p=1.0f,
-            .i=0.0f,
-            .d=0.0f,
-            .i_limit=0.0f,
-            .out_limit=1.0f,
-            .d_cutoff_freq=-1.0f,
-            .range=-1.0f,
-        },
-        .filter.fric = {
-            .in = 30.0f,
-            .out = 30.0f,
-        },
-        .filter.trig = {
-            .in = 30.0f,
-            .out = 30.0f,
-        },
-    },
 	
 .gimbal_param = {
 	/* 云台欧拉角与角速度自由选择 */
@@ -360,6 +254,131 @@ Config_RobotParam_t robot_config = {
 		
 	},
 	
+    .shoot_param = {
+        .basic={
+          .projectileType=SHOOT_PROJECTILE_17MM,
+		      .fric_num=6,
+		      .extra_deceleration_ratio=1.0f,
+          .num_trig_tooth=5,
+          .shot_freq=1.0f,
+          .shot_burst_num=3,
+          .ratio_multilevel = {0.8f, 1.0f},
+        },   
+        .jamDetection={
+            .enable=true,
+            .threshold=310.0f, 
+            .suspectedTime=0.5f, 
+        },
+        .motor={
+            .fric = {
+                {
+                    .param = {
+                        .can = BSP_CAN_1,
+                        .id = 0x201,
+                        .module = MOTOR_M3508,
+                        .reverse = false,
+                        .gear = false,
+                    },
+                    .level=1,
+                },
+                {
+                    .param = {
+                        .can = BSP_CAN_1,
+                        .id = 0x202,
+                        .module = MOTOR_M3508,
+                        .reverse = true,
+                        .gear = false,
+                    },
+                    .level=1,
+                },
+
+            },
+            .trig = {
+                .can = BSP_CAN_1,
+                .id = 0x205,
+                .module = MOTOR_M2006,
+                .reverse = false,
+                .gear=true,
+            },
+        },
+        .pid={      
+            .fric_follow = {
+                .k=1.0f,
+                .p=1.5f,
+                .i=0.3f,
+                .d=0.0f,
+                .i_limit=0.2f,
+                .out_limit=0.9f, 
+                .d_cutoff_freq=-1.0f,
+                .range=-1.0f,
+            },
+            .fric_err = {
+                .k=0.0f,
+                .p=4.0f,
+                .i=0.4f,
+                .d=0.0f,
+                .i_limit=0.25f,
+                .out_limit=0.25f, 
+                .d_cutoff_freq=-1.0f,
+                .range=-1.0f, 
+            },
+            .trig_2006 = {
+                .k=2.5f,
+                .p=1.0f,
+                .i=0.1f,
+                .d=0.04f,
+                .i_limit=0.4f,
+                .out_limit=1.0f,
+                .d_cutoff_freq=-1.0f,
+                .range=M_2PI,
+            },
+            .trig_omg_2006 = {
+                .k=1.0f,
+                .p=1.5f,
+                .i=0.3f,
+                .d=0.5f,
+                .i_limit=0.2f,
+                .out_limit=1.0f,
+                .d_cutoff_freq=-1.0f,
+                .range=-1.0f,
+            },
+        },
+		.filter={
+            .fric = {
+                .in = 30.0f,
+                .out = 30.0f,
+            },
+            .trig = {
+                .in = 30.0f,
+                .out = 30.0f,
+            },
+        },  
+    },
+
+		.cmd_param={
+        .source_priority = {
+            CMD_SRC_RC,
+            CMD_SRC_PC,
+            CMD_SRC_NUC,
+            CMD_SRC_REF,
+        },
+        .sensitivity = {
+            .mouse_sens = 2.0f,
+            .move_sens = 1.0f,
+            .move_fast_mult = 1.5f,
+            .move_slow_mult = 0.5f,
+        },
+        .rc_mode_map = {
+            .sw_left_up   = CHASSIS_MODE_RELAX,
+            .sw_left_mid  = CHASSIS_MODE_FOLLOW_GIMBAL,
+            .sw_left_down = CHASSIS_MODE_RELAX,
+            .gimbal_sw_up   = GIMBAL_MODE_ABSOLUTE,
+            .gimbal_sw_mid  = GIMBAL_MODE_RELATIVE,
+            .gimbal_sw_down = GIMBAL_MODE_ABSOLUTE,
+        },
+    },
+		
+		
 };
 
 
@@ -371,38 +390,3 @@ Config_RobotParam_t* Config_GetRobotParam(void) {
     return &robot_config;
 }
 
-int8_t Config_ShootInit(void) {
-    int fric_num = robot_config.shoot_param.fric_num;
-	int num_multilevel = robot_config.shoot_param.num_multilevel;
-    robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
-    if (robot_config.shoot_param.fric_motor_param == NULL) {
-        BSP_Free(robot_config.shoot_param.fric_motor_param);
-        return -1; // 内存分配失败
-    }
-    robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float));
-    if (robot_config.shoot_param.ratio_multilevel == NULL) {
-        BSP_Free(robot_config.shoot_param.ratio_multilevel);
-        return -1; // 内存分配失败
-	}
-    /* 初始化摩擦轮电机参数 */
-    for (uint8_t i = 0; i < fric_num; i++) {
-        robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){
-            .can = BSP_CAN_2,
-            .id = 0x201 + i,
-            .module = MOTOR_M3508,
-			/*设置电机反装；example***********************
-			.reverse = (i == 0||1||3||5) ? true : false,*/
-            
-					.reverse = (i == 1) ? true : false,
-            .gear = false,
-        };
-    }
-	/*规定电机属于哪级发射；example************************
-	robot_config.shoot_param.fric_motor_param[0].level=1;*/
-    robot_config.shoot_param.fric_motor_param[0].level=1;
-    robot_config.shoot_param.fric_motor_param[1].level=1;
-	/*规定各级摩擦轮转速比；example*********************
-	robot_config.shoot_param.ratio_multilevel[0]=1.0f;*/
-	robot_config.shoot_param.ratio_multilevel[0]=1.0f;
-    return SHOOT_OK;
-}

User/module/config.h

@@ -15,6 +15,7 @@ extern "C" {
 #include "gimbal.h"
 #include "shoot.h"
 #include "module/chassis.h"
+#include "module/cmd/cmd.h"
 #include "telescoping_gimal.h"
 
 typedef struct {
@@ -22,6 +23,7 @@ typedef struct {
     Shoot_Params_t shoot_param;
 		Chassis_Param_t	chassis;
 		Telescoping_Params_t telescoping;
+		CMD_Config_t cmd_param;
 } Config_RobotParam_t;
 
 /* Exported functions prototypes -------------------------------------------- */

User/module/shoot.c

@@ -13,7 +13,7 @@ void Task(void *argument) {
 
 	Config_ShootInit();
 	Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
-	Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);					初始化一个模式
+	Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);					关于模式选择：初始化一个模式
 	
   while (1) {
   
@@ -21,7 +21,7 @@ void Task(void *argument) {
 	  shoot_cmd.ready	=shoot_ctrl_cmd_rc.shoot.ready;
 	  shoot_cmd.firecmd	=shoot_ctrl_cmd_rc.shoot.firecmd;
 	  
-	  shoot.mode		=shoot_ctrl_cmd_rc.mode;			或者用遥控器随时切换模式；二选一
+	  shoot.mode		=shoot_ctrl_cmd_rc.mode;			    关于模式选择：或者用遥控器随时切换模式，二选一
 	  
 	  Chassis_UpdateFeedback(&shoot);
 	  Shoot_Control(&shoot,&shoot_cmd);
@@ -31,15 +31,18 @@ void Task(void *argument) {
 
 
 /* Includes ----------------------------------------------------------------- */
+#include <math.h>
 #include <string.h>
 #include "shoot.h"
 #include "bsp/mm.h"
 #include "bsp/time.h"
 #include "component/filter.h"
 #include "component/user_math.h"
+#include "module/cmd/cmd.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
-#define WONDERFUL_COMPENSATION_FORHERO 0.010478f//给英雄做的补偿
+#define MAX_FRIC_RPM 7000.0f
+#define MAX_TRIG_RPM 6000.0f//这里可能也会影响最高发射频率，待测试
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 static bool last_firecmd;
@@ -59,7 +62,6 @@ int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode)
         return SHOOT_ERR_NULL; // 参数错误
     }
     s->mode=mode;
-	s->anglecalu.num_to_shoot=0;
     return SHOOT_OK;
 }
 
@@ -75,7 +77,7 @@ int8_t Shoot_ResetIntegral(Shoot_t *s)
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    uint8_t fric_num = s->param->fric_num;
+    uint8_t fric_num = s->param->basic.fric_num;
     for(int i=0;i<fric_num;i++)
     {	
         PID_ResetIntegral(&s->pid.fric_follow[i]);
@@ -98,7 +100,7 @@ int8_t Shoot_ResetCalu(Shoot_t *s)
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    uint8_t fric_num = s->param->fric_num;
+    uint8_t fric_num = s->param->basic.fric_num;
     for(int i=0;i<fric_num;i++)
     {	
         PID_Reset(&s->pid.fric_follow[i]);
@@ -125,7 +127,7 @@ int8_t Shoot_ResetOutput(Shoot_t *s)
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    uint8_t fric_num = s->param->fric_num;
+    uint8_t fric_num = s->param->basic.fric_num;
     for(int i=0;i<fric_num;i++)
     {	
         s->output.out_follow[i]=0.0f;
@@ -138,6 +140,22 @@ int8_t Shoot_ResetOutput(Shoot_t *s)
     s->output.outlpf_trig=0.0f;
     return SHOOT_OK;
 }
+//float last_angle=0.0f;
+//float speed=0.0f;
+//int8_t Shoot_CalufeedbackRPM(Shoot_t *s)
+//{
+//    if (s == NULL) {
+//        return SHOOT_ERR_NULL; // 参数错误
+//    }
+////    static 
+//    float err;
+//    err=CircleError(s->feedback.fric[0].rotor_abs_angle,last_angle,M_2PI);
+//    speed=err/s->dt/M_2PI*60.0f;
+//    last_angle=s->feedback.fric->rotor_abs_angle;
+
+
+//    return SHOOT_OK;
+//}
 
 /**
  * \brief 根据目标弹丸速度计算摩擦轮目标转速
@@ -152,13 +170,13 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-	switch(s->param->proj)
+	switch(s->param->basic.projectileType)
 	{
 		case SHOOT_PROJECTILE_17MM:
-		s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM;
+		s->target_variable.fric_rpm=6500.0f;
 		break;
 		case SHOOT_PROJECTILE_42MM:
-		s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM;
+		s->target_variable.fric_rpm=4000.0f;
 		break;	
 	}
     return SHOOT_OK;
@@ -174,23 +192,54 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
  */
 int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
 {
-    if (s == NULL  || s->anglecalu.num_to_shoot == 0) {
+    if (s == NULL  || s->var_trig.num_toShoot == 0) {
         return SHOOT_ERR_NULL; 
     }
-    float dt = s->now - s->anglecalu.time_last_shoot;
+    float dt = s->timer.now - s->var_trig.time_lastShoot;
 	float dpos;
-    dpos = CircleError(s->target_variable.target_angle, s->feedback.trig_agl, M_2PI);
+    dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);
-    if(dt >= 1.0f/s->param->shot_freq && cmd->firecmd && dpos<=1.0f)
+    if(dt >= 1.0f/s->param->basic.shot_freq && cmd->firecmd && dpos<=1.0f)
     {
-        s->anglecalu.time_last_shoot=s->now;
+        s->var_trig.time_lastShoot=s->timer.now;
-        CircleAdd(&s->target_variable.target_angle, M_2PI/s->param->num_trig_tooth, M_2PI);
+        CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
-        if(s->param->trig_motor_param.module==MOTOR_M3508){ 
+		s->var_trig.num_toShoot--;
-		s->target_variable.target_angle+=WONDERFUL_COMPENSATION_FORHERO;}
-		s->anglecalu.num_to_shoot--;
     }
     return SHOOT_OK;
 }
 
+static float Shoot_CaluCoupledWeight(Shoot_t *s, uint8_t fric_index)
+{
+    if (s == NULL) {
+        return SHOOT_ERR_NULL; // 参数错误
+    }
+
+    float Threshold;
+    switch (s->param->basic.projectileType) {
+        case SHOOT_PROJECTILE_17MM:
+            Threshold=50.0f;
+            break;
+        case SHOOT_PROJECTILE_42MM:
+            Threshold=400.0f;
+            break;
+        default:
+            return 0.0f;
+    }
+
+    float err;
+    err=fabs((s->param->basic.ratio_multilevel[fric_index]
+                *s->target_variable.fric_rpm)
+                -s->feedback.fric[fric_index].rotor_speed);
+    if (err<Threshold)
+    {
+        s->var_fric.coupled_control_weights=1.0f-(err*err)/(Threshold*Threshold);
+    }
+    else
+    {
+        s->var_fric.coupled_control_weights=0.0f;
+    }
+    return s->var_fric.coupled_control_weights;
+}
+
 /**
  * \brief 更新射击模块的电机反馈信息
  *
@@ -198,44 +247,46 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
  *
  * \return 函数运行结果
  */
-int8_t Chassis_UpdateFeedback(Shoot_t *s)
+int8_t Shoot_UpdateFeedback(Shoot_t *s)
 {
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    float rpm_sum=0.0f;
+    uint8_t fric_num = s->param->basic.fric_num;
-    uint8_t fric_num = s->param->fric_num;
     for(int i = 0; i < fric_num; i++) {
         /* 更新摩擦轮电机反馈 */
-        MOTOR_RM_Update(&s->param->fric_motor_param[i].param);
+        MOTOR_RM_Update(&s->param->motor.fric[i].param);
-		MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i].param);
+		MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->motor.fric[i].param);
 		if(motor_fed!=NULL)
 		{
 			s->feedback.fric[i]=motor_fed->motor.feedback;
 		}
         /* 滤波摩擦轮电机转速反馈 */
-        s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
+        s->var_fric.fil_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
         /* 归一化摩擦轮电机转速反馈 */
-        s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
+        s->var_fric.normalized_fil_rpm[i] = s->var_fric.fil_rpm[i] / MAX_FRIC_RPM;
-        if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f;
+        if(s->var_fric.normalized_fil_rpm[i]>1.0f)s->var_fric.normalized_fil_rpm[i]=1.0f;
-        if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f;
+        if(s->var_fric.normalized_fil_rpm[i]<-1.0f)s->var_fric.normalized_fil_rpm[i]=-1.0f;
         /* 计算平均摩擦轮电机转速反馈 */
-        rpm_sum+=s->feedback.fric_rpm[i];
+        s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1]+=s->var_fric.normalized_fil_rpm[i];
+    }
+    for (int i=1; i<MAX_NUM_MULTILEVEL; i++)
+    {
+        s->var_fric.normalized_fil_avgrpm[i]=s->var_fric.normalized_fil_avgrpm[i]/fric_num/MAX_NUM_MULTILEVEL;
     }
-    s->feedback.fric_avgrpm=rpm_sum/fric_num;
 	/* 更新拨弹电机反馈 */
-    MOTOR_RM_Update(&s->param->trig_motor_param);
+    MOTOR_RM_Update(&s->param->motor.trig);
-	s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->trig_motor_param); 
+	s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->motor.trig); 
-	s->feedback.trig_agl=s->param->extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle; 
+	s->var_trig.trig_agl=s->param->basic.extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle; 
-	while(s->feedback.trig_agl<0)s->feedback.trig_agl+=M_2PI;
+	while(s->var_trig.trig_agl<0)s->var_trig.trig_agl+=M_2PI;
-	while(s->feedback.trig_agl>=M_2PI)s->feedback.trig_agl-=M_2PI;
+	while(s->var_trig.trig_agl>=M_2PI)s->var_trig.trig_agl-=M_2PI;
 	if (s->feedback.trig.motor.reverse) {
-        s->feedback.trig_agl = M_2PI - s->feedback.trig_agl;
+        s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl;
 	}
-    s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
+    s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
-    s->feedback.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM;
+    s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM;
-    if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f;
+    if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f;
-    if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f;
+    if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f;
     
     s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed;
 	return SHOOT_OK;
@@ -248,40 +299,40 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
  * \param cmd 包含射击指令的结构体
  *
  * \return 函数运行结果
- */float a;
+ */
+// float a;
 int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 {
     if (s == NULL || cmd == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    uint8_t fric_num = s->param->fric_num;
+    uint8_t fric_num = s->param->basic.fric_num;
-	uint8_t num_multilevel = s->param->num_multilevel;
+    static float pos;
-    if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
+    if(s->mode==SHOOT_MODE_SAFE){
-        for(int i=0;i<fric_num;i++)
+      for(int i=0;i<fric_num;i++)
-        {	
+      {	
-            MOTOR_RM_Relax(&s->param->fric_motor_param[i].param);
+          MOTOR_RM_Relax(&s->param->motor.fric[i].param);
-        }
+      }
-        MOTOR_RM_Relax(&s->param->trig_motor_param);
+      MOTOR_RM_Relax(&s->param->motor.trig);\
+      pos=s->target_variable.trig_angle=s->var_trig.trig_agl;
     }
     else{
-		static float pos;
         switch(s->running_state)
         {
-			
             case SHOOT_STATE_IDLE:/*熄火等待*/
                 for(int i=0;i<fric_num;i++) 
                 {	/* 转速归零 */
                     PID_ResetIntegral(&s->pid.fric_follow[i]);
-                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
+                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->var_fric.normalized_fil_rpm[i],0,s->timer.dt);
                     s->output.out_fric[i]=s->output.out_follow[i];
                     s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
-                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
+                    MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]);
                 }
                 
-                s->output.outagl_trig   =PID_Calc(&s->pid.trig,pos,s->feedback.trig_agl,0,s->dt);
+                s->output.outagl_trig   =PID_Calc(&s->pid.trig,pos,s->var_trig.trig_agl,0,s->timer.dt);
-                s->output.outomg_trig  	=PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
+                s->output.outomg_trig  	=PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->var_trig.trig_rpm,0,s->timer.dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
-                MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
+                MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);
 
                 /* 检查状态机 */
                 if(cmd->ready)
@@ -294,44 +345,45 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                 break;
                 
             case SHOOT_STATE_READY:/*准备射击*/
-                    Shoot_CaluTargetRPM(s,233);
 					for(int i=0;i<fric_num;i++)
 					{	
-						uint8_t level=s->param->fric_motor_param->level-1;
+						uint8_t level=s->param->motor.fric[i].level-1;
-                        float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm;
+                        float target_rpm=s->param->basic.ratio_multilevel[level]
-						/* 计算跟随输出、计算修正输出 */
+                                    *s->target_variable.fric_rpm/MAX_FRIC_RPM;
-						a=s->target_variable.target_rpm/MAX_FRIC_RPM;
+						/* 计算耦合控制权重 */
+                        float w=Shoot_CaluCoupledWeight(s,i);
+                        /* 计算跟随输出、计算修正输出 */
 						s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
 														target_rpm,
-														s->feedback.fric_rpm[i],
+														s->var_fric.normalized_fil_rpm[i],
 														0,
-														s->dt);
+														s->timer.dt);
-						s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],
+						s->output.out_err[i]=w*PID_Calc(&s->pid.fric_err[i],
-														s->feedback.fric_avgrpm,
+														s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1],
-														s->feedback.fric_rpm[i],
+														s->var_fric.normalized_fil_rpm[i],
 														0,
-														s->dt);
+														s->timer.dt);
 						/* 按比例缩放并加和输出 */
 						ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);                    
 						s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
 						/* 滤波 */
 						s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
 						/* 设置输出 */
-						MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
+						MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]);
 					}
                 /* 设置拨弹电机输出 */
                 s->output.outagl_trig   =PID_Calc(&s->pid.trig,
 													pos,
-													s->feedback.trig_agl,
+													s->var_trig.trig_agl,
 													0,
-													s->dt);
+													s->timer.dt);
                 s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
 													s->output.outagl_trig,
-													s->feedback.trig_rpm,
+													s->var_trig.trig_rpm,
 													0,
-													s->dt);
+													s->timer.dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
-                MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
+                MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);
                 
                 /* 检查状态机 */
                 if(!cmd->ready)
@@ -340,23 +392,23 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
                         Shoot_ResetOutput(s);
                         s->running_state=SHOOT_STATE_IDLE;
                     }
-                    else if(last_firecmd==false&&cmd->firecmd==true)
+                else if(last_firecmd==false&&cmd->firecmd==true)
                     {
                         s->running_state=SHOOT_STATE_FIRE;
                         /* 根据模式设置待发射弹数 */
                         switch(s->mode)
                         {
                             case SHOOT_MODE_SINGLE:
-                                s->anglecalu.num_to_shoot=1;
+                                s->var_trig.num_toShoot=1;
                                 break;
                             case SHOOT_MODE_BURST:
-                                s->anglecalu.num_to_shoot=s->param->shot_burst_num;
+                                s->var_trig.num_toShoot=s->param->basic.shot_burst_num;
                                 break;
                             case SHOOT_MODE_CONTINUE:
-                                s->anglecalu.num_to_shoot=6666;
+                                s->var_trig.num_toShoot=6666;
                                 break;
                             default:
-                                s->anglecalu.num_to_shoot=0;
+                                s->var_trig.num_toShoot=0;
                                 break;
                         }
                     }
@@ -366,46 +418,50 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
 				Shoot_CaluTargetAngle(s, cmd);
                 for(int i=0;i<fric_num;i++)
                 {	
-					uint8_t level=s->param->fric_motor_param->level-1;
+					uint8_t level=s->param->motor.fric[i].level-1;
-                    float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm;
+                    float target_rpm=s->param->basic.ratio_multilevel[level]
-					/* 计算跟随输出、计算修正输出 */ 
+                                    *s->target_variable.fric_rpm/MAX_FRIC_RPM;
+					/* 计算耦合控制权重 */
+                    float w=Shoot_CaluCoupledWeight(s,i);
+                    /* 计算跟随输出、计算修正输出 */ 
                     s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],
 														target_rpm,
-														s->feedback.fric_rpm[i],
+														s->var_fric.normalized_fil_rpm[i],
 														0,
-														s->dt);
+														s->timer.dt);
-					s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],
+					s->output.out_err[i]=w*PID_Calc(&s->pid.fric_err[i],
-														s->feedback.fric_avgrpm,
+														s->var_fric.normalized_fil_avgrpm[s->param->motor.fric[i].level-1],
-														s->feedback.fric_rpm[i],
+														s->var_fric.normalized_fil_rpm[i],
 														0,
-														s->dt);
+														s->timer.dt);
                     /* 按比例缩放并加和输出 */
                     ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
                     s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
                     /* 滤波 */
                     s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
                     /* 设置输出 */
-                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i].param, s->output.lpfout_fric[i]);
+                    MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]);
                 }
                 /* 设置拨弹电机输出 */
                 s->output.outagl_trig   =PID_Calc(&s->pid.trig,
-													s->target_variable.target_angle,
+													s->target_variable.trig_angle,
-													s->feedback.trig_agl,
+													s->var_trig.trig_agl,
 													0,
-													s->dt);
+													s->timer.dt);
                 s->output.outomg_trig   =PID_Calc(&s->pid.trig_omg,
 													s->output.outagl_trig,
-													s->feedback.trig_rpm,
+													s->var_trig.trig_rpm,
 													0,
-													s->dt);
+													s->timer.dt);
                 s->output.outlpf_trig   =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
-                MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
+                MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);
 
                 /* 检查状态机 */
                 if(!cmd->firecmd)
                     {
-                        s->running_state=SHOOT_STATE_READY;
+                      s->running_state=SHOOT_STATE_READY;
-						pos=s->feedback.trig_agl;
+						          pos=s->var_trig.trig_agl;
+                      s->var_trig.num_toShoot=0;
                     }
                 break;
 
@@ -415,12 +471,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
         }
     }
     /* 输出 */
-	MOTOR_RM_Ctrl(&s->param->fric_motor_param[0].param);
+	MOTOR_RM_Ctrl(&s->param->motor.fric[0].param);
-    if(s->param->fric_num>4)
+    if(s->param->basic.fric_num>4)
     {
-        MOTOR_RM_Ctrl(&s->param->fric_motor_param[4].param);
+        MOTOR_RM_Ctrl(&s->param->motor.fric[4].param);
     }
-    MOTOR_RM_Ctrl(&s->param->trig_motor_param);
+    MOTOR_RM_Ctrl(&s->param->motor.trig);
     last_firecmd = cmd->firecmd;
     return SHOOT_OK;
 }
@@ -438,61 +494,57 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
     if (s == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    if(s->param->jam_enable){
+    if(s->param->jamDetection.enable){
-        switch (s->jamdetection.jamfsm_state) {
+        switch (s->jamdetection.fsmState) {
             case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */
                 /* 检测电流是否超过阈值 */
-                if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jam_threshold) {
+                if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jamDetection.threshold) {
-                    s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
+                    s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_SUSPECTED;
-                    s->jamdetection.jam_last_time = s->now; /* 记录怀疑开始时间 */
+                    s->jamdetection.lastTime = s->timer.now; /* 记录怀疑开始时间 */
                 }
                 /* 正常运行射击状态机 */
                 Shoot_RunningFSM(s, cmd);
                 break;
-
             case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */
                 /* 检测电流是否低于阈值 */
-                if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jam_threshold) {
+                if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jamDetection.threshold) {
-                    s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+                    s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL;
                     break;
                 } 
                 /* 检测高阈值状态是否超过设定怀疑时间 */
-                else if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) {
+                else if ((s->timer.now - s->jamdetection.lastTime) >= s->param->jamDetection.suspectedTime) {
-                    s->jamdetection.jam_detected =true;
+                    s->jamdetection.detected =true;
-	    			s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED;
+	    			s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_CONFIRMED;
                     break;
                 }
                 /* 正常运行射击状态机 */
                 Shoot_RunningFSM(s, cmd);
                 break;
-
             case SHOOT_JAMFSM_STATE_CONFIRMED:/* 确认堵塞 */
                 /* 清空待发射弹 */
-                s->anglecalu.num_to_shoot=0;
+                s->var_trig.num_toShoot=0;
                 /* 修改拨弹盘目标角度 */
-                s->target_variable.target_angle = s->feedback.trig_agl-(M_2PI/s->param->num_trig_tooth);
+                s->target_variable.trig_angle = s->var_trig.trig_agl-(M_2PI/s->param->basic.num_trig_tooth);
                 /* 切换状态 */
-                s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL;
+                s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL;
                 /* 记录处理开始时间 */
-                s->jamdetection.jam_last_time = s->now; 
+                s->jamdetection.lastTime = s->timer.now; 
-
             case SHOOT_JAMFSM_STATE_DEAL:/* 堵塞处理 */
                 /* 正常运行射击状态机 */
                 Shoot_RunningFSM(s, cmd);
                 /* 给予0.3秒响应时间并检测电流小于20A，认为堵塞已解除 */
-                if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) { 
+                if ((s->timer.now - s->jamdetection.lastTime)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) { 
-                    s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+                    s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL;
                 }
                 break;
-
             default:
-                s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+                s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL;
                 break;
         }
     }
     else{   
-        s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+        s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_NORMAL;
-        s->jamdetection.jam_detected = false;
+        s->jamdetection.detected = false;
         Shoot_RunningFSM(s, cmd);
     }
 
@@ -513,71 +565,64 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
     if (s == NULL || param == NULL || target_freq <= 0.0f) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    uint8_t fric_num = param->fric_num;
+    uint8_t fric_num = param->basic.fric_num;
-
-    /* 分配内存 */
     s->param=param;
-	s->output.out_follow      = (float *)            BSP_Malloc(fric_num * sizeof(float));
-    s->output.out_err         = (float *)            BSP_Malloc(fric_num * sizeof(float));
-    s->output.out_fric        = (float *)            BSP_Malloc(fric_num * sizeof(float));
-    s->output.lpfout_fric     = (float *)            BSP_Malloc(fric_num * sizeof(float));
-    s->feedback.fric          = (MOTOR_Feedback_t *) BSP_Malloc(fric_num * sizeof(MOTOR_Feedback_t));
-    s->feedback.fil_fric_rpm  = (float *)            BSP_Malloc(fric_num * sizeof(float));
-    s->feedback.fric_rpm      = (float *)            BSP_Malloc(fric_num * sizeof(float));  
-    s->pid.fric_follow        = (KPID_t *)           BSP_Malloc(fric_num * sizeof(KPID_t));
-    s->pid.fric_err           = (KPID_t *)           BSP_Malloc(fric_num * sizeof(KPID_t));
-    s->filter.fric.in         = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
-    s->filter.fric.out        = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
-
-    /* 内存分配失败 */
-    if (s->feedback.fric == NULL || s->feedback.fil_fric_rpm == NULL || s->feedback.fric_rpm == NULL ||
-        s->output.out_follow == NULL || s->output.out_err == NULL || s->output.out_fric == NULL ||
-        s->output.lpfout_fric == NULL || s->param->fric_motor_param == NULL || s->pid.fric_follow == NULL ||
-        s->pid.fric_err == NULL || s->filter.fric.in == NULL || s->filter.fric.out == NULL) {
-        BSP_Free(s->feedback.fric);
-        BSP_Free(s->feedback.fil_fric_rpm);
-        BSP_Free(s->feedback.fric_rpm);
-        BSP_Free(s->output.out_follow);
-        BSP_Free(s->output.out_err);
-        BSP_Free(s->output.out_fric);
-        BSP_Free(s->output.lpfout_fric);
-        BSP_Free(s->param->fric_motor_param);
-        BSP_Free(s->pid.fric_follow);
-        BSP_Free(s->pid.fric_err);
-        BSP_Free(s->filter.fric.in);
-        BSP_Free(s->filter.fric.out);
-        return SHOOT_ERR_MALLOC;}
-    
     BSP_CAN_Init();
     /* 初始化摩擦轮PID和滤波器 */
     for(int i=0;i<fric_num;i++){
-	MOTOR_RM_Register(&param->fric_motor_param[i].param);
+	    MOTOR_RM_Register(&param->motor.fric[i].param);
-    PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
+        PID_Init(&s->pid.fric_follow[i], 
-	PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,&param->fric_err);
+            KPID_MODE_CALC_D, 
-    LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
+            target_freq,
-    LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
+            &param->pid.fric_follow);
+	    PID_Init(&s->pid.fric_err[i], 
+            KPID_MODE_CALC_D, 
+            target_freq,
+            &param->pid.fric_err);
+        LowPassFilter2p_Init(&s->filter.fric.in[i], 
+            target_freq, 
+            s->param->filter.fric.in);
+        LowPassFilter2p_Init(&s->filter.fric.out[i], 
+            target_freq, 
+            s->param->filter.fric.out);
     }
     /* 初始化拨弹PID和滤波器 */
-	MOTOR_RM_Register(&param->trig_motor_param);
+	MOTOR_RM_Register(&param->motor.trig);
-    switch(s->param->trig_motor_param.module)
+    switch(s->param->motor.trig.module)
     {
         case MOTOR_M3508:
-            PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig_3508);
+            PID_Init(&s->pid.trig, 
-            PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg_3508);
+                KPID_MODE_CALC_D, 
+                target_freq,
+                &param->pid.trig_3508);
+            PID_Init(&s->pid.trig_omg, 
+                KPID_MODE_CALC_D, 
+                target_freq,
+                &param->pid.trig_omg_3508);
             break;
         case MOTOR_M2006:
-            PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig_2006);
+            PID_Init(&s->pid.trig, 
-            PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg_2006);
+                KPID_MODE_CALC_D, 
+                target_freq,
+                &param->pid.trig_2006);
+            PID_Init(&s->pid.trig_omg, 
+                KPID_MODE_CALC_D, 
+                target_freq,
+                &param->pid.trig_omg_2006);
             break;
         default:
             return SHOOT_ERR_MOTOR;
         break;
     }
-    LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
+    LowPassFilter2p_Init(&s->filter.trig.in, 
-    LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
+        target_freq, 
+        s->param->filter.trig.in);
+    LowPassFilter2p_Init(&s->filter.trig.out, 
+        target_freq, 
+        s->param->filter.trig.out);
 
 	/* 归零变量 */
-    memset(&s->anglecalu,0,sizeof(s->anglecalu));
+    memset(&s->var_trig,0,sizeof(s->var_trig));
 	return SHOOT_OK;
 }
 
@@ -594,11 +639,13 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
     if (s == NULL || cmd == NULL) {
         return SHOOT_ERR_NULL; // 参数错误
     }
-    s->now 		  	=BSP_TIME_Get_us() / 1000000.0f;
+    s->timer.now = BSP_TIME_Get_us() / 1000000.0f;
-    s->dt 			=(BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
+    s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f;
-    s->lask_wakeup	=BSP_TIME_Get_us();
+    s->timer.lask_wakeup = BSP_TIME_Get_us();
-	s->online 		=cmd->online;
+    Shoot_CaluTargetRPM(s,233);
+
     Shoot_JamDetectionFSM(s, cmd);
+//    Shoot_CalufeedbackRPM(s);
     return SHOOT_OK;
 }
 

User/module/shoot.h

@@ -4,45 +4,44 @@
 
 #pragma once
 
+#include <stddef.h>
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 #include "main.h"
-#include <stdbool.h>
 #include "component/pid.h"
 #include "device/motor_rm.h"
-
-
 /* Exported constants ------------------------------------------------------- */
+#define MAX_FRIC_NUM 6
+#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
+
 #define SHOOT_OK (0)        /* 运行正常 */
 #define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */    
 #define SHOOT_ERR_ERR (-2)  /* 运行时发现了其他错误 */
 #define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的Mode */
 #define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */
 #define SHOOT_ERR_MALLOC (-5) /* 内存分配失败 */
-
-#define MAX_FRIC_RPM 7000.0f
-#define MAX_TRIG_RPM 5000.0f//这里可能也会影响最高发射频率，待测试
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 typedef enum {
-    SHOOT_JAMFSM_STATE_NORMAL = 0,      /* 常规状态 */
+    SHOOT_JAMFSM_STATE_NORMAL = 0,/* 常规状态 */
-    SHOOT_JAMFSM_STATE_SUSPECTED,       /* 怀疑状态 */
+    SHOOT_JAMFSM_STATE_SUSPECTED, /* 怀疑状态 */
-    SHOOT_JAMFSM_STATE_CONFIRMED,       /* 确认状态 */
+    SHOOT_JAMFSM_STATE_CONFIRMED, /* 确认状态 */
-    SHOOT_JAMFSM_STATE_DEAL             /* 处理状态 */
+    SHOOT_JAMFSM_STATE_DEAL       /* 处理状态 */
 }Shoot_JamDetectionFSM_State_t;
 typedef enum {
-    SHOOT_STATE_IDLE = 0,      /* 熄火 */
+    SHOOT_STATE_IDLE = 0,/* 熄火 */
-    SHOOT_STATE_READY,         /* 准备射击 */
+    SHOOT_STATE_READY,   /* 准备射击 */
-    SHOOT_STATE_FIRE           /* 射击 */
+    SHOOT_STATE_FIRE     /* 射击 */
 }Shoot_Running_State_t;
 
 typedef enum {
-    SHOOT_MODE_SAFE = 0,       /* 安全模式 */
+    SHOOT_MODE_SAFE = 0,/* 安全模式 */
-    SHOOT_MODE_SINGLE,         /* 单发模式 */
+    SHOOT_MODE_SINGLE,  /* 单发模式 */
-    SHOOT_MODE_BURST,          /* 多发模式 */
+    SHOOT_MODE_BURST,   /* 多发模式 */
-    SHOOT_MODE_CONTINUE        /* 连发模式 */
+    SHOOT_MODE_CONTINUE,/* 连发模式 */
+    SHOOT_MODE_NUM
 }Shoot_Mode_t;
 
 typedef enum {
@@ -50,139 +49,141 @@ typedef enum {
 	SHOOT_PROJECTILE_42MM,
 }Shoot_Projectile_t;
 
-typedef struct {
-  bool online;	                 /* 遥控器在线 */
-  bool mode;                     /* 射击模式 */
-  bool ready;                    /* 准备射击 */
-  bool firecmd;                  /* 射击指令 */
-}Shoot_CMD_t;
-
 typedef struct{
 	MOTOR_RM_Param_t param;
-	uint8_t level;         /*电机属于几级发射；1起始；num_multilevel大于1时有效，且不可大于num_multilevel*/
+	uint8_t level; /* 电机属于第几级发射；1起始 */
 }Shoot_MOTOR_RM_Param_t;
 
 typedef struct {
-  MOTOR_Feedback_t *fric; /* 摩擦轮电机反馈 */
+  MOTOR_Feedback_t fric[MAX_FRIC_NUM];/* 摩擦轮电机反馈 */
-  MOTOR_RM_t trig; /* 拨弹电机反馈 */
+  MOTOR_RM_t trig;                    /* 拨弹电机反馈 */
-
-  float trig_agl;	/*计算所有减速比后的拨弹盘的角度*/
-	
-  float *fil_fric_rpm; /* 滤波后的摩擦轮转速 */
-  float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
-
-  float *fric_rpm; /* 归一化摩擦轮转速 */
-  float fric_avgrpm; /* 归一化摩擦轮平均转速*/
-  float trig_rpm; /* 归一化拨弹电机转速*/
   
 }Shoot_Feedback_t;
 
 typedef struct{
-  float   time_last_shoot;
+  float fil_rpm[MAX_FRIC_NUM]; /* 滤波后的摩擦轮原始转速 */
-  uint16_t num_to_shoot;
+  float normalized_fil_rpm[MAX_FRIC_NUM]; /* 归一化摩擦轮转速 */
-  uint16_t num_shooted;
+  float normalized_fil_avgrpm[MAX_NUM_MULTILEVEL];            /* 归一化摩擦轮平均转速 */
-}Shoot_AngleCalu_t;
+  float coupled_control_weights; /* 耦合控制权重 */
+}Shoot_VARSForFricCtrl_t;
+
+typedef struct{
+  float time_lastShoot;/* 上次射击时间 */
+  uint16_t num_toShoot;/* 剩余待发射弹数 */
+  uint16_t num_shooted;/* 已发射弹数 */
+
+  float trig_agl;	     /*计算所有减速比后的拨弹盘的角度*/
+  float fil_trig_rpm;  /* 滤波后的拨弹电机转速*/
+  float trig_rpm;      /* 归一化拨弹电机转速 */
+}Shoot_VARSForTrigCtrl_t;
 
 typedef struct {
-  bool jam_detected; /* 卡弹检测结果 */
+  bool detected; /* 卡弹检测结果 */
-  float jam_last_time;/* 用于记录怀疑状态或处理状态的开始时间 */
+  float lastTime;/* 用于记录怀疑状态或处理状态的开始时间 */
-  Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态 */
+  Shoot_JamDetectionFSM_State_t fsmState; /* 卡弹检测状态机 */
 }Shoot_JamDetection_t;
 typedef struct {
-  float *out_follow;
+  float out_follow[MAX_FRIC_NUM];
-  float *out_err;
+  float out_err[MAX_FRIC_NUM];
-  float *out_fric;
+  float out_fric[MAX_FRIC_NUM];
-  float *lpfout_fric;
+  float lpfout_fric[MAX_FRIC_NUM];
-
 
   float outagl_trig;
   float outomg_trig;
   float outlpf_trig;
 }Shoot_Output_t;
 
-
+typedef struct {
+  Shoot_Mode_t mode;/* 射击模式 */
+  bool ready;       /* 准备射击 */
+  bool firecmd;     /* 射击 */
+}Shoot_CMD_t;
 /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
 typedef struct {
-  Shoot_Projectile_t proj;
+  struct{
-  size_t fric_num;       			/* 摩擦轮数量 */
+    Shoot_Projectile_t projectileType; /* 发射弹丸类型 */;
-
+    size_t fric_num;                   /* 摩擦轮电机数量 */
-  float extra_deceleration_ratio;	/*电机出轴到拨盘的额外减速比；没有写1*/
+    float ratio_multilevel[MAX_NUM_MULTILEVEL]; /* 多级发射各级速度比例 */
-  size_t num_trig_tooth;  			/* 拨弹盘每圈弹丸数量 */
+    float extra_deceleration_ratio;	            /*电机出轴到拨盘的额外减速比；没有写1*/
-  float shot_freq;        			/* 射击频率，单位Hz */
+    size_t num_trig_tooth;  /* 拨弹盘每圈弹丸数量 */
-  size_t shot_burst_num; 			/* 多发模式一次射击的数量 */
+    float shot_freq;        /* 射击频率，单位Hz */
-
+    size_t shot_burst_num;  /* 多发模式一次射击的数量 */
-  size_t  num_multilevel;      /* 多级发射级数 (默认每级摩擦轮的数量相等)*/
+  }basic;/* 发射基础参数 */
-  float *ratio_multilevel; /* 多级发射各级速度比例 */
+  struct {
-
+    bool  enable;       /* 是否启用卡弹检测 */ 
-  bool  jam_enable; /* 是否启用卡弹检测 */  //还没加到逻辑里
+    float threshold;    /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/
-  float jam_threshold;    /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/
+    float suspectedTime;/* 卡弹怀疑时间，单位秒 */
-  float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */
+  }jamDetection;/* 卡弹检测参数 */
-
+  struct {
-  Shoot_MOTOR_RM_Param_t *fric_motor_param;
+  Shoot_MOTOR_RM_Param_t fric[MAX_FRIC_NUM];
-  MOTOR_RM_Param_t trig_motor_param;
+  MOTOR_RM_Param_t trig;
-
+  }motor; /* 电机参数 */
-
+  struct{
-  KPID_Params_t fric_follow;            /* 摩擦轮电机PID控制参数，用于跟随目标速度 */
+    KPID_Params_t fric_follow;  /* 摩擦轮电机PID控制参数，用于跟随目标速度 */
-  KPID_Params_t fric_err;               /* 摩擦轮电机PID控制参数，用于消除转速误差 */
+    KPID_Params_t fric_err;     /* 摩擦轮电机PID控制参数，用于消除转速误差 */
-  KPID_Params_t trig_2006;              /* 拨弹电机PID控制参数 */
+    KPID_Params_t trig_2006;    /* 拨弹电机PID控制参数 */
-  KPID_Params_t trig_omg_2006;          /* 拨弹电机PID控制参数 */
+    KPID_Params_t trig_omg_2006;/* 拨弹电机PID控制参数 */
-  KPID_Params_t trig_3508;              /* 拨弹电机PID控制参数 */
+    KPID_Params_t trig_3508;    /* 拨弹电机PID控制参数 */
-  KPID_Params_t trig_omg_3508;          /* 拨弹电机PID控制参数 */
+    KPID_Params_t trig_omg_3508;/* 拨弹电机PID控制参数 */
-  /* 低通滤波器截止频率 */
+  }pid; /* PID参数 */
   struct {
     struct{
-    float in;  /* 反馈值滤波器 */
+    float in;  /* 反馈值滤波器截止频率 */
-    float out; /* 输出值滤波器 */
+    float out; /* 输出值滤波器截止频率 */
     }fric;
     struct{
-    float in;  /* 反馈值滤波器 */
+    float in;  /* 反馈值滤波器截止频率 */
-    float out; /* 输出值滤波器 */
+    float out; /* 输出值滤波器截止频率 */
     }trig;
-  } filter;
+  } filter;/* 滤波器截止频率参数 */
 } Shoot_Params_t;
 
+typedef struct {
+  float now;            /* 当前时间，单位秒 */
+  uint64_t lask_wakeup; /* 上次唤醒时间，单位微秒 */
+  float dt;             /* 两次唤醒间隔时间，单位秒 */
+}Shoot_Timer_t;
+
 /*
  * 运行的主结构体，所有这个文件里的函数都在操作这个结构体
  * 包含了初始化参数，中间变量，输出变量
  */
 typedef struct {
-  bool                      online;						   /*在线检测*/
+  Shoot_Timer_t timer; /* 计时器 */
-  float                     now;                           /* 当前时间，单位秒 */
+  Shoot_Params_t *param; /* 发射参数 */
-  uint64_t                  lask_wakeup;                   /* 上次唤醒时间，单位微秒 */
-  float                     dt;                            /* 两次唤醒间隔时间，单位秒 */
-  Shoot_Params_t            *param;                        /* 发射参数 */
   /* 模块通用 */           
-  Shoot_Running_State_t     running_state;                 /* 运行状态机 */
+  Shoot_Mode_t mode; /* 射击模式 */
-  Shoot_Mode_t              mode;                          /* 射击模式 */
   /* 反馈信息 */           
-  Shoot_Feedback_t          feedback;                      /* 反馈信息 */
+  Shoot_Feedback_t feedback;
   /* 控制信息*/         
-  Shoot_JamDetection_t      jamdetection;                  /* 卡弹检测控制信息 */
+  Shoot_Running_State_t running_state; /* 运行状态机 */ 
-  Shoot_AngleCalu_t         anglecalu;                     /* 角度计算控制信息 */
+  Shoot_JamDetection_t jamdetection; /* 卡弹检测控制信息 */
-  Shoot_Output_t            output;                        /* 输出信息 */
+  Shoot_VARSForFricCtrl_t var_fric; /* 摩擦轮控制信息 */
+  Shoot_VARSForTrigCtrl_t var_trig; /* 角度计算控制信息 */
+  Shoot_Output_t output; /* 输出信息 */
   /* 目标控制量 */           
   struct {           
-    float                   target_rpm;                    /* 目标摩擦轮转速 */
+    float fric_rpm;  /* 目标摩擦轮转速 */
-    float                   target_angle;                  /* 目标拨弹位置 */
+    float trig_angle;/* 目标拨弹位置 */
   }target_variable;
 
   /* 反馈控制用的PID */
   struct {
-    KPID_t                  *fric_follow;   /* 摩擦轮PID主结构体 */
+    KPID_t fric_follow[MAX_FRIC_NUM];/* 摩擦轮PID主结构体 */
-    KPID_t                  *fric_err;      /* 摩擦轮PID主结构体 */
+    KPID_t fric_err[MAX_FRIC_NUM];   /* 摩擦轮PID主结构体 */
-    KPID_t                  trig;                          /* 拨弹PID主结构体 */
+    KPID_t trig;                     /* 拨弹PID主结构体 */
-    KPID_t                  trig_omg;                      /* 拨弹PID主结构体 */
+    KPID_t trig_omg;                 /* 拨弹PID主结构体 */
   } pid;
 
   /* 滤波器 */
   struct {
     struct{
-    LowPassFilter2p_t       *in;            /* 反馈值滤波器 */
+    LowPassFilter2p_t in[MAX_FRIC_NUM]; /* 反馈值滤波器 */
-    LowPassFilter2p_t       *out;           /* 输出值滤波器 */
+    LowPassFilter2p_t out[MAX_FRIC_NUM];/* 输出值滤波器 */
     }fric;
     struct{
-    LowPassFilter2p_t       in;                            /* 反馈值滤波器 */
+    LowPassFilter2p_t in; /* 反馈值滤波器 */
-    LowPassFilter2p_t       out;                           /* 输出值滤波器 */
+    LowPassFilter2p_t out;/* 输出值滤波器 */
     }trig;
   } filter;
 
@@ -220,7 +221,7 @@ int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode);
  *
  * \return 函数运行结果
  */
-int8_t Chassis_UpdateFeedback(Shoot_t *s);
+int8_t Shoot_UpdateFeedback(Shoot_t *s);
 
 /**
  * \brief 初始化发射

User/task/Oid.c

@@ -1,64 +0,0 @@
-/*
-    Oid Task
-    
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "task/user_task.h"
-/* USER INCLUDE BEGIN */
-#include "device/Oid.h"
-/* USER INCLUDE END */
-
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN */
-OID_Param_t oid_param_new={
-		.can=BSP_CAN_1,
-		.id=0x01,
-};
-
- OID_Param_t encoder_param = {
-        .can = BSP_CAN_1,
-        .id = 0x01
-    };
- OID_t* encoder;
-
-
-/* USER STRUCT END */
-
-/* Private function --------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-void Task_Oid(void *argument) {
-  (void)argument; /* 未使用argument，消除警告 */
-
-  
-  /* 计算任务运行到指定频率需要等待的tick数 */
-  const uint32_t delay_tick = osKernelGetTickFreq() / OID_FREQ;
-
-  osDelay(OID_INIT_DELAY); /* 延时一段时间再开启任务 */
-
-  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
-  /* USER CODE INIT BEGIN */
-	BSP_CAN_Init();
-	OID_Register(&encoder_param);
-	encoder = OID_GetEncoder(&encoder_param);
-	OID_Set_Mode(&encoder_param , OID_MODE_QUERY);//询问模式
-//	OID_Set_Baudrate(&encoder_param ,OID_BAUD_1M );
-  /* USER CODE INIT END */
-  
-  while (1) {
-    tick += delay_tick; /* 计算下一个唤醒时刻 */
-    /* USER CODE BEGIN */
-  //  OID_Set_Baudrate(&encoder_param, OID_BAUD_1M);
-
-		OID_Read_AngularVelocity(&encoder_param);
-		OID_Update(&encoder_param);
-		OID_Read_Value(&encoder_param);
-		OID_Update(&encoder_param);
-    /* USER CODE END */
-    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
-  }
-  
-}

User/task/cmd.c

@@ -6,7 +6,13 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "device/dr16.h"
+#include "module/config.h"
+#include "module/cmd/cmd.h"
+#include "module/cmd/cmd_adapter.h"
+#include "module/cmd/cmd_behavior.h"
+#include "module/cmd/cmd_types.h"
+#include "module/gimbal.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +20,15 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+#if CMD_RCTypeTable_Index == 0
+DR16_t cmd_dr16;
+#elif CMD_RCTypeTable_Index == 1
+AT9S_t cmd_at9s;
+#endif
+Shoot_CMD_t    *cmd_for_shoot;
+Chassis_CMD_t  *cmd_for_chassis;
+Gimbal_CMD_t   *cmd_for_gimbal; 
+CMD_t cmd;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,13 +44,28 @@ void Task_cmd(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-
+    #if CMD_RCTypeTable_Index == 0
+    osMessageQueueGet(task_runtime.msgq.rc.dr16, &cmd_dr16, NULL, 0);
+    #elif CMD_RCTypeTable_Index == 1
+    osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
+    #endif		
+    CMD_Update(&cmd);
+    /* 获取命令发送到各模块 */
+    cmd_for_chassis = CMD_GetChassisCmd(&cmd);
+    cmd_for_gimbal = CMD_GetGimbalCmd(&cmd);
+    cmd_for_shoot = CMD_GetShootCmd(&cmd);
+		osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
+		osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0);
+		osMessageQueueReset(task_runtime.msgq.shoot.cmd);
+    osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
+		osMessageQueueReset(task_runtime.msgq.chassis.cmd);
+    osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/config.yaml

@@ -40,13 +40,6 @@
   function: Task_atti_esti
   name: atti_esti
   stack: 256
-- delay: 0
-  description: ''
-  freq_control: true
-  frequency: 500.0
-  function: Task_remote_ctrl
-  name: remote_ctrl
-  stack: 256
 - delay: 0
   description: ''
   freq_control: true
@@ -54,13 +47,6 @@
   function: Task_dr16
   name: dr16
   stack: 256
-- delay: 0
-  description: ''
-  freq_control: true
-  frequency: 500.0
-  function: Task_Oid
-  name: Oid
-  stack: 256
 - delay: 0
   description: ''
   freq_control: true

User/task/gimbal_ctrl.c

@@ -42,7 +42,6 @@ void Task_gimbal_ctrl(void *argument) {
     /* USER CODE BEGIN */
 		if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK)
     Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
-
 		osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
 		Gimbal_UpdateFeedback(&gimbal);
 		gimbal_cmd.mode=GIMBAL_MODE_ABSOLUTE;

User/task/init.c

@@ -9,7 +9,7 @@
 /* USER INCLUDE BEGIN */
 #include "module/gimbal.h"
 #include "module/chassis.h"
-#include "remote_control.h"
+#include "device/dr16.h"
 #include "telescoping_gimal.h"
 /* USER INCLUDE END */
 
@@ -39,9 +39,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.shoot_ctrl = osThreadNew(Task_shoot_ctrl, NULL, &attr_shoot_ctrl);
   task_runtime.thread.telecoping = osThreadNew(Task_telecoping, NULL, &attr_telecoping);
   task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
-  task_runtime.thread.remote_ctrl = osThreadNew(Task_remote_ctrl, NULL, &attr_remote_ctrl);
   task_runtime.thread.dr16 = osThreadNew(Task_dr16, NULL, &attr_dr16);
-  task_runtime.thread.Oid = osThreadNew(Task_Oid, NULL, &attr_Oid);
   task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
 
   // 创建消息队列
@@ -49,13 +47,10 @@ void Task_Init(void *argument) {
   task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
 	task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
   task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
-	task_runtime.msgq.gimbal.remote= osMessageQueueNew(2u, sizeof(RC_ctrl_t), NULL);
+	task_runtime.msgq.chassis.cmd= osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);	
-	task_runtime.msgq.shoot.shoot_cmd= osMessageQueueNew(2u, sizeof(COMP_AT9S_CMD_t), NULL);
+	task_runtime.msgq.chassis.state= osMessageQueueNew(2u, sizeof(Chassis_t), NULL);	
-	
-	task_runtime.msgq.chassic.cmd= osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);	
-//	task_runtime.msgq.chassic.remote=osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
-	task_runtime.msgq.chassic.state= osMessageQueueNew(2u, sizeof(Chassis_t), NULL);	
 	task_runtime.msgq.telescoping.cmd= osMessageQueueNew(2u, sizeof(Telescoping_CMD_t), NULL);	
+	task_runtime.msgq.rc.dr16= osMessageQueueNew(2u, sizeof(DR16_t), NULL);
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/remote_ctrl.c

@@ -1,59 +0,0 @@
-/*
-    remote_ctrl Task
-    
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "task/user_task.h"
-/* USER INCLUDE BEGIN */
-#include "remote_control.h"
-#include "module\cmd\cmd.h"
-#include "shoot.h"
-#include "chassis.h"
-/* USER INCLUDE END */
-
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN */
-extern RC_ctrl_t rc_ctrl;
-Gimbal_CMD_t remote_cmd;
-Gimbal_IMU_t imu;
-COMP_AT9S_CMD_t shoot_rc_cmd;
-
-Chassis_CMD_t chassic_rc_cmd;
-/* USER STRUCT END */
-
-/* Private function --------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-void Task_remote_ctrl(void *argument) {
-  (void)argument; /* 未使用argument，消除警告 */
-
-  
-  /* 计算任务运行到指定频率需要等待的tick数 */
-  const uint32_t delay_tick = osKernelGetTickFreq() / REMOTE_CTRL_FREQ;
-
-  osDelay(REMOTE_CTRL_INIT_DELAY); /* 延时一段时间再开启任务 */
-
-  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
-  /* USER CODE INIT BEGIN */
-	remote_control_init();
-  /* USER CODE INIT END */
-  
-  while (1) {
-    tick += delay_tick; /* 计算下一个唤醒时刻 */
-    /* USER CODE BEGIN */
-		//gimbal_ParseHost(&remote_cmd,&rc_ctrl);
-		//shoot_ParseHost(&shoot_rc_cmd,&rc_ctrl);
-    osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
-    osMessageQueuePut(task_runtime.msgq.gimbal.cmd,&remote_cmd, 0, 0);
-		osMessageQueueReset(task_runtime.msgq.shoot.shoot_cmd);
-    osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd,&shoot_rc_cmd, 0, 0);
-		osMessageQueueReset(task_runtime.msgq.chassic.cmd);
-    osMessageQueuePut(task_runtime.msgq.chassic.cmd,&chassic_rc_cmd, 0, 0);		
-    /* USER CODE END */
-    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
-  }
-  
-}

User/task/shoot_ctrl.c

@@ -33,7 +33,6 @@ void Task_shoot_ctrl(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-	Config_ShootInit();
 	Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
 	Shoot_SetMode(&shoot,SHOOT_MODE_BURST);
   /* USER CODE INIT END */
@@ -41,15 +40,11 @@ void Task_shoot_ctrl(void *argument) {
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-	  osMessageQueueGet(task_runtime.msgq.shoot.shoot_cmd, &shoot_ctrl_cmd_rc, NULL, 0);
+	  osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_ctrl_cmd_rc, NULL, 0);
-	  shoot_cmd.online	=shoot_ctrl_cmd_rc.online;
-	  shoot_cmd.ready	=shoot_ctrl_cmd_rc.shoot.ready;
-	 	shoot_cmd.firecmd	=shoot_ctrl_cmd_rc.shoot.firecmd;
 //		shoot_cmd.mode=true;
-	  shoot.target_variable.target_rpm=4000;
+//	  shoot.target_variable.target_rpm=4000;
 //	  shoot.mode=shoot_ctrl_cmd_rc.mode;
-	 
+		Shoot_UpdateFeedback(&shoot);
-		Chassis_UpdateFeedback(&shoot);
 	  Shoot_Control(&shoot,&shoot_cmd);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

User/task/user_task.c

@@ -39,21 +39,11 @@ const osThreadAttr_t attr_atti_esti = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
-const osThreadAttr_t attr_remote_ctrl = {
-    .name = "remote_ctrl",
-    .priority = osPriorityNormal,
-    .stack_size = 256 * 4,
-};
 const osThreadAttr_t attr_dr16 = {
     .name = "dr16",
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
-const osThreadAttr_t attr_Oid = {
-    .name = "Oid",
-    .priority = osPriorityNormal,
-    .stack_size = 256 * 4,
-};
 const osThreadAttr_t attr_cmd = {
     .name = "cmd",
     .priority = osPriorityNormal,

User/task/user_task.h

@@ -19,9 +19,7 @@ extern "C" {
 #define SHOOT_CTRL_FREQ (500.0)
 #define TELECOPING_FREQ (500.0)
 #define ATTI_ESTI_FREQ (500.0)
-#define REMOTE_CTRL_FREQ (500.0)
 #define DR16_FREQ (500.0)
-#define OID_FREQ (500.0)
 #define CMD_FREQ (500.0)
 
 /* 任务初始化延时ms */
@@ -32,9 +30,7 @@ extern "C" {
 #define SHOOT_CTRL_INIT_DELAY (0)
 #define TELECOPING_INIT_DELAY (0)
 #define ATTI_ESTI_INIT_DELAY (0)
-#define REMOTE_CTRL_INIT_DELAY (0)
 #define DR16_INIT_DELAY (0)
-#define OID_INIT_DELAY (0)
 #define CMD_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
@@ -51,9 +47,7 @@ typedef struct {
         osThreadId_t shoot_ctrl;
         osThreadId_t telecoping;
         osThreadId_t atti_esti;
-        osThreadId_t remote_ctrl;
         osThreadId_t dr16;
-        osThreadId_t Oid;
         osThreadId_t cmd;
     } thread;
 
@@ -62,7 +56,7 @@ typedef struct {
         osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
 			
 				struct {
-            osMessageQueueId_t shoot_cmd; /* 发射命令队列 */
+            osMessageQueueId_t cmd; /* 发射命令队列 */
 						osMessageQueueId_t remote;
         }shoot;
         struct {
@@ -75,14 +69,17 @@ typedef struct {
             osMessageQueueId_t cmd;
 						osMessageQueueId_t remote;
 					
-        }chassic;
+        }chassis;
         struct {
             osMessageQueueId_t state;
             osMessageQueueId_t cmd;
 						osMessageQueueId_t remote;
 					
         }telescoping;
-			
+        struct {
+            osMessageQueueId_t state;
+            osMessageQueueId_t dr16;
+        }rc;			
     } msgq;
     /* USER MESSAGE END */
 
@@ -105,9 +102,7 @@ typedef struct {
         UBaseType_t shoot_ctrl;
         UBaseType_t telecoping;
         UBaseType_t atti_esti;
-        UBaseType_t remote_ctrl;
         UBaseType_t dr16;
-        UBaseType_t Oid;
         UBaseType_t cmd;
     } stack_water_mark;
 
@@ -119,9 +114,7 @@ typedef struct {
         float shoot_ctrl;
         float telecoping;
         float atti_esti;
-        float remote_ctrl;
         float dr16;
-        float Oid;
         float cmd;
     } freq;
 
@@ -133,9 +126,7 @@ typedef struct {
         float shoot_ctrl;
         float telecoping;
         float atti_esti;
-        float remote_ctrl;
         float dr16;
-        float Oid;
         float cmd;
     } last_up_time;
 
@@ -152,9 +143,7 @@ extern const osThreadAttr_t attr_chassis_ctrl;
 extern const osThreadAttr_t attr_shoot_ctrl;
 extern const osThreadAttr_t attr_telecoping;
 extern const osThreadAttr_t attr_atti_esti;
-extern const osThreadAttr_t attr_remote_ctrl;
 extern const osThreadAttr_t attr_dr16;
-extern const osThreadAttr_t attr_Oid;
 extern const osThreadAttr_t attr_cmd;
 
 /* 任务函数声明 */
@@ -165,9 +154,7 @@ void Task_chassis_ctrl(void *argument);
 void Task_shoot_ctrl(void *argument);
 void Task_telecoping(void *argument);
 void Task_atti_esti(void *argument);
-void Task_remote_ctrl(void *argument);
 void Task_dr16(void *argument);
-void Task_Oid(void *argument);
 void Task_cmd(void *argument);
 
 #ifdef __cplusplus