舵轮3508滞后（待修复）发射第一版，舵向校准完了

Core/Inc/FreeRTOSConfig.h

@@ -99,7 +99,7 @@
 #define configUSE_TIMERS                         1
 #define configTIMER_TASK_PRIORITY                ( 2 )
 #define configTIMER_QUEUE_LENGTH                 10
-#define configTIMER_TASK_STACK_DEPTH             256
+#define configTIMER_TASK_STACK_DEPTH             128
 
 /* CMSIS-RTOS V2 flags */
 #define configUSE_OS2_THREAD_SUSPEND_RESUME  1

Core/Inc/stm32f4xx_it.h

@@ -57,7 +57,6 @@ void EXTI0_IRQHandler(void);
 void EXTI3_IRQHandler(void);
 void EXTI4_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
-void CAN1_TX_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
@@ -67,7 +66,6 @@ void USART3_IRQHandler(void);
 void DMA2_Stream1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);
-void CAN2_TX_IRQHandler(void);
 void CAN2_RX0_IRQHandler(void);
 void CAN2_RX1_IRQHandler(void);
 void DMA2_Stream6_IRQHandler(void);

Core/Src/can.c

@@ -42,8 +42,8 @@ void MX_CAN1_Init(void)
   hcan1.Init.Prescaler = 3;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_7TQ;
-  hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
+  hcan1.Init.TimeSeg2 = CAN_BS2_6TQ;
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
@@ -74,8 +74,8 @@ void MX_CAN2_Init(void)
   hcan2.Init.Prescaler = 3;
   hcan2.Init.Mode = CAN_MODE_NORMAL;
   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan2.Init.TimeSeg1 = CAN_BS1_10TQ;
+  hcan2.Init.TimeSeg1 = CAN_BS1_7TQ;
-  hcan2.Init.TimeSeg2 = CAN_BS2_3TQ;
+  hcan2.Init.TimeSeg2 = CAN_BS2_6TQ;
   hcan2.Init.TimeTriggeredMode = DISABLE;
   hcan2.Init.AutoBusOff = DISABLE;
   hcan2.Init.AutoWakeUp = DISABLE;
@@ -122,8 +122,6 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
     /* CAN1 interrupt Init */
-    HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
     HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
@@ -157,8 +155,6 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
     /* CAN2 interrupt Init */
-    HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
@@ -190,7 +186,6 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
 
     /* CAN1 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(CAN1_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
@@ -216,7 +211,6 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
 
     /* CAN2 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(CAN2_TX_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
     HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
   /* USER CODE BEGIN CAN2_MspDeInit 1 */

Core/Src/stm32f4xx_it.c

@@ -249,20 +249,6 @@ void DMA1_Stream1_IRQHandler(void)
   /* USER CODE END DMA1_Stream1_IRQn 1 */
 }
 
-/**
-  * @brief This function handles CAN1 TX interrupts.
-  */
-void CAN1_TX_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN1_TX_IRQn 0 */
-
-  /* USER CODE END CAN1_TX_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan1);
-  /* USER CODE BEGIN CAN1_TX_IRQn 1 */
-
-  /* USER CODE END CAN1_TX_IRQn 1 */
-}
-
 /**
   * @brief This function handles CAN1 RX0 interrupts.
   */
@@ -391,20 +377,6 @@ void DMA2_Stream3_IRQHandler(void)
   /* USER CODE END DMA2_Stream3_IRQn 1 */
 }
 
-/**
-  * @brief This function handles CAN2 TX interrupts.
-  */
-void CAN2_TX_IRQHandler(void)
-{
-  /* USER CODE BEGIN CAN2_TX_IRQn 0 */
-
-  /* USER CODE END CAN2_TX_IRQn 0 */
-  HAL_CAN_IRQHandler(&hcan2);
-  /* USER CODE BEGIN CAN2_TX_IRQn 1 */
-
-  /* USER CODE END CAN2_TX_IRQn 1 */
-}
-
 /**
   * @brief This function handles CAN2 RX0 interrupts.
   */

MDK-ARM/Steering Wheel_Infatry.uvoptx

@@ -120,7 +120,6 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>榶?p</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -245,6 +244,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>cmd_et16s1</ItemText>
         </Ww>
+        <Ww>
+          <count>17</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_for_shoot</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>

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

@@ -37,6 +37,10 @@ Note: source file '..\User\task\ET16s.c' - object file renamed from 'Steering Wh
 Note: source file '..\User\task\step_motor.c' - object file renamed from 'Steering Wheel_Infatry\step_motor.o' to 'Steering Wheel_Infatry\step_motor_1.o'.
 Note: source file '..\User\task\vofa.c' - object file renamed from 'Steering Wheel_Infatry\vofa.o' to 'Steering Wheel_Infatry\vofa_1.o'.
 Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.
+compiling chassis.c...
+linking...
+Program Size: Code=66248 RO-data=1712 RW-data=1152 ZI-data=122760  
+FromELF: creating hex file...
 "Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -61,7 +65,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:04
 </pre>
 </body>
 </html>

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

@@ -1,6 +1,6 @@
 Dependencies for Project 'Steering Wheel_Infatry', Target 'Steering Wheel_Infatry': (DO NOT MODIFY !)
 CompilerVersion: 6160000::V6.16::ARMCLANG
-F (startup_stm32f407xx.s)(0x6986B01E)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c

-gdwarf-3 -I ../Core/Inc -I ../Drivers/CMSIS/Include

-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

-Wa,armasm,--pd,"__UVISION_VERSION SETA 534" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"

-o "steering wheel_infatry/startup_stm32f407xx.o")
+F (startup_stm32f407xx.s)(0x698739D8)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c

-gdwarf-3 -I ../Core/Inc -I ../Drivers/CMSIS/Include

-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

-Wa,armasm,--pd,"__UVISION_VERSION SETA 534" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"

-o "steering wheel_infatry/startup_stm32f407xx.o")
 F (../Core/Src/main.c)(0x6982F10D)(-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/main.o" -MD)
 I (..\Core\Inc\main.h)(0x6982EE89)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@@ -39,7 +39,7 @@ 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\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -96,7 +96,7 @@ F (../Core/Src/freertos.c)(0x696B411B)(-xc -std=c99 --target=arm-arm-none-eabi -
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -140,7 +140,7 @@ 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)(0x69843531)
-F (../Core/Src/can.c)(0x6986B019)(-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)
+F (../Core/Src/can.c)(0x698739A4)(-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)(0x6982EE89)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@@ -362,7 +362,7 @@ 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)
-F (../Core/Src/stm32f4xx_it.c)(0x6982F1BF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

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

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

-I./RTE/_Steering_Wheel_Infatry

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

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

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

-o "steering wheel_infatry/stm32f4xx_it.o" -MD)
+F (../Core/Src/stm32f4xx_it.c)(0x698739A6)(-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/stm32f4xx_it.o" -MD)
 I (..\Core\Inc\main.h)(0x6982EE89)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x691865D1)
@@ -398,9 +398,9 @@ 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 (..\Core\Inc\stm32f4xx_it.h)(0x6981F4DE)
+I (..\Core\Inc\stm32f4xx_it.h)(0x698739A6)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1187,7 +1187,7 @@ F (../Middlewares/Third_Party/FreeRTOS/Source/croutine.c)(0x68B055DB)(-xc -std=c
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1201,7 +1201,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1216,7 +1216,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1229,7 +1229,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1243,7 +1243,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1258,7 +1258,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1274,7 +1274,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1292,7 +1292,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
 I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1341,7 +1341,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1353,7 +1353,7 @@ F (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c)(0x6
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1404,7 +1404,7 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1536,7 +1536,7 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1589,7 +1589,7 @@ I (..\User\bsp\bsp.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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -1754,7 +1754,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2005,7 +2005,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2065,7 +2065,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2168,7 +2168,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2236,7 +2236,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2387,7 +2387,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2446,7 +2446,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2510,7 +2510,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\bsp\bsp.h)(0x6982F1BF)
 I (..\User\device\device.h)(0x6982F1BF)
-F (..\User\module\config.c)(0x6986AF5C)(-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)(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)
 I (..\User\component\user_math.h)(0x6982F1BF)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@@ -2564,7 +2564,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2636,7 +2636,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2647,7 +2647,7 @@ 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)(0x6982F1BF)
 I (..\User\bsp\time.h)(0x6982F1BF)
-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)
+F (..\User\module\shoot.c)(0x6986FC5C)(-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)(0x6968CB81)
@@ -2700,7 +2700,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2721,7 +2721,7 @@ I (..\User\component\ahrs.h)(0x6982F1BF)
 I (..\User\device\bmi088.h)(0x6982F1BF)
 I (..\User\module\gimbal.h)(0x6975DF62)
 I (..\User\device\motor_dm.h)(0x6982F1BF)
-F (..\User\module\chassis.c)(0x6986C008)(-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)
+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)
 I (..\User\module\chassis.h)(0x6986BB0E)
 I (..\User\module\struct_typedef.h)(0x68DBD148)
 I (..\User\component\filter.h)(0x6982F1BF)
@@ -2776,7 +2776,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2793,7 +2793,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 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)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2807,7 +2807,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 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)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2882,7 +2882,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 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)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2902,7 +2902,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 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)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -2964,13 +2964,13 @@ 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\device\ist8310.h)(0x6982F1BF)
-F (..\User\task\gimbal_ctrl.c)(0x6976DF34)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

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

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

-I./RTE/_Steering_Wheel_Infatry

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

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

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

-o "steering wheel_infatry/gimbal_ctrl.o" -MD)
+F (..\User\task\gimbal_ctrl.c)(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)
 I (..\User\task\user_task.h)(0x69843531)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -3038,13 +3038,13 @@ 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)(0x6986BF84)(-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)(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)
 I (..\User\task\user_task.h)(0x69843531)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -3112,13 +3112,13 @@ 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\shoot_ctrl.c)(0x697BE1BA)(-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)
+F (..\User\task\shoot_ctrl.c)(0x69872552)(-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)(0x69843531)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -3194,7 +3194,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 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)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -3211,7 +3211,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 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)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -3266,7 +3266,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 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)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -3339,7 +3339,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 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)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -3392,7 +3392,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 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)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -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)(0x6986B0E3)(-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)(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)
 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)
@@ -3461,7 +3461,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -3545,7 +3545,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@@ -3618,7 +3618,7 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x6976E9CD)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x6986EEEF)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)

MDK-ARM/startup_stm32f407xx.s

@@ -29,7 +29,7 @@
 ;   <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
 ; </h>
 
-Stack_Size		EQU     0x800
+Stack_Size		EQU     0x1000
 
                 AREA    STACK, NOINIT, READWRITE, ALIGN=3
 Stack_Mem       SPACE   Stack_Size

Steering Wheel_Infatry.ioc

@@ -2,8 +2,8 @@
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
-CAN1.BS1=CAN_BS1_10TQ
+CAN1.BS1=CAN_BS1_7TQ
-CAN1.BS2=CAN_BS2_3TQ
+CAN1.BS2=CAN_BS2_6TQ
 CAN1.CalculateBaudRate=1000000
 CAN1.CalculateTimeBit=1000
 CAN1.CalculateTimeQuantum=71.42857142857143
@@ -12,8 +12,8 @@ CAN1.NART=ENABLE
 CAN1.Prescaler=3
 CAN1.SJW=CAN_SJW_1TQ
 CAN1.TXFP=ENABLE
-CAN2.BS1=CAN_BS1_10TQ
+CAN2.BS1=CAN_BS1_7TQ
-CAN2.BS2=CAN_BS2_3TQ
+CAN2.BS2=CAN_BS2_6TQ
 CAN2.CalculateBaudRate=1000000
 CAN2.CalculateTimeBit=1000
 CAN2.CalculateTimeQuantum=71.42857142857143
@@ -78,12 +78,13 @@ Dma.USART6_TX.4.PeriphInc=DMA_PINC_DISABLE
 Dma.USART6_TX.4.Priority=DMA_PRIORITY_LOW
 Dma.USART6_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 FREERTOS.HEAP_NUMBER=4
-FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,configUSE_STATS_FORMATTING_FUNCTIONS,configGENERATE_RUN_TIME_STATS,configCHECK_FOR_STACK_OVERFLOW,HEAP_NUMBER,configTICK_RATE_HZ,configMINIMAL_STACK_SIZE
+FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE,configUSE_STATS_FORMATTING_FUNCTIONS,configGENERATE_RUN_TIME_STATS,configCHECK_FOR_STACK_OVERFLOW,HEAP_NUMBER,configTICK_RATE_HZ,configMINIMAL_STACK_SIZE,configTIMER_TASK_STACK_DEPTH
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
 FREERTOS.configGENERATE_RUN_TIME_STATS=1
 FREERTOS.configMINIMAL_STACK_SIZE=128
 FREERTOS.configTICK_RATE_HZ=1000
+FREERTOS.configTIMER_TASK_STACK_DEPTH=128
 FREERTOS.configTOTAL_HEAP_SIZE=0x19999
 FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
 File.Version=6
@@ -164,10 +165,8 @@ MxDb.Version=DB.6.0.161
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
@@ -371,7 +370,7 @@ ProjectManager.ProjectFileName=Steering Wheel_Infatry.ioc
 ProjectManager.ProjectName=Steering Wheel_Infatry
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
-ProjectManager.StackSize=0x800
+ProjectManager.StackSize=0x1000
 ProjectManager.TargetToolchain=MDK-ARM V5.32
 ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=

User/module/chassis.c

@@ -180,8 +180,8 @@ 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 = {{2.12916541 / M_PI * 180.0f, 5.23470974/ M_PI * 180.0f, 
+  MotorOffset_t motor_offset = {{1.0546118 / M_PI * 180.0f, 5.30834055/ M_PI * 180.0f, 
-                                 1.60531092 / M_PI * 180.0f, 4.16322374/ M_PI * 180.0f}}; // 右右右右
+                                 5.15110779 / M_PI * 180.0f, 4.59350538/ 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*/
@@ -381,17 +381,25 @@ int8_t Chassis_update(Chassis_t *c)
 	MOTOR_RM_Update(&(c->param->motor.Radder_DIR[i]));
 	Radder_DIR_MOTOR[i]= MOTOR_RM_GetMotor(&(c->param->motor.Radder_DIR[i]));
 	c->feedback.motor.Radder_DIR[i] = Radder_DIR_MOTOR[i]->feedback;
-		/* 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_Angle[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)
+		/* 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_Angle[i] += 360;
+	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_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)
+		{
+			c->feedback.motor.Radder_DIR_Angle[i] += 360;
+		}		
+		
+	}
+	
+
+//	  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)
@@ -495,7 +503,6 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
                                              c->feedback.motor.Radder_DIR_Rpm[i], 0.0f, c->dt);
 
     c->out.Radder_DIR[i] = LowPassFilter2p_Apply(&c->filled[7+i], c->final_out.final_Radder_DIR[i]);
-//		c->out.Radder_DIR[i]= 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);
@@ -507,19 +514,18 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
 /*电机输出设定和发送*/
 void Chassis_Setoutput(Chassis_t *c)
 {
-	   
+    for (uint8_t i = 0; i < 4; i++) {		
-    for (uint8_t i = 0; i < 4; i++) {
 		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_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[1]));					
-		MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[2]));	
+//	MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[2]));	
-		MOTOR_RM_Ctrl(&(c->param->motor.Wheel_DIR[3]));			
+//		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[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.Radder_DIR[3]));		
 
 }
 

User/module/cmd/cmd.c

@@ -71,7 +71,7 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
     /* 根据c拨杆控制射击 */
   switch (ctx->input.rc.sw[2]) {
       case CMD_SW_DOWN:
-					ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE;
+					ctx->output.shoot.cmd.mode = SHOOT_MODE_BURST;
           break;
       case CMD_SW_MID:
 					ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;

User/module/config.c

@@ -241,7 +241,7 @@ Config_RobotParam_t robot_config = {
                         .can = BSP_CAN_1,
                         .id = 0x201,
                         .module = MOTOR_M3508,
-                        .reverse = false,
+                        .reverse = true,
                         .gear = false,
                     },
                     .level=1,
@@ -251,7 +251,7 @@ Config_RobotParam_t robot_config = {
                         .can = BSP_CAN_1,
                         .id = 0x202,
                         .module = MOTOR_M3508,
-                        .reverse = true,
+                        .reverse = false,
                         .gear = false,
                     },
                     .level=1,

User/module/shoot.c

@@ -173,7 +173,7 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
 	switch(s->param->basic.projectileType)
 	{
 		case SHOOT_PROJECTILE_17MM:
-		s->target_variable.fric_rpm=6500.0f;
+		s->target_variable.fric_rpm=5000.0f;
 		break;
 		case SHOOT_PROJECTILE_42MM:
 		s->target_variable.fric_rpm=4000.0f;

User/task/chassis_ctrl.c

@@ -43,7 +43,7 @@ void Task_chassis_ctrl(void *argument) {
 
       Chassis_update(&chassis);
       Chassis_Control(&chassis, &cmd_chassis,tick);
-		Chassis_Setoutput(&chassis);	
+			Chassis_Setoutput(&chassis);	
 
 
     /* USER CODE END */

User/task/gimbal_ctrl.c

@@ -44,9 +44,9 @@ void Task_gimbal_ctrl(void *argument) {
     Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
 		osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
 		Gimbal_UpdateFeedback(&gimbal);
-		gimbal_cmd.mode=GIMBAL_MODE_ABSOLUTE;
+//		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 */
   }

User/task/shoot_ctrl.c

@@ -34,7 +34,7 @@ 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 */
 	Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
-	Shoot_SetMode(&shoot,SHOOT_MODE_CONTINUE);
+	Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
   /* USER CODE INIT END */
   
   while (1) {