修改
This commit is contained in:
parent
d9a76bbce2
commit
9c3af5f2c4
17343
MDK-ARM/JLinkLog.txt
17343
MDK-ARM/JLinkLog.txt
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@ -1152,7 +1152,7 @@
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<Group>
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<GroupName>device</GroupName>
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<tvExp>1</tvExp>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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Binary file not shown.
@ -39,7 +39,7 @@ Note: source file '..\User\task\vofa.c' - object file renamed from 'Steering Whe
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Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.
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compiling chassis.c...
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linking...
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Program Size: Code=66248 RO-data=1712 RW-data=1152 ZI-data=122760
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Program Size: Code=67104 RO-data=1712 RW-data=1156 ZI-data=122760
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FromELF: creating hex file...
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"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 0 Warning(s).
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@ -65,7 +65,7 @@ Package Vendor: Keil
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* Component: ARM::CMSIS:CORE:5.4.0
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Include file: CMSIS\Core\Include\tz_context.h
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Build Time Elapsed: 00:00:04
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Build Time Elapsed: 00:00:07
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</pre>
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</body>
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</html>
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@ -2248,7 +2248,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
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I (..\User\device\motor_rm.h)(0x6982F1BF)
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I (..\User\bsp\uart.h)(0x6982F1BF)
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I (..\Core\Inc\usart.h)(0x69455093)
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F (..\User\device\ET16s.c)(0x69722251)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/et16s.o" -MD)
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F (..\User\device\ET16s.c)(0x6989CA99)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/et16s.o" -MD)
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I (..\User\device\ET16s.h)(0x69735766)
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I (..\User\device\device.h)(0x6982F1BF)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
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@ -2510,7 +2510,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
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I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
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I (..\User\bsp\bsp.h)(0x6982F1BF)
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I (..\User\device\device.h)(0x6982F1BF)
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F (..\User\module\config.c)(0x6986F91A)(-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)
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F (..\User\module\config.c)(0x698B2398)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/config.o" -MD)
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I (..\User\component\user_math.h)(0x6982F1BF)
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I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
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I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
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@ -2575,7 +2575,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
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I (..\User\device\motor_rm.h)(0x6982F1BF)
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I (..\User\module\shoot.h)(0x6968CB81)
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I (..\User\module\chassis.h)(0x6986BB0E)
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I (..\User\module\chassis.h)(0x698988CF)
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I (..\User\module\struct_typedef.h)(0x68DBD148)
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I (..\User\device\bmi088.h)(0x6982F1BF)
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I (..\User\module\cmd\cmd.h)(0x6986AEE1)
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@ -2583,7 +2583,7 @@ I (..\User\module\cmd\cmd_types.h)(0x69710063)
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I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
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I (..\User\device\ET16s.h)(0x69735766)
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I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
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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)
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F (..\User\module\gimbal.c)(0x69897FBD)(-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)
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I (..\User\module\gimbal.h)(0x6975DF62)
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I (..\User\component\ahrs.h)(0x6982F1BF)
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I (..\User\component\user_math.h)(0x6982F1BF)
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@ -2715,14 +2715,14 @@ I (..\User\module\cmd\cmd_types.h)(0x69710063)
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I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
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I (..\User\device\ET16s.h)(0x69735766)
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I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
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I (..\User\module\chassis.h)(0x6986BB0E)
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I (..\User\module\chassis.h)(0x698988CF)
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I (..\User\module\struct_typedef.h)(0x68DBD148)
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I (..\User\component\ahrs.h)(0x6982F1BF)
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I (..\User\device\bmi088.h)(0x6982F1BF)
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I (..\User\module\gimbal.h)(0x6975DF62)
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I (..\User\device\motor_dm.h)(0x6982F1BF)
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F (..\User\module\chassis.c)(0x69873BAF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/chassis.o" -MD)
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I (..\User\module\chassis.h)(0x6986BB0E)
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F (..\User\module\chassis.c)(0x698ED0FA)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/chassis.o" -MD)
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I (..\User\module\chassis.h)(0x698988CF)
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I (..\User\module\struct_typedef.h)(0x68DBD148)
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I (..\User\component\filter.h)(0x6982F1BF)
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I (..\User\component\user_math.h)(0x6982F1BF)
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@ -2869,7 +2869,7 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
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I (..\User\device\motor_rm.h)(0x6982F1BF)
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I (..\User\module\shoot.h)(0x6968CB81)
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I (..\User\module\chassis.h)(0x6986BB0E)
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I (..\User\module\chassis.h)(0x698988CF)
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I (..\User\module\struct_typedef.h)(0x68DBD148)
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I (..\User\device\bmi088.h)(0x6982F1BF)
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I (..\User\module\cmd\cmd.h)(0x6986AEE1)
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@ -2964,7 +2964,7 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
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I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
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I (..\User\device\motor_rm.h)(0x6982F1BF)
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I (..\User\device\ist8310.h)(0x6982F1BF)
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F (..\User\task\gimbal_ctrl.c)(0x698725A1)(-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)
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F (..\User\task\gimbal_ctrl.c)(0x69889E2F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/gimbal_ctrl.o" -MD)
|
||||
I (..\User\task\user_task.h)(0x69843531)
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
||||
@ -3030,7 +3030,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055
|
||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||
I (..\User\module\config.h)(0x696E2066)
|
||||
I (..\User\module\shoot.h)(0x6968CB81)
|
||||
I (..\User\module\chassis.h)(0x6986BB0E)
|
||||
I (..\User\module\chassis.h)(0x698988CF)
|
||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
||||
@ -3038,7 +3038,7 @@ I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
||||
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
|
||||
I (..\User\device\ET16s.h)(0x69735766)
|
||||
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
|
||||
F (..\User\task\chassis_ctrl.c)(0x6987317E)(-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\chassis_ctrl.c)(0x69898440)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/chassis_ctrl.o" -MD)
|
||||
I (..\User\task\user_task.h)(0x69843531)
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
|
||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
||||
@ -3052,7 +3052,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
||||
I (..\User\module\chassis.h)(0x6986BB0E)
|
||||
I (..\User\module\chassis.h)(0x698988CF)
|
||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||
I (..\User\component\filter.h)(0x6982F1BF)
|
||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||
@ -3181,7 +3181,7 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||
I (..\User\module\shoot.h)(0x6968CB81)
|
||||
I (..\User\module\chassis.h)(0x6986BB0E)
|
||||
I (..\User\module\chassis.h)(0x698988CF)
|
||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
||||
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
||||
@ -3324,7 +3324,7 @@ I (..\User\bsp\bsp.h)(0x6982F1BF)
|
||||
I (..\User\bsp\mm.h)(0x6982F1BF)
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
|
||||
I (..\User\device\motor_rm.h)(0x6982F1BF)
|
||||
I (..\User\module\chassis.h)(0x6986BB0E)
|
||||
I (..\User\module\chassis.h)(0x698988CF)
|
||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||
I (..\User\device\bmi088.h)(0x6982F1BF)
|
||||
I (..\User\module\shoot.h)(0x6968CB81)
|
||||
@ -3400,7 +3400,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
|
||||
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
|
||||
F (..\User\module\cmd\cmd.c)(0x6986FA9C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/cmd_1.o" -MD)
|
||||
F (..\User\module\cmd\cmd.c)(0x6989CACD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd
-I./RTE/_Steering_Wheel_Infatry
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "steering wheel_infatry/cmd_1.o" -MD)
|
||||
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
|
||||
I (..\User\module\cmd\cmd_types.h)(0x69710063)
|
||||
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
|
||||
@ -3411,7 +3411,7 @@ I (..\User\device\device.h)(0x6982F1BF)
|
||||
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\cmd\cmd_behavior.h)(0x695FA70F)
|
||||
I (..\User\module\chassis.h)(0x6986BB0E)
|
||||
I (..\User\module\chassis.h)(0x698988CF)
|
||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||
I (..\User\component\filter.h)(0x6982F1BF)
|
||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||
@ -3495,7 +3495,7 @@ I (..\User\device\ET16s.h)(0x69735766)
|
||||
I (..\User\device\device.h)(0x6982F1BF)
|
||||
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\chassis.h)(0x6986BB0E)
|
||||
I (..\User\module\chassis.h)(0x698988CF)
|
||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||
I (..\User\component\filter.h)(0x6982F1BF)
|
||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||
@ -3568,7 +3568,7 @@ I (..\User\device\device.h)(0x6982F1BF)
|
||||
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\cmd\cmd_behavior.h)(0x695FA70F)
|
||||
I (..\User\module\chassis.h)(0x6986BB0E)
|
||||
I (..\User\module\chassis.h)(0x698988CF)
|
||||
I (..\User\module\struct_typedef.h)(0x68DBD148)
|
||||
I (..\User\component\filter.h)(0x6982F1BF)
|
||||
I (..\User\component\user_math.h)(0x6982F1BF)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -171,17 +171,6 @@ int8_t ET16S_ParseRC(ET16s_t *et16s) {
|
||||
et16s->ET16s.key_H = Keymap(et16s->raw_data.sw[7]);
|
||||
// rc->ET16s.knob_left = ET16s->sw[7]; //200 330 479 629 778 928 1075 1224 1373 1522 1670 1800
|
||||
/* 通道5出了bug，只能这样解决 */
|
||||
// switch(et16s->raw_data.sw[4]){
|
||||
// case 353:
|
||||
// et16s->ET16s.key_E=ET16S_SW_UP;
|
||||
// break;
|
||||
// case 1024:
|
||||
// et16s->ET16s.key_E=ET16S_SW_MID;
|
||||
// break;
|
||||
// case 1695:
|
||||
// et16s->ET16s.key_E=ET16S_SW_DOWN;
|
||||
// break;
|
||||
// }
|
||||
#endif
|
||||
return DEVICE_OK;
|
||||
}
|
||||
|
||||
@ -83,6 +83,7 @@ float motor_add_anagle(float current_angle){
|
||||
|
||||
static int8_t Set_Chassis_Attitude(Chassis_t *c,CHASSIS_ATTITUDE_MODE_t mode){
|
||||
float Telescope_omega_set_point;
|
||||
c->Set_TelescopeAngle=c->param->Set_TelescopeAngle;
|
||||
switch(mode)
|
||||
{
|
||||
case STOP_MODE:
|
||||
@ -90,7 +91,7 @@ static int8_t Set_Chassis_Attitude(Chassis_t *c,CHASSIS_ATTITUDE_MODE_t mode){
|
||||
break;
|
||||
case EXPAND_MODE:
|
||||
|
||||
Telescope_omega_set_point = PID_Calc(&(c->pid.Telescope_angle), c->param->Set_TelescopeAngle,
|
||||
Telescope_omega_set_point = PID_Calc(&(c->pid.Telescope_angle), c->Set_TelescopeAngle,
|
||||
c->feedback.motor.Telescope_SuperiorAngle, 0.0f, c->dt);
|
||||
c->out.Telescope = PID_Calc(&(c->pid.Telescope_omega), Telescope_omega_set_point,
|
||||
c->feedback.motor.Telescope_Omega, 0.f, c->dt);
|
||||
@ -180,8 +181,8 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
|
||||
/*注册伸缩电机*/
|
||||
MOTOR_RM_Register(&(c->param->motor.Telescope_motor));
|
||||
// 舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
|
||||
MotorOffset_t motor_offset = {{1.0546118 / M_PI * 180.0f, 5.30834055/ M_PI * 180.0f,
|
||||
5.15110779 / M_PI * 180.0f, 4.59350538/ M_PI * 180.0f}}; // 右右右右
|
||||
MotorOffset_t motor_offset = {{0.961805999 / M_PI * 180.0f, 5.18102026/ M_PI * 180.0f,
|
||||
5.20326281 / M_PI * 180.0f, 4.70702028/ M_PI * 180.0f}}; // 右右右右
|
||||
|
||||
c->motoroffset = motor_offset;
|
||||
/*对3508的速度环和6020的角速度以及位置环pid进行初始化*/
|
||||
@ -198,7 +199,8 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
|
||||
KPID_MODE_CALC_D,
|
||||
target_freq,
|
||||
&c->param->pid.chassis_follow_gimbal);
|
||||
|
||||
PID_Init(&c->pid.Telescope_angle, KPID_MODE_CALC_D, target_freq,&c->param->pid.Telescope_Angle);
|
||||
PID_Init(&c->pid.Telescope_omega, KPID_MODE_CALC_D, target_freq,&c->param->pid.Telescope_Omega);
|
||||
LowPassFilter2p_Init(&c->filled[0], target_freq, 20.0f); // vx
|
||||
LowPassFilter2p_Init(&c->filled[1], target_freq, 20.0f); // vy
|
||||
LowPassFilter2p_Init(&c->filled[2], target_freq, 20.0f); // vw
|
||||
@ -249,7 +251,7 @@ void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd)
|
||||
// 让保持角度实时等于进入保持阈值前的最后一次角度值
|
||||
for (uint8_t i = 0; i < 4; i++)
|
||||
{
|
||||
c->keep_angle[i] = c->hopemotorout.Radder_DIR_Solving_1[i];
|
||||
// c->keep_angle[i] = c->hopemotorout.Radder_DIR_Solving_1[i];
|
||||
}
|
||||
|
||||
switch (c->mode)
|
||||
@ -260,7 +262,6 @@ void Chassis_speed_calculate(Chassis_t *c, Chassis_CMD_t *c_cmd)
|
||||
case CHASSIS_MODE_ROTOR:
|
||||
case CHASSIS_MODE_FOLLOW_GIMBAL:
|
||||
|
||||
|
||||
// const double radians = atan(1.0f * 330 / 330);
|
||||
|
||||
c->hopemotorout.Wheel_DIR_Solving_1[0] = sqrt(
|
||||
@ -385,8 +386,8 @@ int8_t Chassis_update(Chassis_t *c)
|
||||
|
||||
/* 单位转换 */
|
||||
c->feedback.motor.Radder_DIR_Angle[i]=c->feedback.motor.Radder_DIR[i].rotor_abs_angle/ M_PI * 180.0f;
|
||||
c->feedback.motor.Radder_DIR_Rpm[i]= c->feedback.motor.Radder_DIR[i].rotor_speed/320;
|
||||
c->feedback.motor.Wheel_DIR_Rpm[i]= c->feedback.motor.Wheel_DIR[i].rotor_speed/10000;
|
||||
c->feedback.motor.Radder_DIR_Omega[i]= c->feedback.motor.Radder_DIR[i].rotor_speed/320;
|
||||
c->feedback.motor.Wheel_DIR_Omega[i]= c->feedback.motor.Wheel_DIR[i].rotor_speed/10000;
|
||||
|
||||
c->feedback.motor.Radder_DIR_Angle[i] = fmod(c->feedback.motor.Radder_DIR_Angle[i] - c->motoroffset.MOTOR_OFFSET[i], 360.0);
|
||||
if (c->feedback.motor.Radder_DIR_Angle[i] < 0)
|
||||
@ -396,10 +397,6 @@ int8_t Chassis_update(Chassis_t *c)
|
||||
|
||||
}
|
||||
|
||||
|
||||
// for (int i = 0; i < 4; i++){
|
||||
|
||||
// }
|
||||
MOTOR_RM_Update(&(c->param->motor.Telescope_motor));
|
||||
MOTOR_RM_t *Telescope_RM = MOTOR_RM_GetMotor(&(c->param->motor.Telescope_motor));
|
||||
if (Telescope_RM != NULL)
|
||||
@ -433,6 +430,8 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
|
||||
{
|
||||
return CHASSIS_ERR_MODE; /* 设置模式失败 */
|
||||
}
|
||||
Set_Chassis_Attitude(c,c_cmd->attitude_mode);
|
||||
|
||||
float beta;
|
||||
|
||||
/*根据底盘模式进行不同的控制*/
|
||||
@ -500,13 +499,15 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
|
||||
// c->final_out.final_6020out[i] = chassis6020_detangle[i] ; //单环控制就用这个
|
||||
c->chassis6020_detangle[i]=chassis6020_detangle[i];
|
||||
c->final_out.final_Radder_DIR[i] = PID_Calc(&(c->pid.Radder_DIR_omega[i]), chassis6020_detangle[i],
|
||||
c->feedback.motor.Radder_DIR_Rpm[i], 0.0f, c->dt);
|
||||
c->feedback.motor.Radder_DIR_Omega[i], 0.0f, c->dt);
|
||||
|
||||
c->out.Radder_DIR[i] = LowPassFilter2p_Apply(&c->filled[7+i], c->final_out.final_Radder_DIR[i]);
|
||||
c->hopemotorout.Wheel_DIR_target[i] = c->hopemotorout.Wheel_DIR_Solving_2[i];
|
||||
c->final_out.final_Wheel_DIR[i] = PID_Calc(&(c->pid.Wheel_DIR_omega[i]), c->hopemotorout.Wheel_DIR_target[i],
|
||||
c->feedback.motor.Wheel_DIR_Rpm[i], 0.0f, c->dt);
|
||||
c->feedback.motor.Wheel_DIR_Omega[i], 0.0f, c->dt);
|
||||
c->out.Wheel_DIR[i] = LowPassFilter2p_Apply(&c->filled[3+i], c->final_out.final_Wheel_DIR[i]);
|
||||
// c->out.Wheel_DIR[i]=c->move_vec.Vy;
|
||||
|
||||
}
|
||||
return CHASSIS_OK;
|
||||
}
|
||||
@ -518,14 +519,12 @@ void Chassis_Setoutput(Chassis_t *c)
|
||||
MOTOR_RM_SetOutput(&(c->param->motor.Wheel_DIR[i]), c->out.Wheel_DIR[i]);
|
||||
MOTOR_RM_SetOutput(&(c->param->motor.Radder_DIR[i]), c->out.Radder_DIR[i]);
|
||||
}
|
||||
MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[0]));
|
||||
// MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[1]));
|
||||
// MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[2]));
|
||||
// MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[3]));
|
||||
MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[0]));
|
||||
// MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[1]));
|
||||
// MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[2]));
|
||||
MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[3]));
|
||||
MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[0]));
|
||||
|
||||
MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[0]));
|
||||
MOTOR_RM_Ctrl(&(c->param->motor.Radder_DIR[3]));
|
||||
/* 正数展开 */
|
||||
// MOTOR_RM_SetOutput(&(c->param->motor.Telescope_motor), c->out.Telescope);
|
||||
// MOTOR_RM_Ctrl(&(c->param->motor.Telescope_motor));
|
||||
}
|
||||
|
||||
|
||||
@ -139,7 +139,7 @@ typedef struct
|
||||
float chassis6020_detangle[4];
|
||||
Chassis_Mode_t mode;
|
||||
ChassisMove_Vec move_vec; // 最终输入速度
|
||||
|
||||
float Set_TelescopeAngle;
|
||||
/*期望的底盘输出值(此处为舵轮解算出的各个电机的期望输出值)ֵ*/
|
||||
struct
|
||||
{
|
||||
@ -167,9 +167,9 @@ typedef struct
|
||||
float Telescope_SuperiorAngle;
|
||||
float Telescope_Omega;
|
||||
float Radder_DIR_Angle[4];
|
||||
float Radder_DIR_Rpm[4];
|
||||
float Radder_DIR_Omega[4];
|
||||
float Wheel_DIR_Angle[4];
|
||||
float Wheel_DIR_Rpm[4];
|
||||
float Wheel_DIR_Omega[4];
|
||||
MOTOR_Feedback_t Telescope; // 四个轮向电机
|
||||
MOTOR_Feedback_t Wheel_DIR[4]; // 四个轮向电机
|
||||
MOTOR_Feedback_t Radder_DIR[4];
|
||||
|
||||
@ -18,13 +18,16 @@ static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
|
||||
switch (ctx->input.rc.sw[0]) {
|
||||
case CMD_SW_UP:
|
||||
ctx->output.chassis.cmd.mode = map->sw_left_up;
|
||||
ctx->output.chassis.cmd.attitude_mode = STOP_MODE;
|
||||
break;
|
||||
case CMD_SW_MID:
|
||||
ctx->output.chassis.cmd.mode = map->sw_left_mid;
|
||||
ctx->output.chassis.cmd.attitude_mode = REDUCE_MODE;
|
||||
ctx->output.chassis.cmd.throttle = ctx->config->sensitivity.move_slow_mult;
|
||||
break;
|
||||
case CMD_SW_DOWN:
|
||||
ctx->output.chassis.cmd.mode = map->sw_left_down;
|
||||
ctx->output.chassis.cmd.attitude_mode = EXPAND_MODE;
|
||||
break;
|
||||
default:
|
||||
ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
|
||||
@ -101,6 +104,21 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
|
||||
ctx->output.shoot.cmd.firecmd = false;
|
||||
break;
|
||||
}
|
||||
switch (ctx->input.rc.sw[4]) {
|
||||
case CMD_SW_UP:
|
||||
ctx->output.chassis.cmd.attitude_mode = EXPAND_MODE;
|
||||
break;
|
||||
case CMD_SW_MID:
|
||||
ctx->output.chassis.cmd.attitude_mode = STOP_MODE;
|
||||
break;
|
||||
case CMD_SW_DOWN:
|
||||
ctx->output.chassis.cmd.attitude_mode = REDUCE_MODE;
|
||||
break;
|
||||
default:
|
||||
ctx->output.chassis.cmd.mode = STOP_MODE;
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* 从PC输入生成底盘命令 */
|
||||
|
||||
@ -18,7 +18,7 @@
|
||||
// 机器人参数配置
|
||||
Config_RobotParam_t robot_config = {
|
||||
.chassis={
|
||||
.Set_TelescopeAngle=195,
|
||||
.Set_TelescopeAngle=10,
|
||||
.pid={
|
||||
.Telescope_Omega={
|
||||
.k=1.0f,
|
||||
@ -62,9 +62,9 @@ Config_RobotParam_t robot_config = {
|
||||
},
|
||||
.Wheel_DIR_Omega={
|
||||
.k=0.2f,
|
||||
.p=0.25f,
|
||||
.p=2.0f,
|
||||
.i=0.1f,
|
||||
.d=0.001f,
|
||||
.d=0.7f,
|
||||
.i_limit=1.0f,
|
||||
.out_limit=1.0f,
|
||||
.d_cutoff_freq= -1.0f,
|
||||
@ -72,9 +72,9 @@ Config_RobotParam_t robot_config = {
|
||||
},
|
||||
},
|
||||
.motor={
|
||||
.Wheel_DIR[0]={BSP_CAN_2,0x201,MOTOR_M3508,true,false},
|
||||
.Wheel_DIR[0]={BSP_CAN_2,0x201,MOTOR_M3508,false,false},
|
||||
.Wheel_DIR[1]={BSP_CAN_2,0x202,MOTOR_M3508,true,false},
|
||||
.Wheel_DIR[2]={BSP_CAN_2,0x203,MOTOR_M3508,false,false},
|
||||
.Wheel_DIR[2]={BSP_CAN_2,0x203,MOTOR_M3508,true,false},
|
||||
.Wheel_DIR[3]={BSP_CAN_2,0x204,MOTOR_M3508,false,false},
|
||||
.Telescope_motor={BSP_CAN_1,0x205,MOTOR_M2006,false,true},
|
||||
.Radder_DIR[0]={BSP_CAN_2,0x206,MOTOR_GM6020,false,false},
|
||||
@ -96,7 +96,7 @@ Config_RobotParam_t robot_config = {
|
||||
.yaw=Yaw,
|
||||
},
|
||||
.Gyro={
|
||||
.pit=Gyro_x,
|
||||
.pit=Gyro_y,
|
||||
.yaw=Gyro_z,
|
||||
},
|
||||
// .Accl={
|
||||
@ -134,7 +134,7 @@ Config_RobotParam_t robot_config = {
|
||||
|
||||
.motor={
|
||||
/*按自己需求选择电机*/
|
||||
// .major_yaw=DM,
|
||||
.major_yaw=NULL_MOTOR,
|
||||
.pit=DM,
|
||||
.yaw=DM,
|
||||
/*是否开启限位*/
|
||||
@ -143,7 +143,7 @@ Config_RobotParam_t robot_config = {
|
||||
/*达妙电机参数自己配*/
|
||||
.yaw_dm_motor={
|
||||
.can=BSP_CAN_1,
|
||||
.can_id = 0x01,
|
||||
.can_id = 0x1,
|
||||
.master_id=0x11,
|
||||
.module = MOTOR_DM_J4310,
|
||||
.reverse=false
|
||||
|
||||
@ -568,7 +568,7 @@ void Gimbal_Output(Gimbal_t *g){
|
||||
|
||||
g->out.yaw_dm.torque= g->out.yaw * g->param->dm_Params_t.yaw_dm_Reduction_ratio; // 乘以减速比
|
||||
|
||||
MOTOR_DM_MITCtrl(&g->param->motor.yaw_dm_motor,&(g->out.yaw_dm));
|
||||
// MOTOR_DM_MITCtrl(&g->param->motor.yaw_dm_motor,&(g->out.yaw_dm));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -46,7 +46,7 @@ void Task_gimbal_ctrl(void *argument) {
|
||||
Gimbal_UpdateFeedback(&gimbal);
|
||||
// gimbal_cmd.mode=GIMBAL_MODE_ABSOLUTE;
|
||||
Gimbal_Control(&gimbal,&gimbal_cmd);
|
||||
// Gimbal_Output(&gimbal);
|
||||
Gimbal_Output(&gimbal);
|
||||
/* USER CODE END */
|
||||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user