µVision Build Log
Tool Versions:
IDE-Version: ¦ÌVision V5.34.0.0 Copyright (C) 2021 ARM Ltd and ARM Germany GmbH. All rights reserved. License Information: 6 6, 6, LIC=P6F5U-SYSX6-RFKIZ-JT2D4-G39T1-9ZMPB Tool Versions: Toolchain: MDK-ARM Professional Version: 5.34.0.0 Toolchain Path: D:\Keil_v5\ARM\ARMCLANG\Bin C Compiler: ArmClang.exe V6.16 Assembler: Armasm.exe V6.16 Linker/Locator: ArmLink.exe V6.16 Library Manager: ArmAr.exe V6.16 Hex Converter: FromElf.exe V6.16 CPU DLL: SARMCM3.DLL V5.34.0.0 Dialog DLL: DCM.DLL V1.17.3.0 Target DLL: CMSIS_AGDI.dll V1.32.13.0 Dialog DLL: TCM.DLL V1.48.0.0Project:
D:\yunha\git_gimbal\RM\Steering Wheel_Infatry\MDK-ARM\Steering Wheel_Infatry.uvprojx Project File Date: 12/27/2025Output:
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin' Build target 'Steering Wheel_Infatry' Note: source file '..\User\bsp\can.c' - object file renamed from 'Steering Wheel_Infatry\can.o' to 'Steering Wheel_Infatry\can_1.o'. Note: source file '..\User\bsp\gpio.c' - object file renamed from 'Steering Wheel_Infatry\gpio.o' to 'Steering Wheel_Infatry\gpio_1.o'. Note: source file '..\User\bsp\i2c.c' - object file renamed from 'Steering Wheel_Infatry\i2c.o' to 'Steering Wheel_Infatry\i2c_1.o'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'Steering Wheel_Infatry\spi.o' to 'Steering Wheel_Infatry\spi_1.o'. Note: source file '..\User\task\ai.c' - object file renamed from 'Steering Wheel_Infatry\ai.o' to 'Steering Wheel_Infatry\ai_1.o'. Note: source file '..\User\task\dr16.c' - object file renamed from 'Steering Wheel_Infatry\dr16.o' to 'Steering Wheel_Infatry\dr16_1.o'. Note: source file '..\User\task\Oid.c' - object file renamed from 'Steering Wheel_Infatry\Oid.o' to 'Steering Wheel_Infatry\oid_1.o'. Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'. Note: source file '..\User\module\cmd\cmd_adapter.c' - object file renamed from 'Steering Wheel_Infatry\cmd_adapter.o' to 'Steering Wheel_Infatry\cmd_adapter_1.o'. Note: source file '..\User\module\cmd\cmd_behavior.c' - object file renamed from 'Steering Wheel_Infatry\cmd_behavior.o' to 'Steering Wheel_Infatry\cmd_behavior_1.o'. compiling stm32f4xx_it.c... compiling can.c... compiling dwt.c... compiling mm.c... compiling ahrs.c... compiling uart.c... compiling crc16.c... compiling capacity.c... compiling i2c.c... compiling filter.c... compiling error_detect.c... compiling freertos.c... compiling gpio.c... compiling time.c... compiling pwm.c... compiling spi.c... compiling limiter.c... compiling freertos_cli.c... compiling mixer.c... compiling pid.c... compiling user_math.c... compiling ui.c... compiling crc8.c... compiling motor_rm.c... compiling motor.c... compiling bmi088.c... compiling ist8310.c... compiling dr16.c... compiling config.c... compiling motor_dm.c... ../User/device/ai.c(20): warning: incompatible pointer types passing 'struct VisionToGimbal *' to parameter of type 'uint8_t *' (aka 'unsigned char *') [-Wincompatible-pointer-types] if (BSP_UART_Receive(BSP_UART_AI,&ai->RX,sizeof(ai->RX), true)==HAL_OK) { ^~~~~~~ ../User\bsp/uart.h(63): note: passing argument to parameter 'data' here int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); ^ ../User/device/ai.c(60): warning: implicit declaration of function 'CRC16_Calc' is invalid in C99 [-Wimplicit-function-declaration] ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t),ai->TX.crc16); ^ ../User/device/ai.c(61): warning: implicit declaration of function 'CRC16_Verify' is invalid in C99 [-Wimplicit-function-declaration] if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){ ^ ../User/device/ai.c(69): warning: incompatible pointer types passing 'struct GimbalToVision *' to parameter of type 'uint8_t *' (aka 'unsigned char *') [-Wincompatible-pointer-types] if (BSP_UART_Transmit(BSP_UART_AI,&ai->TX,sizeof(ai->TX), true)==HAL_OK) ^~~~~~~ ../User\bsp/uart.h(62): note: passing argument to parameter 'data' here int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma); ^ ../User/device/ai.c(81): warning: non-void function does not return a value in all control paths [-Wreturn-type] } ^ 5 warnings generated. compiling ai.c... ../User/device/Oid.c(142): warning: implicitly declaring library function 'memset' with type 'void *(void *, int, unsigned int)' [-Wimplicit-function-declaration] memset(can_managers[can], 0, sizeof(OID_CANManager_t)); ^ ../User/device/Oid.c(142): note: include the headeror explicitly provide a declaration for 'memset' ../User/device/Oid.c(189): warning: implicitly declaring library function 'memcpy' with type 'void *(void *, const void *, unsigned int)' [-Wimplicit-function-declaration] memcpy(&encoder->param, param, sizeof(OID_Param_t)); ^ ../User/device/Oid.c(189): note: include the header or explicitly provide a declaration for 'memcpy' 2 warnings generated. compiling Oid.c... compiling motor_lz.c... ../User/module/gimbal.c(302): warning: non-void function does not return a value in all control paths [-Wreturn-type] } ^ 1 warning generated. compiling gimbal.c... compiling shoot.c... ../User/module/telecoping_gimbal.c(57): warning: incompatible pointer types passing 'float *' to parameter of type 'AHRS_Eulr_t *' [-Wincompatible-pointer-types] AHRS_ResetEulr(&(t->setpoint.telescoping)); /* 切æ¢æ¨¡å¼åŽé‡ç½®è®¾å®šå€¼ */ ^~~~~~~~~~~~~~~~~~~~~~~~~~ ../User\component/ahrs.h(106): note: passing argument to parameter 'eulr' here void AHRS_ResetEulr(AHRS_Eulr_t *eulr); ^ ../User/module/telecoping_gimbal.c(157): warning: non-void function does not return a value in all control paths [-Wreturn-type] } ^ 2 warnings generated. compiling telecoping_gimbal.c... compiling ai.c... compiling dr16.c... ../User/module/chassis.c(73): warning: implicit declaration of function 'srand' is invalid in C99 [-Wimplicit-function-declaration] srand(now); ^ ../User/module/chassis.c(74): warning: implicit declaration of function 'rand' is invalid in C99 [-Wimplicit-function-declaration] c->wz_multi = (rand() % 2) ? -1 : 1; ^ 2 warnings generated. compiling chassis.c... compiling atti_esti.c... compiling chassis_ctrl.c... compiling gimbal_ctrl.c... compiling remote_ctrl.c... compiling shoot_ctrl.c... compiling telecoping.c... compiling init.c... compiling user_task.c... compiling cmd.c... compiling Oid.c... ../User/module/cmd/cmd_adapter.c(1): warning: In file included from... ../User\module\cmd\cmd_adapter.h(22): warning: 'CMD_ERR_NULL' macro redefined [-Wmacro-redefined] #define CMD_ERR_NULL (-2) ^ ../User\module\cmd\cmd_types.h(18): note: previous definition is here #define CMD_ERR_NULL (-1) ^ ../User/module/cmd/cmd_adapter.c(21): warning: implicitly declaring library function 'memset' with type 'void *(void *, int, unsigned int)' [-Wimplicit-function-declaration] memset(&output->rc, 0, sizeof(CMD_RawInput_RC_t)); ^ ../User/module/cmd/cmd_adapter.c(21): note: include the header or explicitly provide a declaration for 'memset' 2 warnings generated. compiling cmd_adapter.c... ../User/module/cmd/cmd.c(108): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration] CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS); ^ ../User/module/cmd/cmd.c(125): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration] CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL); ^ ../User/module/cmd/cmd.c(138): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration] CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_SHOOT); ^ ../User/module/cmd/cmd.c(162): warning: implicit declaration of function 'CMD_Adapter_InitAll' is invalid in C99 [-Wimplicit-function-declaration] CMD_Adapter_InitAll(); ^ ../User/module/cmd/cmd.c(165): warning: implicit declaration of function 'CMD_Behavior_Init' is invalid in C99 [-Wimplicit-function-declaration] CMD_Behavior_Init(); ^ ../User/module/cmd/cmd.c(180): warning: implicit declaration of function 'CMD_Adapter_GetInput' is invalid in C99 [-Wimplicit-function-declaration] CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input); ^ ../User/module/cmd/cmd.c(233): warning: implicit declaration of function 'CMD_Behavior_ProcessAll' is invalid in C99 [-Wimplicit-function-declaration] CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE); ^ ../User/module/cmd/cmd.c(244): warning: implicit declaration of function 'BSP_TIME_Get_us' is invalid in C99 [-Wimplicit-function-declaration] uint64_t now_us = BSP_TIME_Get_us(); ^ 8 warnings generated. compiling cmd.c... ../User/module/cmd/cmd_behavior.c(3): warning: In file included from... ../User\module/cmd/cmd_adapter.h(22): warning: 'CMD_ERR_NULL' macro redefined [-Wmacro-redefined] #define CMD_ERR_NULL (-2) ^ ../User\module\cmd\cmd_types.h(18): note: previous definition is here #define CMD_ERR_NULL (-1) ^ 1 warning generated. compiling cmd_behavior.c... linking... Program Size: Code=59440 RO-data=1316 RW-data=972 ZI-data=117444 FromELF: creating hex file... "Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 23 Warning(s). Software Packages used:
Package Vendor: ARM http://www.keil.com/pack/ARM.CMSIS.5.7.0.pack ARM.CMSIS.5.7.0 CMSIS (Cortex Microcontroller Software Interface Standard) * Component: CORE Version: 5.4.0 Package Vendor: Keil https://www.keil.com/pack/Keil.STM32F4xx_DFP.2.17.1.pack Keil.STM32F4xx_DFP.2.17.1 STMicroelectronics STM32F4 Series Device Support, Drivers and ExamplesCollection of Component include folders:
.\RTE\_Steering_Wheel_Infatry D:\Keil_v5\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include D:\Keil_v5\Arm\Packs\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\IncludeCollection of Component Files used:
* Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h Build Time Elapsed: 00:00:08