diff --git a/MDK-ARM/RTE/_gimbal/RTE_Components.h b/MDK-ARM/RTE/_gimbal/RTE_Components.h
index b201bdb..a672cc7 100644
--- a/MDK-ARM/RTE/_gimbal/RTE_Components.h
+++ b/MDK-ARM/RTE/_gimbal/RTE_Components.h
@@ -11,5 +11,11 @@
#define RTE_COMPONENTS_H
+/*
+ * Define the Device Header File:
+ */
+#define CMSIS_device_header "stm32f4xx.h"
+
+
#endif /* RTE_COMPONENTS_H */
diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha
index 5d1f2f9..d043b42 100644
--- a/MDK-ARM/gimbal.uvguix.yunha
+++ b/MDK-ARM/gimbal.uvguix.yunha
@@ -15,7 +15,7 @@
38003
Registers
- 116 117
+ 115 55
346
@@ -70,7 +70,7 @@
466
Source Browser
500
- 166
+ 300
@@ -91,7 +91,7 @@
44
2
- 3
+ 2
-32000
-32000
@@ -110,8 +110,8 @@
0
- 1205
- 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
+ 841
+ 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000009000000030000000100000031443A5C79756E68615C67696D62616C5C6D6F746F725C67696D62616C5C557365725C6D6F64756C655C67696D62616C2E68000000000867696D62616C2E6800000000C5D4F200FFFFFFFF2D443A5C79756E68615C67696D62616C5C6D6F746F725C67696D62616C5C557365725C6465766963655C61692E68000000000461692E6800000000FFDC7800FFFFFFFF39443A5C79756E68615C67696D62616C5C6D6F746F725C67696D62616C5C557365725C6465766963655C72656D6F74655F636F6E74726F6C2E68000000001072656D6F74655F636F6E74726F6C2E6800000000BECEA100FFFFFFFF31443A5C79756E68615C67696D62616C5C6D6F746F725C67696D62616C5C557365725C6D6F64756C655C67696D62616C2E63000000000867696D62616C2E6300000000F0A0A100FFFFFFFF31443A5C79756E68615C67696D62616C5C6D6F746F725C67696D62616C5C557365725C6D6F64756C655C636F6E6669672E630000000008636F6E6669672E6300000000BCA8E100FFFFFFFF30443A5C79756E68615C67696D62616C5C6D6F746F725C67696D62616C5C557365725C636F6D706F6E656E745C75692E63000000000475692E63000000009CC1B600FFFFFFFF32443A5C79756E68615C67696D62616C5C6D6F746F725C67696D62616C5C557365725C636F6D706F6E656E745C616872732E630000000006616872732E6300000000F7B88600FFFFFFFF2D443A5C79756E68615C67696D62616C5C6D6F746F725C67696D62616C5C557365725C7461736B5C696E69742E630000000006696E69742E6300000000D9ADC200FFFFFFFF30443A5C79756E68615C67696D62616C5C6D6F746F725C67696D62616C5C557365725C6465766963655C6D6F746F722E6800000000076D6F746F722E6800000000A5C2D700FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000B883FFFF4F83FFFFA088FFFFB685FFFF
@@ -120,7 +120,7 @@
-1
-1
- 1
+ 0
0
0
0
@@ -130,11 +130,11 @@
0
16
- F700000040020000A005000055020000
+ B80000004F00000028040000BF000000
16
- F700000057020000A00500006C020000
+ 3C0000005300000050020000C3000000
@@ -150,17 +150,17 @@
0
16
- 0300000066000000F000000011030000
+ 0300000066000000B10000009D020000
16
- 7000000087000000240100002C010000
+ 3C00000053000000F0000000F8000000
109
109
- 0
+ 1
0
0
0
@@ -170,11 +170,11 @@
0
16
- 0300000066000000F000000011030000
+ 0300000066000000B10000009D020000
16
- 7000000087000000440100004A020000
+ 3C000000530000001001000016020000
@@ -190,11 +190,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 00000000B00100002804000020020000
16
- 220000003900000036020000A9000000
+ 3C0000005300000050020000C3000000
@@ -210,11 +210,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 220000003900000036020000A9000000
+ 3C0000005300000050020000C3000000
@@ -230,11 +230,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 220000003900000036020000A9000000
+ 3C0000005300000050020000C3000000
@@ -250,11 +250,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 220000003900000036020000A9000000
+ 3C0000005300000050020000C3000000
@@ -270,11 +270,11 @@
0
16
- 77030000660000002504000093010000
+ 770300006600000025040000DB000000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -294,7 +294,7 @@
16
- BE000000D5000000D202000045010000
+ 3C0000005300000050020000C3000000
@@ -310,11 +310,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B30100002504000007020000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -330,11 +330,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -350,11 +350,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -370,11 +370,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 220000003900000036020000A9000000
+ 3C0000005300000050020000C3000000
@@ -390,11 +390,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 220000003900000036020000A9000000
+ 3C0000005300000050020000C3000000
@@ -410,11 +410,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 220000003900000036020000A9000000
+ 3C0000005300000050020000C3000000
@@ -430,11 +430,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 220000003900000036020000A9000000
+ 3C0000005300000050020000C3000000
@@ -450,11 +450,11 @@
0
16
- 0300000066000000F000000011030000
+ 0300000066000000B10000009D020000
16
- 7CFFFFFFD001000076000000AB040000
+ 3C000000530000001001000016020000
@@ -470,11 +470,11 @@
0
16
- 0300000066000000F000000011030000
+ 0300000066000000B10000009D020000
16
- 7000000087000000440100004A020000
+ 3C000000530000001001000016020000
@@ -490,18 +490,18 @@
0
16
- F700000059020000A00500002A030000
+ 00000000CE020000A00500002A030000
16
- 9F010000F9020000B303000069030000
+ 3C0000005300000050020000C3000000
198
198
0
- 1
+ 0
0
0
32767
@@ -514,7 +514,7 @@
16
- BE000000D5000000D202000045010000
+ 3C0000005300000050020000C3000000
@@ -526,15 +526,15 @@
0
32767
0
- 32768
+ 4096
0
16
- FA000000570200009D05000057020000
+ 03000000D10200002504000011030000
16
- 0701000072020000A905000021030000
+ 3C0000005300000050020000C3000000
@@ -550,11 +550,11 @@
0
16
- BB0000006600000025040000A6000000
+ B80000006300000028040000BF000000
16
- BE000000D5000000D202000045010000
+ 3C0000005300000050020000C3000000
@@ -574,7 +574,7 @@
16
- BE000000D5000000D202000045010000
+ 3C0000005300000050020000C3000000
@@ -610,11 +610,11 @@
0
16
- 77030000660000002504000093010000
+ 740300006300000028040000AC010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -630,11 +630,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 00000000B0010000280400000C020000
16
- 220000003900000036020000A9000000
+ 3C0000005300000050020000C3000000
@@ -654,7 +654,7 @@
16
- BE000000D5000000D202000045010000
+ 3C0000005300000050020000C3000000
@@ -674,7 +674,7 @@
16
- BE000000D5000000D202000045010000
+ 3C0000005300000050020000C3000000
@@ -690,11 +690,11 @@
0
16
- BB0000006600000025040000A6000000
+ B80000006300000028040000BF000000
16
- BE000000D5000000720100007A010000
+ 3C00000053000000F0000000F8000000
@@ -714,7 +714,7 @@
16
- BE000000D5000000D202000045010000
+ 3C0000005300000050020000C3000000
@@ -730,11 +730,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -750,11 +750,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -770,11 +770,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -790,11 +790,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -810,11 +810,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -830,11 +830,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -850,11 +850,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -870,11 +870,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -890,11 +890,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -910,11 +910,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -930,11 +930,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -950,11 +950,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -970,11 +970,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -990,11 +990,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1010,11 +1010,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1030,11 +1030,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1050,11 +1050,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1070,11 +1070,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1090,11 +1090,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1110,11 +1110,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1130,11 +1130,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1150,31 +1150,31 @@
0
16
- 0300000066000000F000000011030000
+ 0300000066000000B100000007020000
16
- 7000000087000000440100004A020000
+ 3C000000530000001001000016020000
38007
38007
- 1
+ 0
0
0
0
32767
0
- 32768
+ 4096
0
16
- F700000054020000A005000055020000
+ 00000000CE020000280400002A030000
16
- 0701000072020000A905000021030000
+ 3C0000005300000050020000C3000000
@@ -1186,15 +1186,15 @@
0
32767
0
- 32768
+ 4096
0
16
- FA000000570200009D05000057020000
+ 03000000D10200002504000011030000
16
- 0701000072020000A905000021030000
+ 3C000000530000001001000016020000
@@ -1210,11 +1210,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1230,11 +1230,11 @@
0
16
- 96FFFFFF46FFFFFFFEFFFFFF84010000
+ 03000000B301000025040000F3010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1246,15 +1246,15 @@
0
32767
0
- 32768
+ 4096
0
16
- FA000000570200009D05000057020000
+ 03000000D10200002504000011030000
16
- 0701000072020000A905000021030000
+ 3C000000530000001001000016020000
@@ -1266,15 +1266,15 @@
0
32767
0
- 32768
+ 4096
0
16
- FA000000570200009D05000057020000
+ 03000000D10200002504000011030000
16
- 0701000072020000A905000021030000
+ 3C000000530000001001000016020000
@@ -1294,7 +1294,7 @@
16
- BE000000D5000000D202000045010000
+ 3C0000005300000050020000C3000000
@@ -1310,11 +1310,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1330,11 +1330,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1350,11 +1350,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1370,11 +1370,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1390,11 +1390,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1410,11 +1410,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1430,11 +1430,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1450,11 +1450,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1470,11 +1470,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1490,11 +1490,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- 2200000039000000D6000000DE000000
+ 3C00000053000000F0000000F8000000
@@ -1510,11 +1510,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- BE000000D5000000720100007A010000
+ 3C00000053000000F0000000F8000000
@@ -1530,11 +1530,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- BE000000D5000000720100007A010000
+ 3C00000053000000F0000000F8000000
@@ -1550,11 +1550,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- BE000000D5000000720100007A010000
+ 3C00000053000000F0000000F8000000
@@ -1570,11 +1570,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- BE000000D5000000720100007A010000
+ 3C00000053000000F0000000F8000000
@@ -1590,11 +1590,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- BE000000D5000000720100007A010000
+ 3C00000053000000F0000000F8000000
@@ -1610,11 +1610,11 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- BE000000D5000000720100007A010000
+ 3C00000053000000F0000000F8000000
@@ -1630,17 +1630,17 @@
0
16
- 77030000660000002504000093010000
+ 7703000066000000250400001F010000
16
- BE000000D5000000720100007A010000
+ 3C00000053000000F0000000F8000000
50017
50017
- 0
+ 1
0
0
0
@@ -1650,11 +1650,11 @@
0
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898
@@ -3603,120 +3603,84 @@
0
100
- 2
+ 3
- ..\User\module\config.c
- 9
- 21
- 22
+ ..\User\module\gimbal.h
+ 10
+ 96
+ 99
1
0
- ../User/module/config.h
- 19
- 16
- 20
+ ..\User\device\ai.h
+ 0
+ 1
+ 16
1
0
- ../User/module/gimbal.h
- 16
- 101
- 114
+ ..\User\device\remote_control.h
+ 22
+ 72
+ 92
1
0
..\User\module\gimbal.c
- 16
- 13
- 24
+ 5
+ 306
+ 346
1
0
- ..\User\task\gimbal_ctrl.c
- 16
- 8
- 9
+ ..\User\module\config.c
+ 14
+ 46
+ 53
+ 1
+
+ 0
+
+
+ ..\User\component\ui.c
+ 3
+ 277
+ 288
+ 1
+
+ 0
+
+
+ ..\User\component\ahrs.c
+ 5
+ 390
+ 413
+ 1
+
+ 0
+
+
+ ..\User\task\init.c
+ 74
+ 24
+ 41
1
0
..\User\device\motor.h
- 0
- 31
- 37
- 1
-
- 0
-
-
- ..\User\device\motor_dm.c
- 21
- 374
- 380
- 1
-
- 0
-
-
- ..\User\device\ai.c
- 1
- 13
- 19
- 1
-
- 0
-
-
- startup_stm32f407xx.s
- 0
- 169
- 174
- 1
-
- 0
-
-
- ../Core/Src/main.c
- 0
- 76
- 82
- 1
-
- 0
-
-
- ..\User\task\remote.c
- 24
- 12
- 18
- 1
-
- 0
-
-
- ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
- 0
- 3426
- 3432
- 1
-
- 0
-
-
- ..\User\task\user_task.c
- 0
- 1
- 1
+ 14
+ 19
+ 32
1
0
diff --git a/MDK-ARM/gimbal.uvprojx b/MDK-ARM/gimbal.uvprojx
index 155c35b..c57c91c 100644
--- a/MDK-ARM/gimbal.uvprojx
+++ b/MDK-ARM/gimbal.uvprojx
@@ -10,13 +10,14 @@
gimbal
0x4
ARM-ADS
- 5060960::V5.06 update 7 (build 960)::.\ARMCC
- 0
+ 6160000::V6.16::ARMCLANG
+ 6160000::V6.16::ARMCLANG
+ 1
STM32F407IGHx
STMicroelectronics
- Keil.STM32F4xx_DFP.3.0.0
+ Keil.STM32F4xx_DFP.2.17.1
https://www.keil.com/pack/
IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ
@@ -52,7 +53,7 @@
gimbal
1
0
- 1
+ 0
1
1
@@ -81,7 +82,7 @@
0
- 1
+ 0
0
@@ -328,7 +329,7 @@
1
0
0
- 5
+ 3
3
1
1
@@ -2082,8 +2083,8 @@
-
-
+
+
diff --git a/MDK-ARM/gimbal/ahrs.crf b/MDK-ARM/gimbal/ahrs.crf
index 9f15281..02051b1 100644
Binary files a/MDK-ARM/gimbal/ahrs.crf and b/MDK-ARM/gimbal/ahrs.crf differ
diff --git a/MDK-ARM/gimbal/ahrs.d b/MDK-ARM/gimbal/ahrs.d
index 9a9d23e..8cc0245 100644
--- a/MDK-ARM/gimbal/ahrs.d
+++ b/MDK-ARM/gimbal/ahrs.d
@@ -1,9 +1,8 @@
-gimbal\ahrs.o: ..\User\component\ahrs.c
-gimbal\ahrs.o: ..\User\component\ahrs.h
-gimbal\ahrs.o: ..\User\component\user_math.h
-gimbal\ahrs.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\float.h
-gimbal\ahrs.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\math.h
-gimbal\ahrs.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\ahrs.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\ahrs.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\ahrs.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\string.h
+gimbal/ahrs.o: ..\User\component\ahrs.c ..\User\component\ahrs.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/gimbal/ahrs.o b/MDK-ARM/gimbal/ahrs.o
index a94802c..96f590c 100644
Binary files a/MDK-ARM/gimbal/ahrs.o and b/MDK-ARM/gimbal/ahrs.o differ
diff --git a/MDK-ARM/gimbal/ai.crf b/MDK-ARM/gimbal/ai.crf
index b111d44..ac13e57 100644
Binary files a/MDK-ARM/gimbal/ai.crf and b/MDK-ARM/gimbal/ai.crf differ
diff --git a/MDK-ARM/gimbal/ai.d b/MDK-ARM/gimbal/ai.d
index f985cd9..5023940 100644
--- a/MDK-ARM/gimbal/ai.d
+++ b/MDK-ARM/gimbal/ai.d
@@ -1,73 +1,61 @@
-gimbal\ai.o: ..\User\device\ai.c
-gimbal\ai.o: ..\User\device\ai.h
-gimbal\ai.o: ../User/component\user_math.h
-gimbal\ai.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\float.h
-gimbal\ai.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\math.h
-gimbal\ai.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\ai.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\ai.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\ai.o: ../User/module/gimbal.h
-gimbal\ai.o: ../User/component/ahrs.h
-gimbal\ai.o: ../User/component/filter.h
-gimbal\ai.o: ../User/component/pid.h
-gimbal\ai.o: ../User/device/motor.h
-gimbal\ai.o: ../User/device/device.h
-gimbal\ai.o: ../User/device/motor_dm.h
-gimbal\ai.o: ../User/bsp/can.h
-gimbal\ai.o: ../Core/Inc/can.h
-gimbal\ai.o: ../Core/Inc/main.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\ai.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\ai.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\ai.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\ai.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\ai.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\ai.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\ai.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\ai.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\ai.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\ai.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
-gimbal\ai.o: ../User/bsp/bsp.h
-gimbal\ai.o: ../User/bsp/mm.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
-gimbal\ai.o: ../Core/Inc/FreeRTOSConfig.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
-gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
-gimbal\ai.o: ../User/device/motor_rm.h
-gimbal\ai.o: ..\User\device\remote_control.h
-gimbal\ai.o: ../User/module/struct_typedef.h
-gimbal\ai.o: ../User/component/bsp_rc.h
-gimbal\ai.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\string.h
-gimbal\ai.o: ../User/bsp\uart.h
-gimbal\ai.o: ../Core/Inc/usart.h
-gimbal\ai.o: ../User/component\crc16.h
-gimbal\ai.o: ../User/component\crc8.h
+gimbal/ai.o: ..\User\device\ai.c ..\User\device\ai.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\module\gimbal.h ..\User\component\ahrs.h \
+ ..\User\component\user_math.h ..\User\component\filter.h \
+ ..\User\component\pid.h ..\User\component\filter.h \
+ ..\User\device\motor.h ..\User\device\device.h \
+ ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+ ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+ ..\Core\Inc\stm32f4xx_hal_conf.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+ ..\Drivers\CMSIS\Include\core_cm4.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+ ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ ..\Core\Inc\FreeRTOSConfig.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ ..\User\device\motor_rm.h ..\User\device\motor.h \
+ ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
+ ..\User\component\bsp_rc.h \
+ 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
diff --git a/MDK-ARM/gimbal/ai.o b/MDK-ARM/gimbal/ai.o
index cc34283..8abf83e 100644
Binary files a/MDK-ARM/gimbal/ai.o and b/MDK-ARM/gimbal/ai.o differ
diff --git a/MDK-ARM/gimbal/atti_esti.crf b/MDK-ARM/gimbal/atti_esti.crf
index d57bfca..a08f34f 100644
Binary files a/MDK-ARM/gimbal/atti_esti.crf and b/MDK-ARM/gimbal/atti_esti.crf differ
diff --git a/MDK-ARM/gimbal/atti_esti.d b/MDK-ARM/gimbal/atti_esti.d
index 48bfee1..30c6001 100644
--- a/MDK-ARM/gimbal/atti_esti.d
+++ b/MDK-ARM/gimbal/atti_esti.d
@@ -1,69 +1,60 @@
-gimbal\atti_esti.o: ..\User\task\atti_esti.c
-gimbal\atti_esti.o: ../User/task/user_task.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
-gimbal\atti_esti.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\atti_esti.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
-gimbal\atti_esti.o: ../Core/Inc/FreeRTOSConfig.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
-gimbal\atti_esti.o: ../User/bsp/pwm.h
-gimbal\atti_esti.o: ../Core/Inc/tim.h
-gimbal\atti_esti.o: ../Core/Inc/main.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\atti_esti.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\atti_esti.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\atti_esti.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\atti_esti.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\atti_esti.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\atti_esti.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\atti_esti.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\atti_esti.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\atti_esti.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\atti_esti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
-gimbal\atti_esti.o: ../User/bsp/bsp.h
-gimbal\atti_esti.o: ../User/component/ahrs.h
-gimbal\atti_esti.o: ../User/component/user_math.h
-gimbal\atti_esti.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\float.h
-gimbal\atti_esti.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\math.h
-gimbal\atti_esti.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\atti_esti.o: ../User/component/pid.h
-gimbal\atti_esti.o: ../User/component/filter.h
-gimbal\atti_esti.o: ../User/device/bmi088.h
-gimbal\atti_esti.o: ../User/device/device.h
-gimbal\atti_esti.o: ../User/module/gimbal.h
-gimbal\atti_esti.o: ../User/device/motor.h
-gimbal\atti_esti.o: ../User/device/motor_dm.h
-gimbal\atti_esti.o: ../User/bsp/can.h
-gimbal\atti_esti.o: ../Core/Inc/can.h
-gimbal\atti_esti.o: ../User/bsp/mm.h
-gimbal\atti_esti.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
-gimbal\atti_esti.o: ../User/device/motor_rm.h
-gimbal\atti_esti.o: ../User/device/ist8310.h
+gimbal/atti_esti.o: ..\User\task\atti_esti.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\bsp\pwm.h ..\Core\Inc\tim.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+ ..\Core\Inc\stm32f4xx_hal_conf.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+ ..\Drivers\CMSIS\Include\core_cm4.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+ ..\User\bsp\bsp.h ..\User\component\ahrs.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\component\pid.h ..\User\component\filter.h \
+ ..\User\device\bmi088.h ..\User\device\device.h \
+ ..\User\module\gimbal.h ..\User\component\filter.h \
+ ..\User\device\motor.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
+ ..\Core\Inc\can.h ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ ..\User\device\motor_rm.h ..\User\device\motor.h \
+ ..\User\device\ist8310.h
diff --git a/MDK-ARM/gimbal/atti_esti.o b/MDK-ARM/gimbal/atti_esti.o
index 49ac052..fe7bf1a 100644
Binary files a/MDK-ARM/gimbal/atti_esti.o and b/MDK-ARM/gimbal/atti_esti.o differ
diff --git a/MDK-ARM/gimbal/bmi088.crf b/MDK-ARM/gimbal/bmi088.crf
index c6abed6..e7cc0d1 100644
Binary files a/MDK-ARM/gimbal/bmi088.crf and b/MDK-ARM/gimbal/bmi088.crf differ
diff --git a/MDK-ARM/gimbal/bmi088.d b/MDK-ARM/gimbal/bmi088.d
index b213ab8..ae0a52d 100644
--- a/MDK-ARM/gimbal/bmi088.d
+++ b/MDK-ARM/gimbal/bmi088.d
@@ -1,52 +1,45 @@
-gimbal\bmi088.o: ..\User\device\bmi088.c
-gimbal\bmi088.o: ..\User\device\bmi088.h
-gimbal\bmi088.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\bmi088.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\bmi088.o: ../User/component/ahrs.h
-gimbal\bmi088.o: ../User/component/user_math.h
-gimbal\bmi088.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\float.h
-gimbal\bmi088.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\math.h
-gimbal\bmi088.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\bmi088.o: ../User/device/device.h
-gimbal\bmi088.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
-gimbal\bmi088.o: ../Core/Inc/gpio.h
-gimbal\bmi088.o: ../Core/Inc/main.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\bmi088.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\bmi088.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\bmi088.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\bmi088.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\bmi088.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\bmi088.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\bmi088.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\bmi088.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\bmi088.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\bmi088.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
-gimbal\bmi088.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\string.h
-gimbal\bmi088.o: ../User/bsp/time.h
-gimbal\bmi088.o: ../User/bsp/bsp.h
-gimbal\bmi088.o: ../User/bsp/gpio.h
-gimbal\bmi088.o: ../User/bsp/spi.h
-gimbal\bmi088.o: ../Core/Inc/spi.h
+gimbal/bmi088.o: ..\User\device\bmi088.c ..\User\device\bmi088.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\User\component\ahrs.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\stddef.h \
+ ..\User\device\device.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ ..\Core\Inc\gpio.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\string.h ..\User\bsp\time.h \
+ ..\User\bsp\bsp.h ..\User\bsp\gpio.h ..\User\bsp\spi.h \
+ ..\Core\Inc\spi.h ..\User\component\user_math.h
diff --git a/MDK-ARM/gimbal/bmi088.o b/MDK-ARM/gimbal/bmi088.o
index c82e3e3..584e67d 100644
Binary files a/MDK-ARM/gimbal/bmi088.o and b/MDK-ARM/gimbal/bmi088.o differ
diff --git a/MDK-ARM/gimbal/bsp_delay.crf b/MDK-ARM/gimbal/bsp_delay.crf
index 757a0d1..da18dce 100644
Binary files a/MDK-ARM/gimbal/bsp_delay.crf and b/MDK-ARM/gimbal/bsp_delay.crf differ
diff --git a/MDK-ARM/gimbal/bsp_delay.d b/MDK-ARM/gimbal/bsp_delay.d
index 6701e02..5207e12 100644
--- a/MDK-ARM/gimbal/bsp_delay.d
+++ b/MDK-ARM/gimbal/bsp_delay.d
@@ -1,39 +1,36 @@
-gimbal\bsp_delay.o: ..\User\component\bsp_delay.c
-gimbal\bsp_delay.o: ..\User\component\bsp_delay.h
-gimbal\bsp_delay.o: ../User/module/struct_typedef.h
-gimbal\bsp_delay.o: ../Core/Inc/main.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\bsp_delay.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\bsp_delay.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\bsp_delay.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\bsp_delay.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\bsp_delay.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\bsp_delay.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\bsp_delay.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\bsp_delay.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\bsp_delay.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\bsp_delay.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\bsp_delay.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\bsp_delay.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
+gimbal/bsp_delay.o: ..\User\component\bsp_delay.c \
+ ..\User\component\bsp_delay.h ..\User\module\struct_typedef.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+ ..\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
diff --git a/MDK-ARM/gimbal/bsp_delay.o b/MDK-ARM/gimbal/bsp_delay.o
index efde456..e22319b 100644
Binary files a/MDK-ARM/gimbal/bsp_delay.o and b/MDK-ARM/gimbal/bsp_delay.o differ
diff --git a/MDK-ARM/gimbal/bsp_rc.crf b/MDK-ARM/gimbal/bsp_rc.crf
index 9141d2b..68078a5 100644
Binary files a/MDK-ARM/gimbal/bsp_rc.crf and b/MDK-ARM/gimbal/bsp_rc.crf differ
diff --git a/MDK-ARM/gimbal/bsp_rc.d b/MDK-ARM/gimbal/bsp_rc.d
index ed992fd..bea3b78 100644
--- a/MDK-ARM/gimbal/bsp_rc.d
+++ b/MDK-ARM/gimbal/bsp_rc.d
@@ -1,40 +1,37 @@
-gimbal\bsp_rc.o: ..\User\component\bsp_rc.c
-gimbal\bsp_rc.o: ..\User\component\bsp_rc.h
-gimbal\bsp_rc.o: ../User/module/struct_typedef.h
-gimbal\bsp_rc.o: ../Core/Inc/main.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\bsp_rc.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\bsp_rc.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\bsp_rc.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\bsp_rc.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\bsp_rc.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\bsp_rc.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\bsp_rc.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\bsp_rc.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\bsp_rc.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\bsp_rc.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\bsp_rc.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\bsp_rc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
-gimbal\bsp_rc.o: ..\User\component\calc_lib.h
+gimbal/bsp_rc.o: ..\User\component\bsp_rc.c ..\User\component\bsp_rc.h \
+ ..\User\module\struct_typedef.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+ ..\User\component\calc_lib.h
diff --git a/MDK-ARM/gimbal/bsp_rc.o b/MDK-ARM/gimbal/bsp_rc.o
index 6eed8c7..d169f32 100644
Binary files a/MDK-ARM/gimbal/bsp_rc.o and b/MDK-ARM/gimbal/bsp_rc.o differ
diff --git a/MDK-ARM/gimbal/calc_lib.d b/MDK-ARM/gimbal/calc_lib.d
index 7a11fdc..efcef58 100644
--- a/MDK-ARM/gimbal/calc_lib.d
+++ b/MDK-ARM/gimbal/calc_lib.d
@@ -1,3 +1,2 @@
-gimbal\calc_lib.o: ..\User\component\calc_lib.c
-gimbal\calc_lib.o: ..\User\component\calc_lib.h
-gimbal\calc_lib.o: ../User/module/struct_typedef.h
+gimbal/calc_lib.o: ..\User\component\calc_lib.c \
+ ..\User\component\calc_lib.h ..\User\module\struct_typedef.h
diff --git a/MDK-ARM/gimbal/calc_lib.o b/MDK-ARM/gimbal/calc_lib.o
index e441562..ea9bc66 100644
Binary files a/MDK-ARM/gimbal/calc_lib.o and b/MDK-ARM/gimbal/calc_lib.o differ
diff --git a/MDK-ARM/gimbal/can.crf b/MDK-ARM/gimbal/can.crf
index dbdd136..25fa505 100644
Binary files a/MDK-ARM/gimbal/can.crf and b/MDK-ARM/gimbal/can.crf differ
diff --git a/MDK-ARM/gimbal/can.d b/MDK-ARM/gimbal/can.d
index 6d6a074..002051b 100644
--- a/MDK-ARM/gimbal/can.d
+++ b/MDK-ARM/gimbal/can.d
@@ -1,38 +1,35 @@
-gimbal\can.o: ../Core/Src/can.c
-gimbal\can.o: ../Core/Inc/can.h
-gimbal\can.o: ../Core/Inc/main.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\can.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\can.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\can.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\can.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\can.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\can.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\can.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\can.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\can.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\can.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\can.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
+gimbal/can.o: ..\Core\Src\can.c ..\Core\Inc\can.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+ ..\Core\Inc\stm32f4xx_hal_conf.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+ ..\Drivers\CMSIS\Include\core_cm4.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+ ..\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
diff --git a/MDK-ARM/gimbal/can.o b/MDK-ARM/gimbal/can.o
index f21f25d..2de2011 100644
Binary files a/MDK-ARM/gimbal/can.o and b/MDK-ARM/gimbal/can.o differ
diff --git a/MDK-ARM/gimbal/can_1.crf b/MDK-ARM/gimbal/can_1.crf
index 34bd90f..d6c7b02 100644
Binary files a/MDK-ARM/gimbal/can_1.crf and b/MDK-ARM/gimbal/can_1.crf differ
diff --git a/MDK-ARM/gimbal/can_1.d b/MDK-ARM/gimbal/can_1.d
index e8abb0d..f664be0 100644
--- a/MDK-ARM/gimbal/can_1.d
+++ b/MDK-ARM/gimbal/can_1.d
@@ -1,54 +1,50 @@
-gimbal\can_1.o: ..\User\bsp\can.c
-gimbal\can_1.o: ../User/bsp/can.h
-gimbal\can_1.o: ../Core/Inc/can.h
-gimbal\can_1.o: ../Core/Inc/main.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\can_1.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\can_1.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\can_1.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\can_1.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\can_1.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\can_1.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\can_1.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\can_1.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\can_1.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\can_1.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\can_1.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\can_1.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
-gimbal\can_1.o: ../User/bsp/bsp.h
-gimbal\can_1.o: ../User/bsp/mm.h
-gimbal\can_1.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
-gimbal\can_1.o: ../Core/Inc/FreeRTOSConfig.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
-gimbal\can_1.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
-gimbal\can_1.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\string.h
+gimbal/can_1.o: ..\User\bsp\can.c ..\User\bsp\can.h ..\Core\Inc\can.h \
+ ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+ ..\Core\Inc\stm32f4xx_hal_conf.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+ ..\Drivers\CMSIS\Include\core_cm4.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+ ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ ..\Core\Inc\FreeRTOSConfig.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/gimbal/can_1.o b/MDK-ARM/gimbal/can_1.o
index 6da49cd..0c99020 100644
Binary files a/MDK-ARM/gimbal/can_1.o and b/MDK-ARM/gimbal/can_1.o differ
diff --git a/MDK-ARM/gimbal/cmd.crf b/MDK-ARM/gimbal/cmd.crf
index 86aec95..c44ebc5 100644
Binary files a/MDK-ARM/gimbal/cmd.crf and b/MDK-ARM/gimbal/cmd.crf differ
diff --git a/MDK-ARM/gimbal/cmd.d b/MDK-ARM/gimbal/cmd.d
index c635392..2895844 100644
--- a/MDK-ARM/gimbal/cmd.d
+++ b/MDK-ARM/gimbal/cmd.d
@@ -1,10 +1,8 @@
-gimbal\cmd.o: ..\User\component\cmd.c
-gimbal\cmd.o: ..\User\component\cmd.h
-gimbal\cmd.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\cmd.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\cmd.o: ../User/component/ahrs.h
-gimbal\cmd.o: ../User/component/user_math.h
-gimbal\cmd.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\float.h
-gimbal\cmd.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\math.h
-gimbal\cmd.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\cmd.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\string.h
+gimbal/cmd.o: ..\User\component\cmd.c ..\User\component\cmd.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\User\component\ahrs.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\stddef.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h
diff --git a/MDK-ARM/gimbal/cmd.o b/MDK-ARM/gimbal/cmd.o
index 70bfd12..5253bfe 100644
Binary files a/MDK-ARM/gimbal/cmd.o and b/MDK-ARM/gimbal/cmd.o differ
diff --git a/MDK-ARM/gimbal/cmsis_os2.crf b/MDK-ARM/gimbal/cmsis_os2.crf
index e51dba2..ae40243 100644
Binary files a/MDK-ARM/gimbal/cmsis_os2.crf and b/MDK-ARM/gimbal/cmsis_os2.crf differ
diff --git a/MDK-ARM/gimbal/cmsis_os2.d b/MDK-ARM/gimbal/cmsis_os2.d
index 4759b08..9233986 100644
--- a/MDK-ARM/gimbal/cmsis_os2.d
+++ b/MDK-ARM/gimbal/cmsis_os2.d
@@ -1,53 +1,55 @@
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
-gimbal\cmsis_os2.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\string.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
-gimbal\cmsis_os2.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\cmsis_os2.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\cmsis_os2.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\cmsis_os2.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
-gimbal\cmsis_os2.o: ../Core/Inc/FreeRTOSConfig.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/timers.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h
-gimbal\cmsis_os2.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h
-gimbal\cmsis_os2.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\cmsis_os2.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\cmsis_os2.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\cmsis_os2.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\cmsis_os2.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\cmsis_os2.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\cmsis_os2.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\cmsis_os2.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
+gimbal/cmsis_os2.o: \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.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 \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ ..\Core\Inc\FreeRTOSConfig.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\queue.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.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\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.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\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
diff --git a/MDK-ARM/gimbal/cmsis_os2.o b/MDK-ARM/gimbal/cmsis_os2.o
index 70ef13e..2ab74c7 100644
Binary files a/MDK-ARM/gimbal/cmsis_os2.o and b/MDK-ARM/gimbal/cmsis_os2.o differ
diff --git a/MDK-ARM/gimbal/config.crf b/MDK-ARM/gimbal/config.crf
index fc7eb8c..4e49713 100644
Binary files a/MDK-ARM/gimbal/config.crf and b/MDK-ARM/gimbal/config.crf differ
diff --git a/MDK-ARM/gimbal/config.d b/MDK-ARM/gimbal/config.d
index 2ad26d0..2d64523 100644
--- a/MDK-ARM/gimbal/config.d
+++ b/MDK-ARM/gimbal/config.d
@@ -1,67 +1,58 @@
-gimbal\config.o: ..\User\module\config.c
-gimbal\config.o: ../User/component/user_math.h
-gimbal\config.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\float.h
-gimbal\config.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\math.h
-gimbal\config.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\config.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\config.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\config.o: ../User/module/config.h
-gimbal\config.o: ../User/device/motor_lz.h
-gimbal\config.o: ../User/device/device.h
-gimbal\config.o: ../User/device/motor.h
-gimbal\config.o: ../User/bsp/can.h
-gimbal\config.o: ../Core/Inc/can.h
-gimbal\config.o: ../Core/Inc/main.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\config.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\config.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\config.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\config.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\config.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\config.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\config.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\config.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\config.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\config.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
-gimbal\config.o: ../User/bsp/bsp.h
-gimbal\config.o: ../User/bsp/mm.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
-gimbal\config.o: ../Core/Inc/FreeRTOSConfig.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
-gimbal\config.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
-gimbal\config.o: ../User/device/motor_lk.h
-gimbal\config.o: ../User/module/gimbal.h
-gimbal\config.o: ../User/component/ahrs.h
-gimbal\config.o: ../User/component/filter.h
-gimbal\config.o: ../User/component/pid.h
-gimbal\config.o: ../User/device/motor_dm.h
-gimbal\config.o: ../User/device/motor_rm.h
+gimbal/config.o: ..\User\module\config.c ..\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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\User\module\config.h ..\User\device\motor_lz.h \
+ ..\User\device\device.h ..\User\device\motor.h ..\User\bsp\can.h \
+ ..\Core\Inc\can.h ..\Core\Inc\main.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+ ..\Core\Inc\stm32f4xx_hal_conf.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+ ..\Drivers\CMSIS\Include\core_cm4.h \
+ ..\Drivers\CMSIS\Include\cmsis_version.h \
+ ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+ ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+ ..\Drivers\CMSIS\Include\mpu_armv7.h \
+ ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+ ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ ..\Core\Inc\FreeRTOSConfig.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ ..\User\device\motor_lk.h ..\User\module\gimbal.h \
+ ..\User\component\ahrs.h ..\User\component\user_math.h \
+ ..\User\component\filter.h ..\User\component\pid.h \
+ ..\User\component\filter.h ..\User\device\motor_dm.h \
+ ..\User\device\motor_rm.h ..\User\device\motor.h
diff --git a/MDK-ARM/gimbal/config.o b/MDK-ARM/gimbal/config.o
index afd78c4..48dd26c 100644
Binary files a/MDK-ARM/gimbal/config.o and b/MDK-ARM/gimbal/config.o differ
diff --git a/MDK-ARM/gimbal/crc16.crf b/MDK-ARM/gimbal/crc16.crf
index 8aac57e..f573695 100644
Binary files a/MDK-ARM/gimbal/crc16.crf and b/MDK-ARM/gimbal/crc16.crf differ
diff --git a/MDK-ARM/gimbal/crc16.d b/MDK-ARM/gimbal/crc16.d
index 9a82d0b..4a50354 100644
--- a/MDK-ARM/gimbal/crc16.d
+++ b/MDK-ARM/gimbal/crc16.d
@@ -1,8 +1,7 @@
-gimbal\crc16.o: ..\User\component\crc16.c
-gimbal\crc16.o: ..\User\component\crc16.h
-gimbal\crc16.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\crc16.o: ..\User\component\user_math.h
-gimbal\crc16.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\float.h
-gimbal\crc16.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\math.h
-gimbal\crc16.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\crc16.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
+gimbal/crc16.o: ..\User\component\crc16.c ..\User\component\crc16.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.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\stdint.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h
diff --git a/MDK-ARM/gimbal/crc16.o b/MDK-ARM/gimbal/crc16.o
index a5576db..be2c2d1 100644
Binary files a/MDK-ARM/gimbal/crc16.o and b/MDK-ARM/gimbal/crc16.o differ
diff --git a/MDK-ARM/gimbal/crc8.crf b/MDK-ARM/gimbal/crc8.crf
index df6d9a8..3010f60 100644
Binary files a/MDK-ARM/gimbal/crc8.crf and b/MDK-ARM/gimbal/crc8.crf differ
diff --git a/MDK-ARM/gimbal/crc8.d b/MDK-ARM/gimbal/crc8.d
index d290a10..200103e 100644
--- a/MDK-ARM/gimbal/crc8.d
+++ b/MDK-ARM/gimbal/crc8.d
@@ -1,5 +1,4 @@
-gimbal\crc8.o: ..\User\component\crc8.c
-gimbal\crc8.o: ..\User\component\crc8.h
-gimbal\crc8.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\crc8.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\crc8.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
+gimbal/crc8.o: ..\User\component\crc8.c ..\User\component\crc8.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h
diff --git a/MDK-ARM/gimbal/crc8.o b/MDK-ARM/gimbal/crc8.o
index 8789eea..b334297 100644
Binary files a/MDK-ARM/gimbal/crc8.o and b/MDK-ARM/gimbal/crc8.o differ
diff --git a/MDK-ARM/gimbal/croutine.crf b/MDK-ARM/gimbal/croutine.crf
index 37e9626..cf4815e 100644
Binary files a/MDK-ARM/gimbal/croutine.crf and b/MDK-ARM/gimbal/croutine.crf differ
diff --git a/MDK-ARM/gimbal/croutine.d b/MDK-ARM/gimbal/croutine.d
index 0a76a48..7ef909a 100644
--- a/MDK-ARM/gimbal/croutine.d
+++ b/MDK-ARM/gimbal/croutine.d
@@ -1,14 +1,13 @@
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
-gimbal\croutine.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\croutine.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\croutine.o: ../Core/Inc/FreeRTOSConfig.h
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h
-gimbal\croutine.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
+gimbal/croutine.o: ..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\Core\Inc\FreeRTOSConfig.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h
diff --git a/MDK-ARM/gimbal/croutine.o b/MDK-ARM/gimbal/croutine.o
index 21ca763..cbbdd9b 100644
Binary files a/MDK-ARM/gimbal/croutine.o and b/MDK-ARM/gimbal/croutine.o differ
diff --git a/MDK-ARM/gimbal/dma.crf b/MDK-ARM/gimbal/dma.crf
index ceba228..454478c 100644
Binary files a/MDK-ARM/gimbal/dma.crf and b/MDK-ARM/gimbal/dma.crf differ
diff --git a/MDK-ARM/gimbal/dma.d b/MDK-ARM/gimbal/dma.d
index 2648a6f..fc6ad86 100644
--- a/MDK-ARM/gimbal/dma.d
+++ b/MDK-ARM/gimbal/dma.d
@@ -1,38 +1,35 @@
-gimbal\dma.o: ../Core/Src/dma.c
-gimbal\dma.o: ../Core/Inc/dma.h
-gimbal\dma.o: ../Core/Inc/main.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\dma.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\dma.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\dma.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\dma.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\dma.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\dma.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\dma.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\dma.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\dma.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\dma.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\dma.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
+gimbal/dma.o: ..\Core\Src\dma.c ..\Core\Inc\dma.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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 \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+ ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+ ..\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
diff --git a/MDK-ARM/gimbal/dma.o b/MDK-ARM/gimbal/dma.o
index 25322a8..318ad4a 100644
Binary files a/MDK-ARM/gimbal/dma.o and b/MDK-ARM/gimbal/dma.o differ
diff --git a/MDK-ARM/gimbal/event_groups.crf b/MDK-ARM/gimbal/event_groups.crf
index aa593a2..5d35a3d 100644
Binary files a/MDK-ARM/gimbal/event_groups.crf and b/MDK-ARM/gimbal/event_groups.crf differ
diff --git a/MDK-ARM/gimbal/event_groups.d b/MDK-ARM/gimbal/event_groups.d
index 65f250c..48bced6 100644
--- a/MDK-ARM/gimbal/event_groups.d
+++ b/MDK-ARM/gimbal/event_groups.d
@@ -1,15 +1,18 @@
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
-gimbal\event_groups.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdlib.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
-gimbal\event_groups.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\event_groups.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\event_groups.o: ../Core/Inc/FreeRTOSConfig.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/timers.h
-gimbal\event_groups.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h
+gimbal/event_groups.o: \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\Core\Inc\FreeRTOSConfig.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h
diff --git a/MDK-ARM/gimbal/event_groups.o b/MDK-ARM/gimbal/event_groups.o
index 7256bde..06e7a61 100644
Binary files a/MDK-ARM/gimbal/event_groups.o and b/MDK-ARM/gimbal/event_groups.o differ
diff --git a/MDK-ARM/gimbal/filter.crf b/MDK-ARM/gimbal/filter.crf
index 7c1d1c7..01f52be 100644
Binary files a/MDK-ARM/gimbal/filter.crf and b/MDK-ARM/gimbal/filter.crf differ
diff --git a/MDK-ARM/gimbal/filter.d b/MDK-ARM/gimbal/filter.d
index e026026..77cb355 100644
--- a/MDK-ARM/gimbal/filter.d
+++ b/MDK-ARM/gimbal/filter.d
@@ -1,8 +1,7 @@
-gimbal\filter.o: ..\User\component\filter.c
-gimbal\filter.o: ..\User\component\filter.h
-gimbal\filter.o: ..\User\component\user_math.h
-gimbal\filter.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\float.h
-gimbal\filter.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\math.h
-gimbal\filter.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdbool.h
-gimbal\filter.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\filter.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
+gimbal/filter.o: ..\User\component\filter.c ..\User\component\filter.h \
+ ..\User\component\user_math.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h
diff --git a/MDK-ARM/gimbal/filter.o b/MDK-ARM/gimbal/filter.o
index 284d3e2..fea1068 100644
Binary files a/MDK-ARM/gimbal/filter.o and b/MDK-ARM/gimbal/filter.o differ
diff --git a/MDK-ARM/gimbal/freertos.crf b/MDK-ARM/gimbal/freertos.crf
index e900d37..73e56cb 100644
Binary files a/MDK-ARM/gimbal/freertos.crf and b/MDK-ARM/gimbal/freertos.crf differ
diff --git a/MDK-ARM/gimbal/freertos.d b/MDK-ARM/gimbal/freertos.d
index d89ef48..128ce51 100644
--- a/MDK-ARM/gimbal/freertos.d
+++ b/MDK-ARM/gimbal/freertos.d
@@ -1,49 +1,48 @@
-gimbal\freertos.o: ../Core/Src/freertos.c
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
-gimbal\freertos.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\freertos.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\freertos.o: ../Core/Inc/FreeRTOSConfig.h
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
-gimbal\freertos.o: ../Core/Inc/main.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\freertos.o: ../Core/Inc/stm32f4xx_hal_conf.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-gimbal\freertos.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-gimbal\freertos.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-gimbal\freertos.o: ../Drivers/CMSIS/Include/core_cm4.h
-gimbal\freertos.o: ../Drivers/CMSIS/Include/cmsis_version.h
-gimbal\freertos.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-gimbal\freertos.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-gimbal\freertos.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-gimbal\freertos.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-gimbal\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
-gimbal\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
-gimbal\freertos.o: ../User/task/user_task.h
+gimbal/freertos.o: ..\Core\Src\freertos.c \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.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 \
+ ..\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 \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+ ..\User\task\user_task.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h
diff --git a/MDK-ARM/gimbal/freertos.o b/MDK-ARM/gimbal/freertos.o
index ca4eeda..1748332 100644
Binary files a/MDK-ARM/gimbal/freertos.o and b/MDK-ARM/gimbal/freertos.o differ
diff --git a/MDK-ARM/gimbal/freertos_cli.crf b/MDK-ARM/gimbal/freertos_cli.crf
index 5cfcf4f..e197232 100644
Binary files a/MDK-ARM/gimbal/freertos_cli.crf and b/MDK-ARM/gimbal/freertos_cli.crf differ
diff --git a/MDK-ARM/gimbal/freertos_cli.d b/MDK-ARM/gimbal/freertos_cli.d
index ea0773d..f2b0b28 100644
--- a/MDK-ARM/gimbal/freertos_cli.d
+++ b/MDK-ARM/gimbal/freertos_cli.d
@@ -1,14 +1,14 @@
-gimbal\freertos_cli.o: ..\User\component\freertos_cli.c
-gimbal\freertos_cli.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\string.h
-gimbal\freertos_cli.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stdint.h
-gimbal\freertos_cli.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h
-gimbal\freertos_cli.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\stddef.h
-gimbal\freertos_cli.o: ../Core/Inc/FreeRTOSConfig.h
-gimbal\freertos_cli.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
-gimbal\freertos_cli.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
-gimbal\freertos_cli.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h
-gimbal\freertos_cli.o: ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
-gimbal\freertos_cli.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
-gimbal\freertos_cli.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h
-gimbal\freertos_cli.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h
-gimbal\freertos_cli.o: ..\User\component\FreeRTOS_CLI.h
+gimbal/freertos_cli.o: ..\User\component\freertos_cli.c \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+ ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+ D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.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\component\FreeRTOS_CLI.h
diff --git a/MDK-ARM/gimbal/freertos_cli.o b/MDK-ARM/gimbal/freertos_cli.o
index 05fb6ef..ae24ba6 100644
Binary files a/MDK-ARM/gimbal/freertos_cli.o and b/MDK-ARM/gimbal/freertos_cli.o differ
diff --git a/MDK-ARM/gimbal/gimbal.__i b/MDK-ARM/gimbal/gimbal.__i
new file mode 100644
index 0000000..eb78d3b
--- /dev/null
+++ b/MDK-ARM/gimbal/gimbal.__i
@@ -0,0 +1,8 @@
+-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 "../User/module/gimbal.c"
\ No newline at end of file
diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf
index 88e9eb4..25ef6db 100644
Binary files a/MDK-ARM/gimbal/gimbal.axf and b/MDK-ARM/gimbal/gimbal.axf differ
diff --git a/MDK-ARM/gimbal/gimbal.build_log.htm b/MDK-ARM/gimbal/gimbal.build_log.htm
index 74f2bcd..893eae4 100644
--- a/MDK-ARM/gimbal/gimbal.build_log.htm
+++ b/MDK-ARM/gimbal/gimbal.build_log.htm
@@ -5,42 +5,35 @@
Tool Versions:
IDE-Version: Vision V5.34.0.0
Copyright (C) 2021 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: 1 yunhai_0812024@qq.com, 1, LIC=GMZI6-DTNX9-MM89I-T3M18-2SW4L-XBYC2
+License Information: 6 6, 6, LIC=P6F5U-SYSX6-RFKIZ-JT2D4-G39T1-9ZMPB
Tool Versions:
-Toolchain: MDK-ARM Plus Version: 5.34.0.0
-Toolchain Path: D:\KEIL_MDK\ARM\ARMCC\Bin
-C Compiler: Armcc.exe V5.06 update 7 (build 960)
-Assembler: Armasm.exe V5.06 update 7 (build 960)
-Linker/Locator: ArmLink.exe V5.06 update 7 (build 960)
-Library Manager: ArmAr.exe V5.06 update 7 (build 960)
-Hex Converter: FromElf.exe V5.06 update 7 (build 960)
+Toolchain: MDK-ARM Professional Version: 5.34.0.0
+Toolchain Path: D:\Keil_v5\ARM\ARMCLANG\Bin
+C Compiler: ArmClang.exe V6.16
+Assembler: Armasm.exe V6.16
+Linker/Locator: ArmLink.exe V6.16
+Library Manager: ArmAr.exe V6.16
+Hex Converter: FromElf.exe V6.16
CPU DLL: SARMCM3.DLL V5.34.0.0
Dialog DLL: DCM.DLL V1.17.3.0
Target DLL: CMSIS_AGDI.dll V1.32.13.0
Dialog DLL: TCM.DLL V1.48.0.0
Project:
-D:\yunha\̨\\gimbal\MDK-ARM\gimbal.uvprojx
-Project File Date: 10/17/2025
+D:\yunha\gimbal\motor\gimbal\MDK-ARM\gimbal.uvprojx
+Project File Date: 10/25/2025
Output:
-*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\KEIL_MDK\ARM\ARMCC\Bin'
+*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
Build target 'gimbal'
Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o' to 'gimbal\can_1.o'.
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.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'.
-compiling remote.c...
-compiling atti_esti.c...
compiling config.c...
-compiling init.c...
-compiling gimbal.c...
-compiling gimbal_ctrl.c...
-compiling ai.c...
linking...
-Program Size: Code=62308 RO-data=980 RW-data=712 ZI-data=34272
-FromELF: creating hex file...
+Program Size: Code=84320 RO-data=996 RW-data=416 ZI-data=34280
"gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
Software Packages used:
@@ -52,19 +45,20 @@ Package Vendor: ARM
* Component: CORE Version: 5.4.0
Package Vendor: Keil
- https://www.keil.com/pack/Keil.STM32F4xx_DFP.3.0.0.pack
- Keil.STM32F4xx_DFP.3.0.0
- STMicroelectronics STM32F4 Series Device Support
+ https://www.keil.com/pack/Keil.STM32F4xx_DFP.2.17.1.pack
+ Keil.STM32F4xx_DFP.2.17.1
+ STMicroelectronics STM32F4 Series Device Support, Drivers and Examples
Collection of Component include folders:
.\RTE\_gimbal
- D:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include
+ D:\Keil_v5\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include
+ D:\Keil_v5\Arm\Packs\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include
Collection of Component Files used:
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
-Build Time Elapsed: 00:00:07
+Build Time Elapsed: 00:00:01