添加发射

MDK-ARM/.vscode/c_cpp_properties.json

@@ -3,25 +3,29 @@
         {
             "name": "gimbal",
             "includePath": [
-                "d:\\yunha\\1\\ai\\gimbal\\Core\\Inc",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Core\\Inc",
-                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
-                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
-                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
-                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\CMSIS\\Include",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Drivers\\CMSIS\\Include",
-                "d:\\yunha\\1\\ai\\gimbal\\User\\bsp",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\User\\bsp",
-                "d:\\yunha\\1\\ai\\gimbal\\User\\component",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\User\\component",
-                "d:\\yunha\\1\\ai\\gimbal\\User\\device",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\User\\device",
-                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
-                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
-                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
-                "d:\\yunha\\1\\ai\\gimbal\\User\\task",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\User\\task",
-                "d:\\yunha\\1\\ai\\gimbal\\User",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\User",
-                "d:\\yunha\\1\\ai\\gimbal\\User\\module",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\User\\module",
-                "d:\\yunha\\1\\ai\\gimbal\\MDK-ARM",
+                "D:\\Keil_v5\\ARM\\ARMCLANG\\include",
-                "d:\\yunha\\1\\ai\\gimbal\\Core\\Src",
+                "D:\\Keil_v5\\ARM\\ARMCLANG\\include\\arm_linux",
-                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+                "D:\\Keil_v5\\ARM\\ARMCLANG\\include\\arm_linux_compat",
-                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+                "D:\\Keil_v5\\ARM\\ARMCLANG\\include\\libcxx",
-                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\MDK-ARM",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Core\\Src",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+                "d:\\yunha\\git_gimbal\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
             ],
             "defines": [
                 "USE_HAL_DRIVER",
@@ -77,9 +81,352 @@
                 "__builtin_arm_usat(x,y)=0U",
                 "__builtin_arm_ldaex(x)=0U",
                 "__builtin_arm_stlex(x,y)=0U",
-                "__GNUC__=4",
+                "_ILP32=1",
+                "_USE_STATIC_INLINE=1",
+                "__APCS_32__=1",
+                "__ARMCC_VERSION=6160001",
+                "__ARMCOMPILER_VERSION=6160001",
+                "__ARMEL__=1",
+                "__ARM_32BIT_STATE=1",
+                "__ARM_ACLE=200",
+                "__ARM_ARCH=4",
+                "__ARM_ARCH_4T__=1",
+                "__ARM_ARCH_ISA_ARM=1",
+                "__ARM_ARCH_ISA_THUMB=1",
+                "__ARM_EABI__=1",
+                "__ARM_FP16_ARGS=1",
+                "__ARM_FP16_FORMAT_IEEE=1",
+                "__ARM_NO_IMAGINARY_TYPE=1",
+                "__ARM_PCS=1",
+                "__ARM_PROMISE=__builtin_assume",
+                "__ARM_SIZEOF_MINIMAL_ENUM=4",
+                "__ARM_SIZEOF_WCHAR_T=4",
+                "__ARM_TARGET_COPROC=1",
+                "__ARM_TARGET_COPROC_V4=1",
+                "__ATOMIC_ACQUIRE=2",
+                "__ATOMIC_ACQ_REL=4",
+                "__ATOMIC_CONSUME=1",
+                "__ATOMIC_RELAXED=0",
+                "__ATOMIC_RELEASE=3",
+                "__ATOMIC_SEQ_CST=5",
+                "__BIGGEST_ALIGNMENT__=8",
+                "__BYTE_ORDER__=__ORDER_LITTLE_ENDIAN__",
+                "__CHAR16_TYPE__=unsigned short",
+                "__CHAR32_TYPE__=unsigned int",
+                "__CHAR_BIT__=8",
+                "__CHAR_UNSIGNED__=1",
+                "__CLANG_ATOMIC_BOOL_LOCK_FREE=1",
+                "__CLANG_ATOMIC_CHAR16_T_LOCK_FREE=1",
+                "__CLANG_ATOMIC_CHAR32_T_LOCK_FREE=1",
+                "__CLANG_ATOMIC_CHAR_LOCK_FREE=1",
+                "__CLANG_ATOMIC_INT_LOCK_FREE=1",
+                "__CLANG_ATOMIC_LLONG_LOCK_FREE=1",
+                "__CLANG_ATOMIC_LONG_LOCK_FREE=1",
+                "__CLANG_ATOMIC_POINTER_LOCK_FREE=1",
+                "__CLANG_ATOMIC_SHORT_LOCK_FREE=1",
+                "__CLANG_ATOMIC_WCHAR_T_LOCK_FREE=1",
+                "__CONSTANT_CFSTRINGS__=1",
+                "__DBL_DECIMAL_DIG__=17",
+                "__DBL_DENORM_MIN__=4.9406564584124654e-324",
+                "__DBL_DIG__=15",
+                "__DBL_EPSILON__=2.2204460492503131e-16",
+                "__DBL_HAS_DENORM__=1",
+                "__DBL_HAS_INFINITY__=1",
+                "__DBL_HAS_QUIET_NAN__=1",
+                "__DBL_MANT_DIG__=53",
+                "__DBL_MAX_10_EXP__=308",
+                "__DBL_MAX_EXP__=1024",
+                "__DBL_MAX__=1.7976931348623157e+308",
+                "__DBL_MIN_10_EXP__=(-307)",
+                "__DBL_MIN_EXP__=(-1021)",
+                "__DBL_MIN__=2.2250738585072014e-308",
+                "__DECIMAL_DIG__=__LDBL_DECIMAL_DIG__",
+                "__ELF__=1",
+                "__ESCAPE__=",
+                "__FINITE_MATH_ONLY__=1",
+                "__FLT16_DECIMAL_DIG__=5",
+                "__FLT16_DENORM_MIN__=5.9604644775390625e-8F16",
+                "__FLT16_DIG__=3",
+                "__FLT16_EPSILON__=9.765625e-4F16",
+                "__FLT16_HAS_DENORM__=1",
+                "__FLT16_HAS_INFINITY__=1",
+                "__FLT16_HAS_QUIET_NAN__=1",
+                "__FLT16_MANT_DIG__=11",
+                "__FLT16_MAX_10_EXP__=4",
+                "__FLT16_MAX_EXP__=16",
+                "__FLT16_MAX__=6.5504e+4F16",
+                "__FLT16_MIN_10_EXP__=(-4)",
+                "__FLT16_MIN_EXP__=(-13)",
+                "__FLT16_MIN__=6.103515625e-5F16",
+                "__FLT_DECIMAL_DIG__=9",
+                "__FLT_DENORM_MIN__=1.40129846e-45F",
+                "__FLT_DIG__=6",
+                "__FLT_EPSILON__=1.19209290e-7F",
+                "__FLT_EVAL_METHOD__=0",
+                "__FLT_HAS_DENORM__=1",
+                "__FLT_HAS_INFINITY__=1",
+                "__FLT_HAS_QUIET_NAN__=1",
+                "__FLT_MANT_DIG__=24",
+                "__FLT_MAX_10_EXP__=38",
+                "__FLT_MAX_EXP__=128",
+                "__FLT_MAX__=3.40282347e+38F",
+                "__FLT_MIN_10_EXP__=(-37)",
+                "__FLT_MIN_EXP__=(-125)",
+                "__FLT_MIN__=1.17549435e-38F",
+                "__FLT_RADIX__=2",
+                "__GCC_ATOMIC_BOOL_LOCK_FREE=1",
+                "__GCC_ATOMIC_CHAR16_T_LOCK_FREE=1",
+                "__GCC_ATOMIC_CHAR32_T_LOCK_FREE=1",
+                "__GCC_ATOMIC_CHAR_LOCK_FREE=1",
+                "__GCC_ATOMIC_INT_LOCK_FREE=1",
+                "__GCC_ATOMIC_LLONG_LOCK_FREE=1",
+                "__GCC_ATOMIC_LONG_LOCK_FREE=1",
+                "__GCC_ATOMIC_POINTER_LOCK_FREE=1",
+                "__GCC_ATOMIC_SHORT_LOCK_FREE=1",
+                "__GCC_ATOMIC_TEST_AND_SET_TRUEVAL=1",
+                "__GCC_ATOMIC_WCHAR_T_LOCK_FREE=1",
                 "__GNUC_MINOR__=2",
-                "__GNUC_PATCHLEVEL__=1"
+                "__GNUC_PATCHLEVEL__=1",
+                "__GNUC_STDC_INLINE__=1",
+                "__GNUC__=4",
+                "__GXX_ABI_VERSION=1002",
+                "__ILP32__=1",
+                "__INT16_C_SUFFIX__=",
+                "__INT16_FMTd__=\"hd\"",
+                "__INT16_FMTi__=\"hi\"",
+                "__INT16_MAX__=32767",
+                "__INT16_TYPE__=short",
+                "__INT32_C_SUFFIX__=",
+                "__INT32_FMTd__=\"d\"",
+                "__INT32_FMTi__=\"i\"",
+                "__INT32_MAX__=2147483647",
+                "__INT32_TYPE__=int",
+                "__INT64_C_SUFFIX__=LL",
+                "__INT64_FMTd__=\"lld\"",
+                "__INT64_FMTi__=\"lli\"",
+                "__INT64_MAX__=9223372036854775807LL",
+                "__INT64_TYPE__=long long int",
+                "__INT8_C_SUFFIX__=",
+                "__INT8_FMTd__=\"hhd\"",
+                "__INT8_FMTi__=\"hhi\"",
+                "__INT8_MAX__=127",
+                "__INT8_TYPE__=signed char",
+                "__INTMAX_C_SUFFIX__=LL",
+                "__INTMAX_FMTd__=\"lld\"",
+                "__INTMAX_FMTi__=\"lli\"",
+                "__INTMAX_MAX__=9223372036854775807LL",
+                "__INTMAX_TYPE__=long long int",
+                "__INTMAX_WIDTH__=64",
+                "__INTPTR_FMTd__=\"d\"",
+                "__INTPTR_FMTi__=\"i\"",
+                "__INTPTR_MAX__=2147483647",
+                "__INTPTR_TYPE__=int",
+                "__INTPTR_WIDTH__=32",
+                "__INT_FAST16_FMTd__=\"hd\"",
+                "__INT_FAST16_FMTi__=\"hi\"",
+                "__INT_FAST16_MAX__=32767",
+                "__INT_FAST16_TYPE__=short",
+                "__INT_FAST32_FMTd__=\"d\"",
+                "__INT_FAST32_FMTi__=\"i\"",
+                "__INT_FAST32_MAX__=2147483647",
+                "__INT_FAST32_TYPE__=int",
+                "__INT_FAST64_FMTd__=\"lld\"",
+                "__INT_FAST64_FMTi__=\"lli\"",
+                "__INT_FAST64_MAX__=9223372036854775807LL",
+                "__INT_FAST64_TYPE__=long long int",
+                "__INT_FAST8_FMTd__=\"hhd\"",
+                "__INT_FAST8_FMTi__=\"hhi\"",
+                "__INT_FAST8_MAX__=127",
+                "__INT_FAST8_TYPE__=signed char",
+                "__INT_LEAST16_FMTd__=\"hd\"",
+                "__INT_LEAST16_FMTi__=\"hi\"",
+                "__INT_LEAST16_MAX__=32767",
+                "__INT_LEAST16_TYPE__=short",
+                "__INT_LEAST32_FMTd__=\"d\"",
+                "__INT_LEAST32_FMTi__=\"i\"",
+                "__INT_LEAST32_MAX__=2147483647",
+                "__INT_LEAST32_TYPE__=int",
+                "__INT_LEAST64_FMTd__=\"lld\"",
+                "__INT_LEAST64_FMTi__=\"lli\"",
+                "__INT_LEAST64_MAX__=9223372036854775807LL",
+                "__INT_LEAST64_TYPE__=long long int",
+                "__INT_LEAST8_FMTd__=\"hhd\"",
+                "__INT_LEAST8_FMTi__=\"hhi\"",
+                "__INT_LEAST8_MAX__=127",
+                "__INT_LEAST8_TYPE__=signed char",
+                "__INT_MAX__=2147483647",
+                "__I__=1.0if",
+                "__LDBL_DECIMAL_DIG__=17",
+                "__LDBL_DENORM_MIN__=4.9406564584124654e-324L",
+                "__LDBL_DIG__=15",
+                "__LDBL_EPSILON__=2.2204460492503131e-16L",
+                "__LDBL_HAS_DENORM__=1",
+                "__LDBL_HAS_INFINITY__=1",
+                "__LDBL_HAS_QUIET_NAN__=1",
+                "__LDBL_MANT_DIG__=53",
+                "__LDBL_MAX_10_EXP__=308",
+                "__LDBL_MAX_EXP__=1024",
+                "__LDBL_MAX__=1.7976931348623157e+308L",
+                "__LDBL_MIN_10_EXP__=(-307)",
+                "__LDBL_MIN_EXP__=(-1021)",
+                "__LDBL_MIN__=2.2250738585072014e-308L",
+                "__LITTLE_ENDIAN__=1",
+                "__LONG_LONG_MAX__=9223372036854775807LL",
+                "__LONG_MAX__=2147483647L",
+                "__NO_INLINE__=1",
+                "__OBJC_BOOL_IS_BOOL=0",
+                "__OPENCL_MEMORY_SCOPE_ALL_SVM_DEVICES=3",
+                "__OPENCL_MEMORY_SCOPE_DEVICE=2",
+                "__OPENCL_MEMORY_SCOPE_SUB_GROUP=4",
+                "__OPENCL_MEMORY_SCOPE_WORK_GROUP=1",
+                "__OPENCL_MEMORY_SCOPE_WORK_ITEM=0",
+                "__ORDER_BIG_ENDIAN__=4321",
+                "__ORDER_LITTLE_ENDIAN__=1234",
+                "__ORDER_PDP_ENDIAN__=3412",
+                "__POINTER_WIDTH__=32",
+                "__PRAGMA_REDEFINE_EXTNAME=1",
+                "__PTRDIFF_FMTd__=\"d\"",
+                "__PTRDIFF_FMTi__=\"i\"",
+                "__PTRDIFF_MAX__=2147483647",
+                "__PTRDIFF_TYPE__=int",
+                "__PTRDIFF_WIDTH__=32",
+                "__REGISTER_PREFIX__=",
+                "__SCHAR_MAX__=127",
+                "__SHRT_MAX__=32767",
+                "__SIG_ATOMIC_MAX__=2147483647",
+                "__SIG_ATOMIC_WIDTH__=32",
+                "__SIZEOF_DOUBLE__=8",
+                "__SIZEOF_FLOAT__=4",
+                "__SIZEOF_INT__=4",
+                "__SIZEOF_LONG_DOUBLE__=8",
+                "__SIZEOF_LONG_LONG__=8",
+                "__SIZEOF_LONG__=4",
+                "__SIZEOF_POINTER__=4",
+                "__SIZEOF_PTRDIFF_T__=4",
+                "__SIZEOF_SHORT__=2",
+                "__SIZEOF_SIZE_T__=4",
+                "__SIZEOF_WCHAR_T__=4",
+                "__SIZEOF_WINT_T__=4",
+                "__SIZE_FMTX__=\"X\"",
+                "__SIZE_FMTo__=\"o\"",
+                "__SIZE_FMTu__=\"u\"",
+                "__SIZE_FMTx__=\"x\"",
+                "__SIZE_MAX__=4294967295U",
+                "__SIZE_TYPE__=unsigned int",
+                "__SIZE_WIDTH__=32",
+                "__STDC_HOSTED__=1",
+                "__STDC_UTF_16__=1",
+                "__STDC_UTF_32__=1",
+                "__STDC_VERSION__=201710L",
+                "__STDC__=1",
+                "__UINT16_C_SUFFIX__=",
+                "__UINT16_FMTX__=\"hX\"",
+                "__UINT16_FMTo__=\"ho\"",
+                "__UINT16_FMTu__=\"hu\"",
+                "__UINT16_FMTx__=\"hx\"",
+                "__UINT16_MAX__=65535",
+                "__UINT16_TYPE__=unsigned short",
+                "__UINT32_C_SUFFIX__=U",
+                "__UINT32_FMTX__=\"X\"",
+                "__UINT32_FMTo__=\"o\"",
+                "__UINT32_FMTu__=\"u\"",
+                "__UINT32_FMTx__=\"x\"",
+                "__UINT32_MAX__=4294967295U",
+                "__UINT32_TYPE__=unsigned int",
+                "__UINT64_C_SUFFIX__=ULL",
+                "__UINT64_FMTX__=\"llX\"",
+                "__UINT64_FMTo__=\"llo\"",
+                "__UINT64_FMTu__=\"llu\"",
+                "__UINT64_FMTx__=\"llx\"",
+                "__UINT64_MAX__=18446744073709551615ULL",
+                "__UINT64_TYPE__=long long unsigned int",
+                "__UINT8_C_SUFFIX__=",
+                "__UINT8_FMTX__=\"hhX\"",
+                "__UINT8_FMTo__=\"hho\"",
+                "__UINT8_FMTu__=\"hhu\"",
+                "__UINT8_FMTx__=\"hhx\"",
+                "__UINT8_MAX__=255",
+                "__UINT8_TYPE__=unsigned char",
+                "__UINTMAX_C_SUFFIX__=ULL",
+                "__UINTMAX_FMTX__=\"llX\"",
+                "__UINTMAX_FMTo__=\"llo\"",
+                "__UINTMAX_FMTu__=\"llu\"",
+                "__UINTMAX_FMTx__=\"llx\"",
+                "__UINTMAX_MAX__=18446744073709551615ULL",
+                "__UINTMAX_TYPE__=long long unsigned int",
+                "__UINTMAX_WIDTH__=64",
+                "__UINTPTR_FMTX__=\"X\"",
+                "__UINTPTR_FMTo__=\"o\"",
+                "__UINTPTR_FMTu__=\"u\"",
+                "__UINTPTR_FMTx__=\"x\"",
+                "__UINTPTR_MAX__=4294967295U",
+                "__UINTPTR_TYPE__=unsigned int",
+                "__UINTPTR_WIDTH__=32",
+                "__UINT_FAST16_FMTX__=\"hX\"",
+                "__UINT_FAST16_FMTo__=\"ho\"",
+                "__UINT_FAST16_FMTu__=\"hu\"",
+                "__UINT_FAST16_FMTx__=\"hx\"",
+                "__UINT_FAST16_MAX__=65535",
+                "__UINT_FAST16_TYPE__=unsigned short",
+                "__UINT_FAST32_FMTX__=\"X\"",
+                "__UINT_FAST32_FMTo__=\"o\"",
+                "__UINT_FAST32_FMTu__=\"u\"",
+                "__UINT_FAST32_FMTx__=\"x\"",
+                "__UINT_FAST32_MAX__=4294967295U",
+                "__UINT_FAST32_TYPE__=unsigned int",
+                "__UINT_FAST64_FMTX__=\"llX\"",
+                "__UINT_FAST64_FMTo__=\"llo\"",
+                "__UINT_FAST64_FMTu__=\"llu\"",
+                "__UINT_FAST64_FMTx__=\"llx\"",
+                "__UINT_FAST64_MAX__=18446744073709551615ULL",
+                "__UINT_FAST64_TYPE__=long long unsigned int",
+                "__UINT_FAST8_FMTX__=\"hhX\"",
+                "__UINT_FAST8_FMTo__=\"hho\"",
+                "__UINT_FAST8_FMTu__=\"hhu\"",
+                "__UINT_FAST8_FMTx__=\"hhx\"",
+                "__UINT_FAST8_MAX__=255",
+                "__UINT_FAST8_TYPE__=unsigned char",
+                "__UINT_LEAST16_FMTX__=\"hX\"",
+                "__UINT_LEAST16_FMTo__=\"ho\"",
+                "__UINT_LEAST16_FMTu__=\"hu\"",
+                "__UINT_LEAST16_FMTx__=\"hx\"",
+                "__UINT_LEAST16_MAX__=65535",
+                "__UINT_LEAST16_TYPE__=unsigned short",
+                "__UINT_LEAST32_FMTX__=\"X\"",
+                "__UINT_LEAST32_FMTo__=\"o\"",
+                "__UINT_LEAST32_FMTu__=\"u\"",
+                "__UINT_LEAST32_FMTx__=\"x\"",
+                "__UINT_LEAST32_MAX__=4294967295U",
+                "__UINT_LEAST32_TYPE__=unsigned int",
+                "__UINT_LEAST64_FMTX__=\"llX\"",
+                "__UINT_LEAST64_FMTo__=\"llo\"",
+                "__UINT_LEAST64_FMTu__=\"llu\"",
+                "__UINT_LEAST64_FMTx__=\"llx\"",
+                "__UINT_LEAST64_MAX__=18446744073709551615ULL",
+                "__UINT_LEAST64_TYPE__=long long unsigned int",
+                "__UINT_LEAST8_FMTX__=\"hhX\"",
+                "__UINT_LEAST8_FMTo__=\"hho\"",
+                "__UINT_LEAST8_FMTu__=\"hhu\"",
+                "__UINT_LEAST8_FMTx__=\"hhx\"",
+                "__UINT_LEAST8_MAX__=255",
+                "__UINT_LEAST8_TYPE__=unsigned char",
+                "__USER_LABEL_PREFIX__=",
+                "__VERSION__=\"Clang 13.0.0 (ssh://ds-gerrit/armcompiler/llvm-project 1f5770d6f72ee4eba2159092bbf4cbb819be323a)\"",
+                "__WCHAR_MAX__=4294967295U",
+                "__WCHAR_TYPE__=unsigned int",
+                "__WCHAR_UNSIGNED__=1",
+                "__WCHAR_WIDTH__=32",
+                "__WINT_MAX__=2147483647",
+                "__WINT_TYPE__=int",
+                "__WINT_WIDTH__=32",
+                "__arm=1",
+                "__arm__=1",
+                "__clang__=1",
+                "__clang_major__=13",
+                "__clang_minor__=0",
+                "__clang_patchlevel__=0",
+                "__clang_version__=\"13.0.0 (ssh://ds-gerrit/armcompiler/llvm-project 1f5770d6f72ee4eba2159092bbf4cbb819be323a)\"",
+                "__llvm__=1"
             ],
             "intelliSenseMode": "${default}"
         }

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

@@ -12,3 +12,5 @@
 
 [info] Log at : 2025/12/15|23:05:45|GMT+0800
 
+[info] Log at : 2026/1/2|23:22:22|GMT+0800
+

MDK-ARM/gimbal.uvoptx

@@ -190,6 +190,36 @@
           <WinNumber>1</WinNumber>
           <ItemText>ai_cmd</ItemText>
         </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot_cmd,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot_rc_cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Shoot_t</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot</ItemText>
+        </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>R_mode</ItemText>
+        </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>s_mode</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -265,7 +295,7 @@
 
   <Group>
     <GroupName>Application/User/Core</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1268,6 +1298,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\shoot_ctrl.c</PathWithFileName>
+      <FilenameWithoutPath>shoot_ctrl.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>9</GroupNumber>
+      <FileNumber>81</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>..\User\task\ai.c</PathWithFileName>
       <FilenameWithoutPath>ai.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -1283,7 +1325,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>81</FileNumber>
+      <FileNumber>82</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1295,7 +1337,19 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>82</FileNumber>
+      <FileNumber>83</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\module\shoot.c</PathWithFileName>
+      <FilenameWithoutPath>shoot.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>84</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1307,7 +1361,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>83</FileNumber>
+      <FileNumber>85</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1317,18 +1371,6 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
-    <File>
-      <GroupNumber>10</GroupNumber>
-      <FileNumber>84</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\module\shoot.c</PathWithFileName>
-      <FilenameWithoutPath>shoot.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
   </Group>
 
   <Group>

MDK-ARM/gimbal.uvprojx

@@ -2061,6 +2061,11 @@
               <FileType>1</FileType>
               <FilePath>..\User\task\gimbal_ctrl.c</FilePath>
             </File>
+            <File>
+              <FileName>shoot_ctrl.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\shoot_ctrl.c</FilePath>
+            </File>
             <File>
               <FileName>ai.c</FileName>
               <FileType>1</FileType>
@@ -2076,6 +2081,11 @@
               <FileType>1</FileType>
               <FilePath>..\User\module\config.c</FilePath>
             </File>
+            <File>
+              <FileName>shoot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\module\shoot.c</FilePath>
+            </File>
             <File>
               <FileName>gimbal.c</FileName>
               <FileType>1</FileType>
@@ -2086,11 +2096,6 @@
               <FileType>1</FileType>
               <FilePath>..\User\module\remote_cmd.c</FilePath>
             </File>
-            <File>
-              <FileName>shoot.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\module\shoot.c</FilePath>
-            </File>
           </Files>
         </Group>
         <Group>

MDK-ARM/gimbal/gimbal.build_log.htm

@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\yunha\git_gimbal\ai\gimbal\MDK-ARM\gimbal.uvprojx
-Project File Date:  12/18/2025
+Project File Date:  01/02/2026
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -32,6 +32,9 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o
 Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'.
 Note: source file '..\User\task\ai.c' - object file renamed from 'gimbal\ai.o' to 'gimbal\ai_1.o'.
+compiling config.c...
+linking...
+Program Size: Code=100768 RO-data=1728 RW-data=680 ZI-data=35968  
 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>

MDK-ARM/gimbal/gimbal.lnp

@@ -78,11 +78,12 @@
 "gimbal\remote.o"
 "gimbal\user_task.o"
 "gimbal\gimbal_ctrl.o"
+"gimbal\shoot_ctrl.o"
 "gimbal\ai_1.o"
 "gimbal\config.o"
+"gimbal\shoot.o"
 "gimbal\gimbal.o"
 "gimbal\remote_cmd.o"
-"gimbal\shoot.o"
 --strict --scatter "gimbal\gimbal.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers

MDK-ARM/gimbal/gimbal_gimbal.dep

@@ -139,7 +139,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (..\User\task\user_task.h)(0x694103DE)
+I (..\User\task\user_task.h)(0x6957F1E7)
 F (../Core/Src/can.c)(0x693FEFE7)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/can.o -MD)
 I (..\Core\Inc\can.h)(0x693FEFE7)
 I (..\Core\Inc\main.h)(0x693FEFE9)
@@ -412,7 +412,7 @@ I (..\User\bsp\uart.h)(0x6943F21A)
 I (..\Core\Inc\usart.h)(0x6940024F)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\bsp\bsp.h)(0x6943F21A)
-I (..\User\device\remote_control.h)(0x693AB322)
+I (..\User\device\remote_control.h)(0x6957E45B)
 I (..\User\module\struct_typedef.h)(0x693AB322)
 I (..\User\component\bsp_rc.h)(0x693AB321)
 F (../Core/Src/stm32f4xx_hal_msp.c)(0x693FEFE8)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/stm32f4xx_hal_msp.o -MD)
@@ -2116,9 +2116,10 @@ I (..\User\component\user_math.h)(0x6943F21A)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 F (..\User\device\remote_control.c)(0x693AB322)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/remote_control.o -MD)
-I (..\User\device\remote_control.h)(0x693AB322)
+I (..\User\device\remote_control.h)(0x6957E45B)
 I (..\User\module\struct_typedef.h)(0x693AB322)
 I (..\User\component\bsp_rc.h)(0x693AB321)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\Core\Inc\main.h)(0x693FEFE9)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x693FEFE9)
@@ -2282,8 +2283,8 @@ I (..\User\component\user_math.h)(0x6943F21A)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\task\init.c)(0x69410454)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/init.o -MD)
+F (..\User\task\init.c)(0x6957FB73)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/init.o -MD)
-I (..\User\task\user_task.h)(0x694103DE)
+I (..\User\task\user_task.h)(0x6957F1E7)
 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)
@@ -2346,12 +2347,14 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
 I (..\User\bsp\mm.h)(0x6943F21A)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x6943F21A)
-I (..\User\device\remote_control.h)(0x693AB322)
+I (..\User\device\remote_control.h)(0x6957E45B)
 I (..\User\module\struct_typedef.h)(0x693AB322)
 I (..\User\component\bsp_rc.h)(0x693AB321)
 I (..\User\device\ai.h)(0x6941B613)
-F (..\User\task\atti_esti.c)(0x69404EA9)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/atti_esti.o -MD)
+I (..\User\module\remote_cmd.h)(0x6957FAC3)
-I (..\User\task\user_task.h)(0x694103DE)
+I (..\User\module\shoot.h)(0x68EE6FF5)
+F (..\User\task\atti_esti.c)(0x6957E358)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/atti_esti.o -MD)
+I (..\User\task\user_task.h)(0x6957F1E7)
 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)
@@ -2418,8 +2421,8 @@ I (..\User\bsp\mm.h)(0x6943F21A)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x6943F21A)
 I (..\User\device\ist8310.h)(0x6943F21A)
-F (..\User\task\remote.c)(0x69404EA9)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/remote.o -MD)
+F (..\User\task\remote.c)(0x6957F98A)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/remote.o -MD)
-I (..\User\task\user_task.h)(0x694103DE)
+I (..\User\task\user_task.h)(0x6957F1E7)
 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)
@@ -2432,14 +2435,14 @@ 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\device\remote_control.h)(0x693AB322)
+I (..\User\device\remote_control.h)(0x6957E45B)
 I (..\User\module\struct_typedef.h)(0x693AB322)
 I (..\User\component\bsp_rc.h)(0x693AB321)
-I (..\User\module\remote_cmd.h)(0x693FB448)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\module\remote_cmd.h)(0x6957FAC3)
 I (..\User\component\user_math.h)(0x6943F21A)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\module\gimbal.h)(0x693FED4C)
 I (..\User\component\ahrs.h)(0x6943F21A)
 I (..\User\component\filter.h)(0x6943F21A)
@@ -2486,8 +2489,9 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
 I (..\User\bsp\mm.h)(0x6943F21A)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x6943F21A)
-F (..\User\task\user_task.c)(0x69404EA9)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/user_task.o -MD)
+I (..\User\module\shoot.h)(0x68EE6FF5)
-I (..\User\task\user_task.h)(0x694103DE)
+F (..\User\task\user_task.c)(0x6957E357)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/user_task.o -MD)
+I (..\User\task\user_task.h)(0x6957F1E7)
 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)
@@ -2500,8 +2504,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-F (..\User\task\gimbal_ctrl.c)(0x6957CD81)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/gimbal_ctrl.o -MD)
+F (..\User\task\gimbal_ctrl.c)(0x6957E358)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/gimbal_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x694103DE)
+I (..\User\task\user_task.h)(0x6957F1E7)
 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)
@@ -2569,8 +2573,80 @@ I (..\User\module\config.h)(0x693FC3A8)
 I (..\User\device\motor_lz.h)(0x6943F21A)
 I (..\User\device\motor_lk.h)(0x6943F21A)
 I (..\User\module\shoot.h)(0x68EE6FF5)
-F (..\User\task\ai.c)(0x6941B467)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/ai_1.o -MD)
+F (..\User\task\shoot_ctrl.c)(0x6957FD8A)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/shoot_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x694103DE)
+I (..\User\task\user_task.h)(0x6957F1E7)
+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)(0x693FEFE7)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
+I (..\User\module\shoot.h)(0x68EE6FF5)
+I (..\Core\Inc\main.h)(0x693FEFE9)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
+I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x693FEFE9)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\component\pid.h)(0x6943F21A)
+I (..\User\component\filter.h)(0x6943F21A)
+I (..\User\component\user_math.h)(0x6943F21A)
+I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (..\User\device\motor_rm.h)(0x6943F21A)
+I (..\User\device\motor.h)(0x6943F21A)
+I (..\User\device\device.h)(0x6943F21A)
+I (..\User\bsp\can.h)(0x6943F21A)
+I (..\Core\Inc\can.h)(0x693FEFE7)
+I (..\User\bsp\bsp.h)(0x6943F21A)
+I (..\User\bsp\mm.h)(0x6943F21A)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
+I (..\User\module\config.h)(0x693FC3A8)
+I (..\User\device\motor_lz.h)(0x6943F21A)
+I (..\User\device\motor_lk.h)(0x6943F21A)
+I (..\User\module\gimbal.h)(0x693FED4C)
+I (..\User\component\ahrs.h)(0x6943F21A)
+I (..\User\device\motor_dm.h)(0x6943F21A)
+I (..\User\device\remote_control.h)(0x6957E45B)
+I (..\User\module\struct_typedef.h)(0x693AB322)
+I (..\User\component\bsp_rc.h)(0x693AB321)
+I (..\User\module\remote_cmd.h)(0x6957FAC3)
+F (..\User\task\ai.c)(0x6957E358)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/ai_1.o -MD)
+I (..\User\task\user_task.h)(0x6957F1E7)
 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)
@@ -2634,7 +2710,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
 I (..\User\bsp\mm.h)(0x6943F21A)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x6943F21A)
-F (..\User\module\config.c)(0x6957D25A)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/config.o -MD)
+F (..\User\module\config.c)(0x69580122)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/config.o -MD)
 I (..\User\component\user_math.h)(0x6943F21A)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@@ -2701,6 +2777,69 @@ I (..\User\component\pid.h)(0x6943F21A)
 I (..\User\device\motor_dm.h)(0x6943F21A)
 I (..\User\device\motor_rm.h)(0x6943F21A)
 I (..\User\module\shoot.h)(0x68EE6FF5)
+F (..\User\module\shoot.c)(0x68EE49C5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

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

-gdwarf-3 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/shoot.o -MD)
+I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
+I (..\User\module\shoot.h)(0x68EE6FF5)
+I (..\Core\Inc\main.h)(0x693FEFE9)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
+I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x693FEFE9)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
+I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
+I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\component\pid.h)(0x6943F21A)
+I (..\User\component\filter.h)(0x6943F21A)
+I (..\User\component\user_math.h)(0x6943F21A)
+I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (..\User\device\motor_rm.h)(0x6943F21A)
+I (..\User\device\motor.h)(0x6943F21A)
+I (..\User\device\device.h)(0x6943F21A)
+I (..\User\bsp\can.h)(0x6943F21A)
+I (..\Core\Inc\can.h)(0x693FEFE7)
+I (..\User\bsp\bsp.h)(0x6943F21A)
+I (..\User\bsp\mm.h)(0x6943F21A)
+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)(0x693FEFE7)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
+I (..\User\bsp\time.h)(0x6943F21A)
 F (..\User\module\gimbal.c)(0x6957D293)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/gimbal.o -MD)
 I (..\User\module\gimbal.h)(0x693FED4C)
 I (..\User\component\ahrs.h)(0x6943F21A)
@@ -2765,8 +2904,8 @@ 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)(0x6943F21A)
 I (..\User\bsp\time.h)(0x6943F21A)
-F (..\User\module\remote_cmd.c)(0x69576BCD)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/remote_cmd.o -MD)
+F (..\User\module\remote_cmd.c)(0x6957FD5C)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/remote_cmd.o -MD)
-I (..\User\module\remote_cmd.h)(0x693FB448)
+I (..\User\module\remote_cmd.h)(0x6957FAC3)
 I (..\User\component\user_math.h)(0x6943F21A)
 I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@@ -2829,74 +2968,12 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
 I (..\User\device\motor_rm.h)(0x6943F21A)
-I (..\User\device\remote_control.h)(0x693AB322)
+I (..\User\device\remote_control.h)(0x6957E45B)
 I (..\User\module\struct_typedef.h)(0x693AB322)
 I (..\User\component\bsp_rc.h)(0x693AB321)
+I (..\User\module\shoot.h)(0x68EE6FF5)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 I (..\User\bsp\uart.h)(0x6943F21A)
 I (..\Core\Inc\usart.h)(0x6940024F)
 I (..\User\component\crc16.h)(0x6943F21A)
 I (..\User\component\crc8.h)(0x6943F21A)
-F (..\User\module\shoot.c)(0x68EE49C5)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

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

-gdwarf-3 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module

-I./RTE/_gimbal

-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 gimbal/shoot.o -MD)
-I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-I (..\User\module\shoot.h)(0x68EE6FF5)
-I (..\Core\Inc\main.h)(0x693FEFE9)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
-I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x693FEFE9)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
-I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
-I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
-I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
-I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
-I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\component\pid.h)(0x6943F21A)
-I (..\User\component\filter.h)(0x6943F21A)
-I (..\User\component\user_math.h)(0x6943F21A)
-I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (..\User\device\motor_rm.h)(0x6943F21A)
-I (..\User\device\motor.h)(0x6943F21A)
-I (..\User\device\device.h)(0x6943F21A)
-I (..\User\bsp\can.h)(0x6943F21A)
-I (..\Core\Inc\can.h)(0x693FEFE7)
-I (..\User\bsp\bsp.h)(0x6943F21A)
-I (..\User\bsp\mm.h)(0x6943F21A)
-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)(0x693FEFE7)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
-I (..\User\bsp\time.h)(0x6943F21A)

MDK-ARM/gimbal/init.d

@@ -58,4 +58,6 @@ gimbal/init.o: ..\User\task\init.c ..\User\task\user_task.h \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
   ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
   ..\User\component\bsp_rc.h ..\User\device\ai.h \
-  ..\User\component\user_math.h ..\User\module\gimbal.h
+  ..\User\component\user_math.h ..\User\module\gimbal.h \
+  ..\User\module\remote_cmd.h ..\User\module\gimbal.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h

MDK-ARM/gimbal/remote.d

@@ -12,17 +12,17 @@ gimbal/remote.o: ..\User\task\remote.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
-  ..\User\component\bsp_rc.h ..\User\module\remote_cmd.h \
+  ..\User\component\bsp_rc.h \
-  ..\User\component\user_math.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
+  ..\User\module\remote_cmd.h ..\User\component\user_math.h \
-  ..\User\component\user_math.h ..\User\component\filter.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
-  ..\User\component\pid.h ..\User\component\filter.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h ..\User\module\gimbal.h \
-  ..\User\device\motor.h ..\User\device\device.h \
+  ..\User\component\ahrs.h ..\User\component\user_math.h \
-  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\User\component\filter.h ..\User\component\pid.h \
-  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
+  ..\Core\Inc\can.h ..\Core\Inc\main.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@@ -58,4 +58,5 @@ gimbal/remote.o: ..\User\task\remote.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\module\gimbal.h
+  ..\User\module\shoot.h ..\Core\Inc\main.h ..\User\module\gimbal.h \
+  ..\User\module\shoot.h

MDK-ARM/gimbal/remote_cmd.d

@@ -56,6 +56,6 @@ gimbal/remote_cmd.o: ..\User\module\remote_cmd.c \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
   ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
-  ..\User\component\bsp_rc.h \
+  ..\User\component\bsp_rc.h ..\User\module\shoot.h ..\Core\Inc\main.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \
   ..\Core\Inc\usart.h ..\User\component\crc16.h ..\User\component\crc8.h

MDK-ARM/gimbal/remote_control.d

@@ -1,6 +1,7 @@
 gimbal/remote_control.o: ..\User\device\remote_control.c \
   ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
-  ..\User\component\bsp_rc.h ..\Core\Inc\main.h \
+  ..\User\component\bsp_rc.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h ..\Core\Inc\main.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \

MDK-ARM/gimbal/shoot_ctrl.d

@@ -0,0 +1,64 @@
+gimbal/shoot_ctrl.o: ..\User\task\shoot_ctrl.c ..\User\task\user_task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\Core\Inc\stm32f4xx_hal_conf.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  ..\Drivers\CMSIS\Include\core_cm4.h \
+  ..\Drivers\CMSIS\Include\cmsis_version.h \
+  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+  ..\Drivers\CMSIS\Include\mpu_armv7.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\Core\Inc\can.h ..\Core\Inc\main.h ..\User\bsp\bsp.h \
+  ..\User\bsp\mm.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\module\config.h ..\User\device\motor_lz.h \
+  ..\User\device\motor_lk.h ..\User\module\gimbal.h \
+  ..\User\component\ahrs.h ..\User\component\filter.h \
+  ..\User\device\motor_dm.h ..\User\module\shoot.h \
+  ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
+  ..\User\component\bsp_rc.h ..\User\module\remote_cmd.h \
+  ..\User\component\user_math.h ..\User\device\remote_control.h

User/device/remote_control.h

@@ -1,13 +1,13 @@
 /**
   ****************************(C) COPYRIGHT 2016 DJI****************************
   * @file       remote_control.c/h
-  * @brief      遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU
+  * @brief      ң¿؆÷´¦À񋂣¿؆÷ʇͨ¹ýÀˆSBUSµĐ­ҩ´«ʤ£¬ÀûӃDMA´«ʤ·½ʽ½ڔ¼CPU
-  *             资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口
+  *             ׊Դ£¬ÀûӃ´®¿ڿՏЖжπ´À­ư´¦À򻺽£¬ͬʱ̡¹©һЩµ􏟖؆􄍁£¬´®¿ڍ
-  *             的方式保证热插拔的稳定性。
+  *             µķ½ʽ±£֤Ȉ²導µĎȶ¨Д¡£
   * @note       
   * @history
   *  Version    Date            Author          Modification
-  *  V1.0.0     Dec-26-2018     RM              1. 完成
+  *  V1.0.0     Dec-26-2018     RM              1. ͪ³ɍ
   *
   @verbatim
   ==============================================================================
@@ -20,7 +20,7 @@
 #define REMOTE_CONTROL_H
 #include "struct_typedef.h"
 #include "bsp_rc.h"
-
+#include <stdbool.h>
 #define SBUS_RX_BUF_NUM 25u
 
 #define RC_FRAME_LENGTH 18u
@@ -72,7 +72,38 @@ typedef struct
        int16_t sw[8]; 
 
 } RC_ctrl_t;
+typedef struct
+{
+	bool online;
+	
+	int8_t mode;
+	
+	bool ai;
+	
+    float ch_l_x;   /* <20><>ҡ<EFBFBD><D2A1> X */
+    float ch_l_y;   /* <20><>ҡ<EFBFBD><D2A1> Y<><59><EFBFBD><EFBFBD><EFBFBD>ţ<EFBFBD> */
+    float ch_r_x;   /* <20><>ҡ<EFBFBD><D2A1> X */
+    float ch_r_y;   /* <20><>ҡ<EFBFBD><D2A1> Y */
+	
+	struct{
+	    float x;
+		float y;
+	}chassis_ctrl_vec;
+	
+	struct{
+		float w;
+	}gimbal_yaw_ctrl_vec;
+	
+  struct{
+		float w;
+	}gimbal_pit_ctrl_vec;
 
+
+	struct{
+		bool ready;
+		bool firecmd;
+	}shoot;
+} COMP_AT9S_CMD_t;
 /* ----------------------- Internal Data ----------------------------------- */
 
 /**

User/module/config.c

@@ -17,113 +17,7 @@
 // 机器人参数配置
 Config_RobotParam_t robot_config = {
 
-		.shoot_param = {
+
-		.proj=SHOOT_PROJECTILE_17MM,
-		.fric_num=4,
-		.extra_deceleration_ratio=1.0f,
-        .num_trig_tooth=2,
-        .shot_freq=20.0f,
-        .shot_burst_num=10,
-		.num_multilevel=1,
-        .jam_enable=false,
-        .jam_threshold=120.0f, 
-        .jam_suspected_time=0.5f, 
-        .trig_motor_param = {
-            .can = BSP_CAN_2, 
-            .id = 0x207,
-            .module = MOTOR_M2006,
-            .reverse = true,
-            .gear=true,
-        },
-//		.fric_motor_param = (Shoot_MOTOR_RM_Param_t[]){
-//    {
-//			.param = {
-//								.can = BSP_CAN_2, 
-//								.id = 0x201, 
-//								.module = MOTOR_M3508,
-//								.reverse = false,
-//								.gear=true,},
-//								.level = 1},
-//								{
-//			.param = {
-//								.can = BSP_CAN_2, 	
-//								.id = 0x203,
-//								.module = MOTOR_M3508,
-//								.reverse = true,
-//								.gear=true,}, 
-//								.level = 1},
-////    {.param = {.can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M3508}, .level = 2},
-//    {.param = {.can = BSP_CAN_1, .id = 0x204, .module = MOTOR_M3508}, .level = 2},
-//							},
-        .fric_follow = {
-            .k=1.0f,
-            .p=1.8f,
-            .i=0.0f,
-            .d=0.0f,
-            .i_limit=0.0f,
-            .out_limit=0.9f, 
-            .d_cutoff_freq=30.0f,
-            .range=-1.0f,
-        },
-        .fric_err = {
-            .k=1.0f,
-            .p=4.0f,
-            .i=0.4f,
-            .d=0.04f,
-            .i_limit=0.25f,
-            .out_limit=0.25f, 
-            .d_cutoff_freq=40.0f,
-            .range=-1.0f, 
-        },
-        .trig_2006 = {
-            .k=2.5f,
-            .p=1.0f,
-            .i=0.1f,
-            .d=0.04f,
-            .i_limit=0.4f,
-            .out_limit=1.0f,
-            .d_cutoff_freq=-1.0f,
-            .range=M_2PI,
-        },
-        .trig_omg_2006 = {
-            .k=1.0f,
-            .p=1.5f,
-            .i=0.3f,
-            .d=0.5f,
-            .i_limit=0.2f,
-            .out_limit=1.0f,
-            .d_cutoff_freq=-1.0f,
-            .range=-1.0f,
-        },
-        .trig_3508 = {
-            .k=0.5f,
-            .p=1.8f,
-            .i=0.3f,
-            .d=0.1f,
-            .i_limit=0.15f,
-            .out_limit=1.0f,
-            .d_cutoff_freq=-1.0f,
-            .range=M_2PI,
-        },
-        .trig_omg_3508 = {
-            .k=1.0f,
-            .p=1.0f,
-            .i=0.0f,
-            .d=0.0f,
-            .i_limit=0.0f,
-            .out_limit=1.0f,
-            .d_cutoff_freq=-1.0f,
-            .range=-1.0f,
-        },
-        .filter.fric = {
-            .in = 30.0f,
-            .out = 30.0f,
-        },
-        .filter.trig = {
-            .in = 30.0f,
-            .out = 30.0f,
-        },
-    },
 	
 .gimbal_param = {
 	/* 云台欧拉角与角速度自由选择 */
@@ -279,6 +173,115 @@ Config_RobotParam_t robot_config = {
 						
 					}       
 		},
+
+		.shoot_param = {
+		.proj=SHOOT_PROJECTILE_17MM,
+		.fric_num=4,
+		.extra_deceleration_ratio=1.0f,
+        .num_trig_tooth=2,
+        .shot_freq=20.0f,
+        .shot_burst_num=10,
+		.num_multilevel=1,
+        .jam_enable=false,
+        .jam_threshold=120.0f, 
+        .jam_suspected_time=0.5f, 
+        .trig_motor_param = {
+            .can = BSP_CAN_2, 
+            .id = 0x207,
+            .module = MOTOR_M2006,
+            .reverse = true,
+            .gear=true,
+        },
+//		.fric_motor_param = (Shoot_MOTOR_RM_Param_t[]){
+//    {
+//			.param = {
+//								.can = BSP_CAN_2, 
+//								.id = 0x201, 
+//								.module = MOTOR_M3508,
+//								.reverse = false,
+//								.gear=true,},
+//								.level = 1},
+//								{
+//			.param = {
+//								.can = BSP_CAN_2, 	
+//								.id = 0x203,
+//								.module = MOTOR_M3508,
+//								.reverse = true,
+//								.gear=true,}, 
+//								.level = 1},
+////    {.param = {.can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M3508}, .level = 2},
+//    {.param = {.can = BSP_CAN_1, .id = 0x204, .module = MOTOR_M3508}, .level = 2},
+//							},
+        .fric_follow = {
+            .k=1.0f,
+            .p=1.8f,
+            .i=0.0f,
+            .d=0.0f,
+            .i_limit=0.0f,
+            .out_limit=0.9f, 
+            .d_cutoff_freq=30.0f,
+            .range=-1.0f,
+        },
+        .fric_err = {
+            .k=0.0f,
+            .p=4.0f,
+            .i=0.4f,
+            .d=0.04f,
+            .i_limit=0.25f,
+            .out_limit=0.25f, 
+            .d_cutoff_freq=40.0f,
+            .range=-1.0f, 
+        },
+        .trig_2006 = {
+            .k=0.5f,
+            .p=1.0f,
+            .i=0.1f,
+            .d=0.05f,
+            .i_limit=0.8f,
+            .out_limit=0.5f,
+            .d_cutoff_freq=-1.0f,
+            .range=M_2PI,
+        },
+        .trig_omg_2006 = {
+            .k=0.5f,
+            .p=1.5f,
+            .i=0.3f,
+            .d=0.5f,
+            .i_limit=0.2f,
+            .out_limit=0.9f,
+            .d_cutoff_freq=-1.0f,
+            .range=-1.0f,
+        },
+        .trig_3508 = {
+            .k=0.5f,
+            .p=1.8f,
+            .i=0.3f,
+            .d=0.1f,
+            .i_limit=0.15f,
+            .out_limit=1.0f,
+            .d_cutoff_freq=-1.0f,
+            .range=M_2PI,
+        },
+        .trig_omg_3508 = {
+            .k=1.0f,
+            .p=1.0f,
+            .i=0.0f,
+            .d=0.0f,
+            .i_limit=0.0f,
+            .out_limit=1.0f,
+            .d_cutoff_freq=-1.0f,
+            .range=-1.0f,
+        },
+        .filter.fric = {
+            .in = 30.0f,
+            .out = 30.0f,
+        },
+        .filter.trig = {
+            .in = 30.0f,
+            .out = 30.0f,
+        },
+    },		
+		
 };
 
 

User/module/remote_cmd.c

@@ -6,7 +6,7 @@
 #include "component\user_math.h"
 #include "gimbal.h"
 #include "remote_control.h"
-
+#include "shoot.h"
 int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu) 
 {
 	if(rc_ctrl->sw[1]==306){
@@ -22,7 +22,47 @@ int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu)
 	
 }
 
-
+int8_t shoot_remote_cmd(Shoot_CMD_t *s_cmd,RC_ctrl_t *rc_ctrl,Remote_Mode *mode) 
+{
+	if(rc_ctrl!=NULL){		
+		s_cmd->online=true;
+		s_cmd->mode=true;
+	}
+
+		if(rc_ctrl->sw[6]==1000){		
+		s_cmd->online=false;
+		s_cmd->mode=false;
+	}
+
+		
+	if(rc_ctrl->sw[3]==1800){
+	s_cmd->firecmd=false;
+	s_cmd->ready=false;
+	}
+	 if(rc_ctrl->sw[3]==1000)
+	{
+	s_cmd->firecmd=false;
+	s_cmd->ready=true;
+	}
+	if(rc_ctrl->sw[3]==200)
+	{
+	s_cmd->firecmd=true;
+	s_cmd->ready=true;
+	}
+	
+	
+	if(rc_ctrl->sw[4]==200){
+    mode->S_Mode= SHOOT_MODE_SAFE ;    /* 安全模式 */
+	}
+	 if(rc_ctrl->sw[4]==1000)
+	{
+    mode->S_Mode= SHOOT_MODE_SINGLE ;    /* 安全模式 */
+	}
+	if(rc_ctrl->sw[4]==1800)
+	{
+   mode->S_Mode= SHOOT_MODE_BURST ;    /* 安全模式 */
+	}
+}
 
 
 

User/module/remote_cmd.h

@@ -12,9 +12,18 @@ extern "C" {
 #include "component\user_math.h"
 #include "gimbal.h"
 #include "remote_control.h"
-
+#include "shoot.h"
+	typedef struct {
+	bool on_line;
+	Shoot_Mode_t S_Mode;
+	
+	}Remote_Mode;
+	
+	
+	
+	
 int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t *imu);
-
+int8_t shoot_remote_cmd(Shoot_CMD_t *s_cmd,RC_ctrl_t *rc_ctrl,Remote_Mode *mode);
 #ifdef __cplusplus
 }
 #endif

User/task/config.yaml

@@ -26,3 +26,10 @@
   function: Task_ai
   name: ai
   stack: 256
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_shoot_ctrl
+  name: shoot_ctrl
+  stack: 256

User/task/init.c

@@ -10,6 +10,7 @@
 #include "module/gimbal.h"
 #include "remote_control.h"
 #include "ai.h"
+#include "remote_cmd.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -36,6 +37,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.gimbal_ctrl = osThreadNew(Task_gimbal_ctrl, NULL, &attr_gimbal_ctrl);
   task_runtime.thread.remote = osThreadNew(Task_remote, NULL, &attr_remote);
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
+  task_runtime.thread.shoot_ctrl = osThreadNew(Task_shoot_ctrl, NULL, &attr_shoot_ctrl);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
@@ -45,7 +47,9 @@ void Task_Init(void *argument) {
 	task_runtime.msgq.gimbal.remote= osMessageQueueNew(2u, sizeof(RC_ctrl_t), NULL);
 	task_runtime.msgq.ai.imu= osMessageQueueNew(2u, sizeof(Gimbal_Direction_t), NULL);
 	task_runtime.msgq.ai.motor= osMessageQueueNew(2u, sizeof(Gimbal_Feedback_t), NULL);	
-	task_runtime.msgq.ai.g_cmd= osMessageQueueNew(2u, sizeof(AI_cmd_t), NULL);		
+	task_runtime.msgq.ai.g_cmd= osMessageQueueNew(2u, sizeof(AI_cmd_t), NULL);	
+	task_runtime.msgq.shoot.cmd= osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
+	task_runtime.msgq.remote.mode= osMessageQueueNew(2u, sizeof(Remote_Mode), NULL);
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/remote.c

@@ -9,6 +9,7 @@
 #include "remote_control.h"
 #include "remote_cmd.h"
 #include "gimbal.h"
+#include "shoot.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -19,6 +20,8 @@
 extern RC_ctrl_t rc_ctrl;
 Gimbal_CMD_t remote_cmd;
 Gimbal_IMU_t imu;
+Shoot_CMD_t shoot_rc_cmd;
+Remote_Mode R_mode;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -43,11 +46,17 @@ void Task_remote(void *argument) {
     /* USER CODE BEGIN */
 
 //		osMessageQueueGet(task_runtime.msgq.gimbal.imu, &imu, NULL, 0);
-		
+		shoot_remote_cmd(&shoot_rc_cmd,& rc_ctrl,&R_mode); 		
 		remote_ParseHost(&remote_cmd,&rc_ctrl,&imu);
     osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
     osMessageQueuePut(task_runtime.msgq.gimbal.cmd,&remote_cmd, 0, 0);
-
+    osMessageQueueReset(task_runtime.msgq.shoot.cmd);
+    osMessageQueuePut(task_runtime.msgq.shoot.cmd,&shoot_rc_cmd, 0, 0);
+    osMessageQueueReset(task_runtime.msgq.remote.mode);
+    osMessageQueuePut(task_runtime.msgq.remote.mode,&R_mode, 0, 0);		
+		
+		
+		
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/shoot_ctrl.c

@@ -0,0 +1,64 @@
+/*
+    shoot_ctrl Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "module/shoot.h"
+#include "module/config.h"
+#include "device/remote_control.h"
+#include "module/remote_cmd.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
+Remote_Mode s_mode;
+Shoot_t shoot;
+Shoot_CMD_t shoot_cmd;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_shoot_ctrl(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / SHOOT_CTRL_FREQ;
+
+  osDelay(SHOOT_CTRL_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+	Config_ShootInit();
+	Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
+	Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);			
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+	  osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
+		osMessageQueueGet(task_runtime.msgq.remote.mode, &s_mode, NULL, 0);
+		
+		
+//	  shoot_cmd.online	=s_mode.on_line;
+//	  shoot_cmd.ready	=shoot_ctrl_cmd_rc.shoot.ready;
+//	 	shoot_cmd.firecmd	=shoot_ctrl_cmd_rc.shoot.firecmd;
+		shoot.mode=s_mode.S_Mode;
+//		shoot_cmd.mode=true;
+	  shoot.target_variable.target_rpm=4000;	
+	  
+	  Chassis_UpdateFeedback(&shoot);
+	  Shoot_Control(&shoot,&shoot_cmd);
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/user_task.c

@@ -28,4 +28,9 @@ const osThreadAttr_t attr_ai = {
     .name = "ai",
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
+};
+const osThreadAttr_t attr_shoot_ctrl = {
+    .name = "shoot_ctrl",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
 };

User/task/user_task.h

@@ -17,6 +17,7 @@ extern "C" {
 #define GIMBAL_CTRL_FREQ (500.0)
 #define REMOTE_FREQ (500.0)
 #define AI_FREQ (250.0)
+#define SHOOT_CTRL_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
@@ -24,6 +25,7 @@ extern "C" {
 #define GIMBAL_CTRL_INIT_DELAY (0)
 #define REMOTE_INIT_DELAY (0)
 #define AI_INIT_DELAY (0)
+#define SHOOT_CTRL_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -37,13 +39,14 @@ typedef struct {
         osThreadId_t gimbal_ctrl;
         osThreadId_t remote;
         osThreadId_t ai;
+        osThreadId_t shoot_ctrl;
     } thread;
 
     /* USER MESSAGE BEGIN */
     struct {
         osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
 				struct {
-            osMessageQueueId_t shoot_cmd; /* 发射命令队列 */
+            osMessageQueueId_t cmd; /* 发射命令队列 */
         }shoot;
         struct {
             osMessageQueueId_t imu;
@@ -55,6 +58,9 @@ typedef struct {
             osMessageQueueId_t g_cmd;
 						osMessageQueueId_t motor;
         }ai;
+				struct {
+            osMessageQueueId_t mode; /* 发射命令队列 */
+        }remote;
     } msgq;
     /* USER MESSAGE END */
 
@@ -75,6 +81,7 @@ typedef struct {
         UBaseType_t gimbal_ctrl;
         UBaseType_t remote;
         UBaseType_t ai;
+        UBaseType_t shoot_ctrl;
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -83,6 +90,7 @@ typedef struct {
         float gimbal_ctrl;
         float remote;
         float ai;
+        float shoot_ctrl;
     } freq;
 
     /* 任务最近运行时间 */
@@ -91,6 +99,7 @@ typedef struct {
         float gimbal_ctrl;
         float remote;
         float ai;
+        float shoot_ctrl;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -104,6 +113,7 @@ extern const osThreadAttr_t attr_atti_esti;
 extern const osThreadAttr_t attr_gimbal_ctrl;
 extern const osThreadAttr_t attr_remote;
 extern const osThreadAttr_t attr_ai;
+extern const osThreadAttr_t attr_shoot_ctrl;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
@@ -111,6 +121,7 @@ void Task_atti_esti(void *argument);
 void Task_gimbal_ctrl(void *argument);
 void Task_remote(void *argument);
 void Task_ai(void *argument);
+void Task_shoot_ctrl(void *argument);
 
 #ifdef __cplusplus
 }