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pid参数基本没问题，yaw有概率抖

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This commit is contained in:
yunhai8432 2025-10-08 22:06:31 +08:00
parent d7f1d83a8f
commit 48f072ce6f
90 changed files with 7270 additions and 6992 deletions
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3
Core/Inc/usart.h
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@ -32,12 +32,15 @@ extern "C" {
/* USER CODE END Includes */
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_USART1_UART_Init(void);
void MX_USART3_UART_Init(void);
/* USER CODE BEGIN Prototypes */

2
Core/Src/can.c
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@ -47,7 +47,7 @@ void MX_CAN1_Init(void)
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = DISABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)

1
Core/Src/main.c
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@ -104,6 +104,7 @@ int main(void)
MX_TIM10_Init();
MX_I2C1_Init();
MX_I2C2_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

86
Core/Src/usart.c
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@ -24,9 +24,39 @@
/* USER CODE END 0 */
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart3;
DMA_HandleTypeDef hdma_usart3_rx;
/* USART1 init function */
void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/* USART3 init function */
void MX_USART3_UART_Init(void)
@ -61,7 +91,39 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(uartHandle->Instance==USART3)
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
/* USER CODE END USART1_MspInit 0 */
/* USART1 clock enable */
__HAL_RCC_USART1_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART1 GPIO Configuration
PB7 ------> USART1_RX
PA9 ------> USART1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART1_MspInit 1 */
/* USER CODE END USART1_MspInit 1 */
}
else if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspInit 0 */
@ -112,7 +174,27 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==USART3)
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
/* USER CODE END USART1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART1_CLK_DISABLE();
/**USART1 GPIO Configuration
PB7 ------> USART1_RX
PA9 ------> USART1_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7);
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9);
/* USER CODE BEGIN USART1_MspDeInit 1 */
/* USER CODE END USART1_MspDeInit 1 */
}
else if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspDeInit 0 */

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MDK-ARM/gimbal.uvguix.yunha
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MDK-ARM/gimbal/filter.crf
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MDK-ARM/gimbal/filter.o
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MDK-ARM/gimbal/freertos_cli.crf
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31
MDK-ARM/gimbal/gimbal.build_log.htm
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@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\yunha\ÔÆ̨\´ó½®µç»ú\gimbal\MDK-ARM\gimbal.uvprojx
Project File Date: 10/04/2025
Project File Date: 10/07/2025
<h2>Output:</h2>
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\KEIL_MDK\ARM\ARMCC\Bin'
@ -31,7 +31,32 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.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'.
"gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
compiling gimbal.c...
../User/component/user_math.h(179): warning: #1-D: last line of file ends without a newline
/* USER FUNCTION END */
../User/bsp/can.h(255): warning: #1-D: last line of file ends without a newline
#endif
../User/device/motor_rm.h(132): warning: #1-D: last line of file ends without a newline
#endif
../User/bsp/time.h(24): warning: #1295-D: Deprecated declaration BSP_TIME_Get_ms - give arg types
uint32_t BSP_TIME_Get_ms();
../User/bsp/time.h(26): warning: #1295-D: Deprecated declaration BSP_TIME_Get_us - give arg types
uint64_t BSP_TIME_Get_us();
../User/bsp/time.h(28): warning: #1295-D: Deprecated declaration BSP_TIME_Get - give arg types
uint64_t BSP_TIME_Get();
..\User\module\gimbal.c(135): warning: #940-D: missing return statement at end of non-void function "Gimbal_UpdateIMU"
}
..\User\module\gimbal.c(199): warning: #1035-D: single-precision operand implicitly converted to double-precision
if(g->setpoint.eulr.pit>pit_max)g->setpoint.eulr.pit=pit_max;
..\User\module\gimbal.c(223): warning: #111-D: statement is unreachable
g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
..\User\module\gimbal.c(228): warning: #940-D: missing return statement at end of non-void function "Gimbal_Control"
}
..\User\module\gimbal.c: 10 warnings, 0 errors
linking...
Program Size: Code=59824 RO-data=984 RW-data=396 ZI-data=31708
FromELF: creating hex file...
"gimbal\gimbal.axf" - 0 Error(s), 10 Warning(s).
<h2>Software Packages used:</h2>
@ -54,7 +79,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:02
Build Time Elapsed: 00:00:03
</pre>
</body>
</html>

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MDK-ARM/gimbal/gimbal.crf
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MDK-ARM/gimbal/gimbal.hex
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MDK-ARM/gimbal/gimbal.htm
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MDK-ARM/gimbal/gimbal.map
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MDK-ARM/gimbal/gimbal.o
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MDK-ARM/gimbal/gimbal_ctrl.crf
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MDK-ARM/gimbal/gimbal_ctrl.o
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MDK-ARM/gimbal/gimbal_gimbal.dep
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@ -1,7 +1,7 @@
Dependencies for Project 'gimbal', Target 'gimbal': (DO NOT MODIFY !)
CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARMCC
F (startup_stm32f407xx.s)(0x68DF3925)(--cpu Cortex-M4.fp.sp -g --apcs=interwork -I ../Core/Inc -I.\RTE\_gimbal -ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include --pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --pd "_RTE_ SETA 1" --list startup_stm32f407xx.lst --xref -o gimbal\startup_stm32f407xx.o --depend gimbal\startup_stm32f407xx.d)
F (../Core/Src/main.c)(0x68DCA53F)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\main.o --omf_browse gimbal\main.crf --depend gimbal\main.d)
F (startup_stm32f407xx.s)(0x68E500AB)(--cpu Cortex-M4.fp.sp -g --apcs=interwork -I ../Core/Inc -I.\RTE\_gimbal -ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include --pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --pd "_RTE_ SETA 1" --list startup_stm32f407xx.lst --xref -o gimbal\startup_stm32f407xx.o --depend gimbal\startup_stm32f407xx.d)
F (../Core/Src/main.c)(0x68E500A8)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\main.o --omf_browse gimbal\main.crf --depend gimbal\main.d)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x68DCA1AB)
@ -53,7 +53,7 @@ I (../Core/Inc/dma.h)(0x68DCA53E)
I (../Core/Inc/i2c.h)(0x68DCA1AA)
I (../Core/Inc/spi.h)(0x68DCA125)
I (../Core/Inc/tim.h)(0x68DCA16E)
I (../Core/Inc/usart.h)(0x68DCA125)
I (../Core/Inc/usart.h)(0x68E500A8)
I (../Core/Inc/gpio.h)(0x68DCA124)
F (../Core/Src/gpio.c)(0x68DCFAC7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gpio.o --omf_browse gimbal\gpio.crf --depend gimbal\gpio.d)
I (../Core/Inc/gpio.h)(0x68DCA124)
@ -140,7 +140,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (../User/task/user_task.h)(0x68DCD971)
F (../Core/Src/can.c)(0x68DD2537)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\can.o --omf_browse gimbal\can.crf --depend gimbal\can.d)
F (../Core/Src/can.c)(0x68E39F9C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\can.o --omf_browse gimbal\can.crf --depend gimbal\can.d)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -325,8 +325,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
F (../Core/Src/usart.c)(0x68DCA53E)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\usart.o --omf_browse gimbal\usart.crf --depend gimbal\usart.d)
I (../Core/Inc/usart.h)(0x68DCA125)
F (../Core/Src/usart.c)(0x68E500A7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\usart.o --omf_browse gimbal\usart.crf --depend gimbal\usart.d)
I (../Core/Inc/usart.h)(0x68E500A8)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x68DCA1AB)
@ -362,7 +362,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
F (../Core/Src/stm32f4xx_it.c)(0x68DD2538)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\stm32f4xx_it.o --omf_browse gimbal\stm32f4xx_it.crf --depend gimbal\stm32f4xx_it.d)
F (../Core/Src/stm32f4xx_it.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\stm32f4xx_it.o --omf_browse gimbal\stm32f4xx_it.crf --depend gimbal\stm32f4xx_it.d)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x68DCA1AB)
@ -408,10 +408,10 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../User/bsp/uart.h)(0x68DCF27C)
I (../Core/Inc/usart.h)(0x68DCA125)
I (../User/bsp/uart.h)(0x68E650EA)
I (../Core/Inc/usart.h)(0x68E500A8)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/device/remote_control.h)(0x68B71A11)
I (../User/module/struct_typedef.h)(0x68DBD148)
I (../User/component/bsp_rc.h)(0x62055230)
@ -1364,8 +1364,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
F (..\User\bsp\can.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\can_1.o --omf_browse gimbal\can_1.crf --depend gimbal\can_1.d)
I (../User/bsp/can.h)(0x68DCF27C)
F (..\User\bsp\can.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\can_1.o --omf_browse gimbal\can_1.crf --depend gimbal\can_1.d)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -1402,8 +1402,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
@ -1417,11 +1417,11 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\bsp\gpio.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gpio_1.o --omf_browse gimbal\gpio_1.crf --depend gimbal\gpio_1.d)
I (../User/bsp/gpio.h)(0x68DCF27C)
F (..\User\bsp\gpio.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gpio_1.o --omf_browse gimbal\gpio_1.crf --depend gimbal\gpio_1.d)
I (../User/bsp/gpio.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../Core/Inc/gpio.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -1457,8 +1457,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
F (..\User\bsp\i2c.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\i2c_1.o --omf_browse gimbal\i2c_1.crf --depend gimbal\i2c_1.d)
I (../User/bsp\i2c.h)(0x68DCF27C)
F (..\User\bsp\i2c.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\i2c_1.o --omf_browse gimbal\i2c_1.crf --depend gimbal\i2c_1.d)
I (../User/bsp\i2c.h)(0x68E650EA)
I (../Core/Inc/i2c.h)(0x68DCA1AA)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -1496,9 +1496,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/bsp/bsp.h)(0x68DCF27C)
F (..\User\bsp\mm.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\mm.o --omf_browse gimbal\mm.crf --depend gimbal\mm.d)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
F (..\User\bsp\mm.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\mm.o --omf_browse gimbal\mm.crf --depend gimbal\mm.d)
I (../User/bsp/mm.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
@ -1508,7 +1508,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/portable.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB)
F (..\User\bsp\pwm.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\pwm.o --omf_browse gimbal\pwm.crf --depend gimbal\pwm.d)
F (..\User\bsp\pwm.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\pwm.o --omf_browse gimbal\pwm.crf --depend gimbal\pwm.d)
I (../Core/Inc/tim.h)(0x68DCA16E)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -1545,9 +1545,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/pwm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68DCF27C)
F (..\User\bsp\spi.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\spi_1.o --omf_browse gimbal\spi_1.crf --depend gimbal\spi_1.d)
I (../User/bsp/pwm.h)(0x68E650EA)
I (../User/bsp/bsp.h)(0x68E650EA)
F (..\User\bsp\spi.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\spi_1.o --omf_browse gimbal\spi_1.crf --depend gimbal\spi_1.d)
I (../Core/Inc/spi.h)(0x68DCA125)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -1584,13 +1584,13 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/spi.h)(0x68DCF27C)
I (../User/bsp/spi.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/bsp/bsp.h)(0x68DCF27C)
F (..\User\bsp\time.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\time.o --omf_browse gimbal\time.crf --depend gimbal\time.d)
I (../User/bsp/time.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
F (..\User\bsp\time.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\time.o --omf_browse gimbal\time.crf --depend gimbal\time.d)
I (../User/bsp/time.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
@ -1635,8 +1635,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
F (..\User\bsp\uart.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\uart.o --omf_browse gimbal\uart.crf --depend gimbal\uart.d)
I (../Core/Inc/usart.h)(0x68DCA125)
F (..\User\bsp\uart.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\uart.o --omf_browse gimbal\uart.crf --depend gimbal\uart.d)
I (../Core/Inc/usart.h)(0x68E500A8)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x68DCA1AB)
@ -1672,50 +1672,50 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/uart.h)(0x68DCF27C)
I (../User/bsp/uart.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/bsp/bsp.h)(0x68DCF27C)
F (..\User\component\ahrs.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\ahrs.o --omf_browse gimbal\ahrs.crf --depend gimbal\ahrs.d)
I (..\User\component\ahrs.h)(0x68DCF27C)
I (..\User\component\user_math.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
F (..\User\component\ahrs.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\ahrs.o --omf_browse gimbal\ahrs.crf --depend gimbal\ahrs.d)
I (..\User\component\ahrs.h)(0x68E650EA)
I (..\User\component\user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\component\cmd.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\cmd.o --omf_browse gimbal\cmd.crf --depend gimbal\cmd.d)
I (..\User\component\cmd.h)(0x68DCF27C)
F (..\User\component\cmd.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\cmd.o --omf_browse gimbal\cmd.crf --depend gimbal\cmd.d)
I (..\User\component\cmd.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\component\crc8.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\crc8.o --omf_browse gimbal\crc8.crf --depend gimbal\crc8.d)
I (..\User\component\crc8.h)(0x68DCF27C)
F (..\User\component\crc8.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\crc8.o --omf_browse gimbal\crc8.crf --depend gimbal\crc8.d)
I (..\User\component\crc8.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
F (..\User\component\crc16.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\crc16.o --omf_browse gimbal\crc16.crf --depend gimbal\crc16.d)
I (..\User\component\crc16.h)(0x68DCF27C)
F (..\User\component\crc16.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\crc16.o --omf_browse gimbal\crc16.crf --depend gimbal\crc16.d)
I (..\User\component\crc16.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (..\User\component\user_math.h)(0x68DCF27C)
I (..\User\component\user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
F (..\User\component\filter.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\filter.o --omf_browse gimbal\filter.crf --depend gimbal\filter.d)
I (..\User\component\filter.h)(0x68DCF27C)
I (..\User\component\user_math.h)(0x68DCF27C)
F (..\User\component\filter.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\filter.o --omf_browse gimbal\filter.crf --depend gimbal\filter.d)
I (..\User\component\filter.h)(0x68E650EA)
I (..\User\component\user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
F (..\User\component\freertos_cli.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\freertos_cli.o --omf_browse gimbal\freertos_cli.crf --depend gimbal\freertos_cli.d)
F (..\User\component\freertos_cli.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\freertos_cli.o --omf_browse gimbal\freertos_cli.crf --depend gimbal\freertos_cli.d)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
@ -1728,42 +1728,42 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (..\User\component\FreeRTOS_CLI.h)(0x68DCF27C)
F (..\User\component\limiter.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\limiter.o --omf_browse gimbal\limiter.crf --depend gimbal\limiter.d)
I (..\User\component\limiter.h)(0x68DCF27C)
I (..\User\component\FreeRTOS_CLI.h)(0x68E650EA)
F (..\User\component\limiter.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\limiter.o --omf_browse gimbal\limiter.crf --depend gimbal\limiter.d)
I (..\User\component\limiter.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
F (..\User\component\mixer.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\mixer.o --omf_browse gimbal\mixer.crf --depend gimbal\mixer.d)
I (..\User\component\mixer.h)(0x68DCF27C)
I (..\User\component\user_math.h)(0x68DCF27C)
F (..\User\component\mixer.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\mixer.o --omf_browse gimbal\mixer.crf --depend gimbal\mixer.d)
I (..\User\component\mixer.h)(0x68E650EA)
I (..\User\component\user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
F (..\User\component\pid.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\pid.o --omf_browse gimbal\pid.crf --depend gimbal\pid.d)
I (..\User\component\pid.h)(0x68DCF27C)
F (..\User\component\pid.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\pid.o --omf_browse gimbal\pid.crf --depend gimbal\pid.d)
I (..\User\component\pid.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (..\User\component\filter.h)(0x68DCF27C)
I (..\User\component\user_math.h)(0x68DCF27C)
I (..\User\component\filter.h)(0x68E650EA)
I (..\User\component\user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
F (..\User\component\ui.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\ui.o --omf_browse gimbal\ui.crf --depend gimbal\ui.d)
I (../User/component/ui.h)(0x68DCF27C)
F (..\User\component\ui.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\ui.o --omf_browse gimbal\ui.crf --depend gimbal\ui.d)
I (../User/component/ui.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
F (..\User\component\user_math.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\user_math.o --omf_browse gimbal\user_math.crf --depend gimbal\user_math.d)
I (..\User\component\user_math.h)(0x68DCF27C)
F (..\User\component\user_math.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\user_math.o --omf_browse gimbal\user_math.crf --depend gimbal\user_math.d)
I (..\User\component\user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -1850,16 +1850,16 @@ I (..\User\component\calc_lib.h)(0x62054DF2)
F (..\User\component\calc_lib.c)(0x68B718FD)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\calc_lib.o --omf_browse gimbal\calc_lib.crf --depend gimbal\calc_lib.d)
I (..\User\component\calc_lib.h)(0x62054DF2)
I (..\User\module\struct_typedef.h)(0x68DBD148)
F (..\User\device\bmi088.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\bmi088.o --omf_browse gimbal\bmi088.crf --depend gimbal\bmi088.d)
I (..\User\device\bmi088.h)(0x68DCF275)
F (..\User\device\bmi088.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\bmi088.o --omf_browse gimbal\bmi088.crf --depend gimbal\bmi088.d)
I (..\User\device\bmi088.h)(0x68E50003)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (../User/device/device.h)(0x68DCF27C)
I (../User/device/device.h)(0x68E650EB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (../Core/Inc/gpio.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
@ -1896,22 +1896,22 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/bsp/time.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/gpio.h)(0x68DCF27C)
I (../User/bsp/spi.h)(0x68DCF27C)
I (../User/bsp/time.h)(0x68E650EA)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/gpio.h)(0x68E650EA)
I (../User/bsp/spi.h)(0x68E650EA)
I (../Core/Inc/spi.h)(0x68DCA125)
F (..\User\device\ist8310.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\ist8310.o --omf_browse gimbal\ist8310.crf --depend gimbal\ist8310.d)
I (..\User\device\ist8310.h)(0x68DCF275)
F (..\User\device\ist8310.c)(0x68E650EA)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\ist8310.o --omf_browse gimbal\ist8310.crf --depend gimbal\ist8310.d)
I (..\User\device\ist8310.h)(0x68E50003)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (../User/device/device.h)(0x68DCF27C)
I (../User/device/device.h)(0x68E650EB)
I (../Core/Inc/gpio.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -1947,24 +1947,24 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/bsp/time.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/gpio.h)(0x68DCF27C)
I (../User/bsp/i2c.h)(0x68DCF27C)
I (../User/bsp/time.h)(0x68E650EA)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/gpio.h)(0x68E650EA)
I (../User/bsp/i2c.h)(0x68E650EA)
I (../Core/Inc/i2c.h)(0x68DCA1AA)
F (..\User\device\motor.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\motor.o --omf_browse gimbal\motor.crf --depend gimbal\motor.d)
I (..\User\device\motor.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
F (..\User\device\motor.c)(0x68E650EB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\motor.o --omf_browse gimbal\motor.crf --depend gimbal\motor.d)
I (..\User\device\motor.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\device\motor_rm.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\motor_rm.o --omf_browse gimbal\motor_rm.crf --depend gimbal\motor_rm.d)
I (..\User\device\motor_rm.h)(0x68DCF275)
I (..\User\device\motor.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
F (..\User\device\motor_rm.c)(0x68E650EB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\motor_rm.o --omf_browse gimbal\motor_rm.crf --depend gimbal\motor_rm.d)
I (..\User\device\motor_rm.h)(0x68E50003)
I (..\User\device\motor.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2000,8 +2000,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
I (../Core/Inc/FreeRTOSConfig.h)(0x68DF391E)
@ -2014,17 +2014,17 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/bsp/time.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/bsp/time.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
F (..\User\device\motor_lk.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\motor_lk.o --omf_browse gimbal\motor_lk.crf --depend gimbal\motor_lk.d)
I (..\User\device\motor_lk.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
F (..\User\device\motor_lk.c)(0x68E650EB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\motor_lk.o --omf_browse gimbal\motor_lk.crf --depend gimbal\motor_lk.d)
I (..\User\device\motor_lk.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/device/motor.h)(0x68DCF275)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/device/motor.h)(0x68E50003)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2060,8 +2060,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
I (../Core/Inc/FreeRTOSConfig.h)(0x68DF391E)
@ -2074,17 +2074,17 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/bsp/time.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/bsp/time.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
F (..\User\device\motor_lz.c)(0x68DCF27C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\motor_lz.o --omf_browse gimbal\motor_lz.crf --depend gimbal\motor_lz.d)
I (..\User\device\motor_lz.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
F (..\User\device\motor_lz.c)(0x68E650EB)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\motor_lz.o --omf_browse gimbal\motor_lz.crf --depend gimbal\motor_lz.d)
I (..\User\device\motor_lz.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (../User/device/motor.h)(0x68DCF275)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/device/motor.h)(0x68E50003)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2120,8 +2120,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
I (../Core/Inc/FreeRTOSConfig.h)(0x68DF391E)
@ -2134,8 +2134,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/bsp/time.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/bsp/time.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
F (..\User\device\remote_control.c)(0x68DB8902)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\remote_control.o --omf_browse gimbal\remote_control.crf --depend gimbal\remote_control.d)
@ -2178,22 +2178,22 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/component/calc_lib.h)(0x62054DF2)
F (..\User\device\ai.c)(0x68E07AC3)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\ai.o --omf_browse gimbal\ai.crf --depend gimbal\ai.d)
F (..\User\device\ai.c)(0x68E51AA5)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\ai.o --omf_browse gimbal\ai.crf --depend gimbal\ai.d)
I (..\User\device\ai.h)(0x68DD46B5)
I (../User/component\user_math.h)(0x68DCF27C)
I (../User/component\user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (../User/module/gimbal.h)(0x68DD2261)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/filter.h)(0x68DCF27C)
I (../User/component/pid.h)(0x68DCF27C)
I (../User/device/motor.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
I (../User/device/motor_rm.h)(0x68DCF275)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/filter.h)(0x68E650EA)
I (../User/component/pid.h)(0x68E650EA)
I (../User/device/motor.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (../User/device/motor_rm.h)(0x68E50003)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2228,8 +2228,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
I (../Core/Inc/FreeRTOSConfig.h)(0x68DF391E)
@ -2245,10 +2245,10 @@ I (..\User\device\remote_control.h)(0x68B71A11)
I (../User/module/struct_typedef.h)(0x68DBD148)
I (../User/component/bsp_rc.h)(0x62055230)
I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (../User/bsp\uart.h)(0x68DCF27C)
I (../Core/Inc/usart.h)(0x68DCA125)
I (../User/component\crc16.h)(0x68DCF27C)
I (../User/component\crc8.h)(0x68DCF27C)
I (../User/bsp\uart.h)(0x68E650EA)
I (../Core/Inc/usart.h)(0x68E500A8)
I (../User/component\crc16.h)(0x68E650EA)
I (../User/component\crc8.h)(0x68E650EA)
F (..\User\task\init.c)(0x68DF3DF2)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\init.o --omf_browse gimbal\init.crf --depend gimbal\init.d)
I (../User/task/user_task.h)(0x68DCD971)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
@ -2264,17 +2264,17 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../User/module/gimbal.h)(0x68DD2261)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/component/filter.h)(0x68DCF27C)
I (../User/component/pid.h)(0x68DCF27C)
I (../User/device/motor.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
I (../User/device/motor_rm.h)(0x68DCF275)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/component/filter.h)(0x68E650EA)
I (../User/component/pid.h)(0x68E650EA)
I (../User/device/motor.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (../User/device/motor_rm.h)(0x68E50003)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2309,13 +2309,13 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../User/device/remote_control.h)(0x68B71A11)
I (../User/module/struct_typedef.h)(0x68DBD148)
I (../User/component/bsp_rc.h)(0x62055230)
F (..\User\task\atti_esti.c)(0x68DF3946)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\atti_esti.o --omf_browse gimbal\atti_esti.crf --depend gimbal\atti_esti.d)
F (..\User\task\atti_esti.c)(0x68E65205)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\atti_esti.o --omf_browse gimbal\atti_esti.crf --depend gimbal\atti_esti.d)
I (../User/task/user_task.h)(0x68DCD971)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -2329,7 +2329,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../User/bsp/pwm.h)(0x68DCF27C)
I (../User/bsp/pwm.h)(0x68E650EA)
I (../Core/Inc/tim.h)(0x68DCA16E)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2364,24 +2364,24 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/component/pid.h)(0x68DCF27C)
I (../User/component/filter.h)(0x68DCF27C)
I (../User/device/bmi088.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
I (../User/component/pid.h)(0x68E650EA)
I (../User/component/filter.h)(0x68E650EA)
I (../User/device/bmi088.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (../User/module/gimbal.h)(0x68DD2261)
I (../User/device/motor.h)(0x68DCF275)
I (../User/device/motor_rm.h)(0x68DCF275)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/device/motor.h)(0x68E50003)
I (../User/device/motor_rm.h)(0x68E50003)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../User/device/ist8310.h)(0x68DCF275)
I (../User/device/ist8310.h)(0x68E50003)
F (..\User\task\remote.c)(0x68DF3F57)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\remote.o --omf_browse gimbal\remote.crf --depend gimbal\remote.d)
I (../User/task/user_task.h)(0x68DCD971)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
@ -2400,18 +2400,18 @@ I (../User/device/remote_control.h)(0x68B71A11)
I (../User/module/struct_typedef.h)(0x68DBD148)
I (../User/component/bsp_rc.h)(0x62055230)
I (../User/device/ai.h)(0x68DD46B5)
I (../User/component\user_math.h)(0x68DCF27C)
I (../User/component\user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/module/gimbal.h)(0x68DD2261)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/filter.h)(0x68DCF27C)
I (../User/component/pid.h)(0x68DCF27C)
I (../User/device/motor.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
I (../User/device/motor_rm.h)(0x68DCF275)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/filter.h)(0x68E650EA)
I (../User/component/pid.h)(0x68E650EA)
I (../User/device/motor.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (../User/device/motor_rm.h)(0x68E50003)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2446,10 +2446,10 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
F (..\User\task\gimbal_ctrl.c)(0x68DE8F07)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gimbal_ctrl.o --omf_browse gimbal\gimbal_ctrl.crf --depend gimbal\gimbal_ctrl.d)
F (..\User\task\gimbal_ctrl.c)(0x68E6578C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gimbal_ctrl.o --omf_browse gimbal\gimbal_ctrl.crf --depend gimbal\gimbal_ctrl.d)
I (../User/task/user_task.h)(0x68DCD971)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@ -2464,17 +2464,17 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../User/module/gimbal.h)(0x68DD2261)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (../User/component/filter.h)(0x68DCF27C)
I (../User/component/pid.h)(0x68DCF27C)
I (../User/device/motor.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
I (../User/device/motor_rm.h)(0x68DCF275)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/component/filter.h)(0x68E650EA)
I (../User/component/pid.h)(0x68E650EA)
I (../User/device/motor.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (../User/device/motor_rm.h)(0x68E50003)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2509,12 +2509,12 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../User/module/config.h)(0x68DD3463)
I (../User/device/motor_lz.h)(0x68DCF275)
I (../User/device/motor_lk.h)(0x68DCF275)
I (../User/device/motor_lz.h)(0x68E50003)
I (../User/device/motor_lk.h)(0x68E50003)
F (..\User\task\user_task.c)(0x68DCCBFE)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\user_task.o --omf_browse gimbal\user_task.crf --depend gimbal\user_task.d)
I (../User/task/user_task.h)(0x68DCD971)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
@ -2529,21 +2529,21 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
F (..\User\module\gimbal.c)(0x68E07FD4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gimbal.o --omf_browse gimbal\gimbal.crf --depend gimbal\gimbal.d)
F (..\User\module\gimbal.c)(0x68E669E4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gimbal.o --omf_browse gimbal\gimbal.crf --depend gimbal\gimbal.d)
I (..\User\module\gimbal.h)(0x68DD2261)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (../User/component/filter.h)(0x68DCF27C)
I (../User/component/pid.h)(0x68DCF27C)
I (../User/device/motor.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
I (../User/device/motor_rm.h)(0x68DCF275)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/component/filter.h)(0x68E650EA)
I (../User/component/pid.h)(0x68E650EA)
I (../User/device/motor.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (../User/device/motor_rm.h)(0x68E50003)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2578,8 +2578,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
I (../Core/Inc/FreeRTOSConfig.h)(0x68DF391E)
@ -2591,19 +2591,19 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (../User/bsp/time.h)(0x68DCF27C)
F (..\User\module\config.c)(0x68E08D56)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\config.o --omf_browse gimbal\config.crf --depend gimbal\config.d)
I (../User/component/user_math.h)(0x68DCF27C)
I (../User/bsp/time.h)(0x68E650EA)
F (..\User\module\config.c)(0x68E65725)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\config.o --omf_browse gimbal\config.crf --depend gimbal\config.d)
I (../User/component/user_math.h)(0x68E650EA)
I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
I (../User/module/config.h)(0x68DD3463)
I (../User/device/motor_lz.h)(0x68DCF275)
I (../User/device/device.h)(0x68DCF27C)
I (../User/device/motor.h)(0x68DCF275)
I (../User/bsp/can.h)(0x68DCF27C)
I (../User/device/motor_lz.h)(0x68E50003)
I (../User/device/device.h)(0x68E650EB)
I (../User/device/motor.h)(0x68E50003)
I (../User/bsp/can.h)(0x68E650EA)
I (../Core/Inc/can.h)(0x68DCA124)
I (../Core/Inc/main.h)(0x68DCA53F)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68B05645)
@ -2638,8 +2638,8 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68B05645)
I (../User/bsp/bsp.h)(0x68DCF27C)
I (../User/bsp/mm.h)(0x68DCF27C)
I (../User/bsp/bsp.h)(0x68E650EA)
I (../User/bsp/mm.h)(0x68E650EA)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h)(0x68B055DB)
I (../Core/Inc/FreeRTOSConfig.h)(0x68DF391E)
@ -2651,9 +2651,9 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x68B055DB)
I (../User/device/motor_lk.h)(0x68DCF275)
I (../User/device/motor_lk.h)(0x68E50003)
I (../User/module/gimbal.h)(0x68DD2261)
I (../User/component/ahrs.h)(0x68DCF27C)
I (../User/component/filter.h)(0x68DCF27C)
I (../User/component/pid.h)(0x68DCF27C)
I (../User/device/motor_rm.h)(0x68DCF275)
I (../User/component/ahrs.h)(0x68E650EA)
I (../User/component/filter.h)(0x68E650EA)
I (../User/component/pid.h)(0x68E650EA)
I (../User/device/motor_rm.h)(0x68E50003)

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2
User/bsp/bsp_config.yaml
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@ -55,7 +55,7 @@ mm:
pwm:
configs:
- channel: TIM_CHANNEL_1
custom_name: TIM10_CH1
custom_name: IMU_HEAT
label: TIM10_CH1
timer: TIM10
enabled: true

2
User/bsp/pwm.h
View File

@ -23,7 +23,7 @@ extern "C" {
/* Exported types ----------------------------------------------------------- */
/* PWM通道 */
typedef enum {
BSP_PWM_TIM10_CH1,
BSP_PWM_IMU_HEAT,
BSP_PWM_NUM,
BSP_PWM_ERR,
} BSP_PWM_Channel_t;

4
User/device/ai.c
View File

@ -14,8 +14,8 @@ int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu)
{
if(rc_ctrl->sw[2]==1800){
g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
g_cmd->delta_pit=((rc_ctrl->ch[1])*(0.1/780));//806~-780,0.473~-0.71
g_cmd->delta_yaw=((rc_ctrl->ch[3])*(0.1/397));//400~-397
g_cmd->delta_pit=((rc_ctrl->ch[2]-780)*(0.6/791));//806~-780,0.473~-0.71
g_cmd->delta_yaw=((rc_ctrl->ch[0])*(1.2/808));//400~-397
}
else if(rc_ctrl->sw[2]==200)

20
User/module/config.c
View File

@ -39,8 +39,8 @@ Config_RobotParam_t robot_config = {
.yaw_omega = {
.k = 1.0f,
.p = 1.0f,
.i = 0.8f,
.d = 0.002f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
@ -48,9 +48,9 @@ Config_RobotParam_t robot_config = {
},
.yaw_angle = {
.k = 10.0f,
.p = 3.0f,
.i = 0.0f,
.d = 0.003f,
.p = 2.7f,
.i = 11.9f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
@ -59,17 +59,17 @@ Config_RobotParam_t robot_config = {
.pit_omega = {
.k = 0.25f,
.p = 1.0f,
.i = 5.0f,
.d = 0.0011f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.pit_angle = {
.k = 10.0f,
.p = 10.0f,
.i = 10.5f,
.k = 20.0f,
.p = 2.0f,
.i = 15.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,

49
User/module/gimbal.c
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@ -41,13 +41,7 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
// MOTOR_DM_Enable(&(g->param->yaw_motor));
AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
// if (g->mode == GIMBAL_MODE_RELAX) {
// if (mode == GIMBAL_MODE_ABSOLUTE) {
// g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
// } else if (mode == GIMBAL_MODE_RELATIVE) {
// g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
// }
// }
g->setpoint.eulr.pit = g->feedback.imu.eulr.pit;
g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
@ -75,7 +69,7 @@ int8_t Gimbal_Init(Gimbal_t *g,Gimbal_Params_t *param,
g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 */
/* 初始化云台电机控制PID和LPF */
PID_Init(&(g->pid.yaw_angle), KPID_MODE_NO_D, target_freq,
PID_Init(&(g->pid.yaw_angle), KPID_MODE_CALC_D, target_freq,
&(g->param->pid.yaw_angle));
PID_Init(&(g->pid.yaw_omega), KPID_MODE_CALC_D, target_freq,
&(g->param->pid.yaw_omega));
@ -161,15 +155,13 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
/* 处理yaw控制命令，软件限位 - 使用电机绝对角度 */
float delta_yaw = g_cmd->delta_yaw*g->dt;
// float delta_yaw = g_cmd->delta_yaw ;
if (g->param->travel.yaw > 0) {
/* 计算当前电机角度与IMU角度的偏差 */
float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
/* 处理跨越±π的情况 */
if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
/* 计算到限位边界的距离 */
// if (g->param->travel.yaw > 0) {
// /* 计算当前电机角度与IMU角度的偏差 */
// float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
// /* 处理跨越±π的情况 */
// if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
// if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
// /* 计算到限位边界的距离 */
// const float delta_max = CircleError(g->limit.yaw.max,
// (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw),M_2PI);
// const float delta_min = CircleError(g->limit.yaw.min,
@ -178,9 +170,10 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
// /* 限制控制命令 */
// if (delta_yaw > delta_max) delta_yaw = delta_max;
// if (delta_yaw < delta_min) delta_yaw = delta_min;
}
CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
// }
CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
/*限制在-3.14~3.14*/
if (g->setpoint.eulr.yaw > M_PI) g->setpoint.eulr.yaw -= M_2PI;
/* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
@ -200,14 +193,12 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
const float delta_min = CircleError(g->limit.pit.min,
(g->setpoint.eulr.pit + motor_imu_offset + delta_pit), M_2PI);
/* 限制控制命令 */
// if (delta_pit > delta_max) delta_pit = delta_max;
// if (delta_pit < delta_min) delta_pit = delta_min;
}
/* 限制控制命令 */
g->setpoint.eulr.pit+=delta_pit;
if(g->setpoint.eulr.pit>pit_max)g->setpoint.eulr.pit=pit_max;
if(g->setpoint.eulr.pit<pit_min)g->setpoint.eulr.pit=pit_min;
// CircleAdd(&(g->setpoint.eulr.pit),delta_pit, M_2PI);
/* 控制相关逻辑 */
float yaw_omega_set_point, pit_omega_set_point;
@ -216,7 +207,6 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
g->out.yaw = 0.0f;
g->out.pit = 0.0f;
break;
case GIMBAL_MODE_ABSOLUTE:
yaw_set1=yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
@ -227,15 +217,6 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
g->feedback.imu.eulr.pit, 0.0f, g->dt);
pit_set2=g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->feedback.imu.gyro.x, 0.f, g->dt);
// yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
// g->feedback.motor.yaw.rotor_abs_angle, 0.0f, g->dt);
// g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
// g->feedback.imu.gyro.z, 0.f, g->dt);
// pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
// g->feedback.motor.pit.rotor_abs_angle, 0.0f, g->dt);
// g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
// g->feedback.imu.gyro.y, 0.f, g->dt);
break;
/* 输出滤波 */
@ -254,7 +235,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
*/
void Gimbal_Output(Gimbal_t *g){
MOTOR_RM_SetOutput(&g->param->yaw_motor, g->out.yaw);
// MOTOR_RM_SetOutput(&g->param->pit_motor, -(g->out.pit));//极性反了
MOTOR_RM_SetOutput(&g->param->pit_motor, -(g->out.pit));//极性反了
MOTOR_RM_Ctrl(&g->param->pit_motor);
MOTOR_RM_Ctrl(&g->param->yaw_motor);
}

19
User/task/atti_esti.c
View File

@ -12,6 +12,7 @@
#include "device/bmi088.h"
#include "module/gimbal.h"
#include "ist8310.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -29,10 +30,18 @@ KPID_t imu_temp_ctrl_pid;
Gimbal_IMU_t gimbal_to_send;
//BMI088_Cali_t cali_bmi088;
BMI088_Cali_t cali_bmi088= {
.gyro_offset = {0.0f,0.0f,0.0f},
};
static const KPID_Params_t imu_temp_ctrl_pid_param = {
.k = 0.15f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
};
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -50,6 +59,11 @@ void Task_atti_esti(void *argument) {
/* USER CODE INIT BEGIN */
BMI088_Init(&bmi088,&cali_bmi088);
AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
/* IMU温度控制PWM输出 */
BSP_PWM_Start(BSP_PWM_IMU_HEAT);
/* USER CODE INIT END */
while (1) {
@ -74,6 +88,9 @@ void Task_atti_esti(void *argument) {
AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
osKernelUnlock();
BSP_PWM_SetComp(BSP_PWM_IMU_HEAT,
PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));
gimbal_to_send.eulr = eulr_to_send;
gimbal_to_send.gyro = bmi088.gyro;

68
gimbal.ioc
View File

@ -7,7 +7,8 @@ CAN1.BS2=CAN_BS2_3TQ
CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=71.42857142857143
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,NART
CAN1.NART=ENABLE
CAN1.Prescaler=3
CAN2.BS1=CAN_BS1_10TQ
CAN2.BS2=CAN_BS2_3TQ
@ -74,7 +75,8 @@ Mcu.IP1=CAN2
Mcu.IP10=SYS
Mcu.IP11=TIM7
Mcu.IP12=TIM10
Mcu.IP13=USART3
Mcu.IP13=USART1
Mcu.IP14=USART3
Mcu.IP2=DMA
Mcu.IP3=FREERTOS
Mcu.IP4=I2C1
@ -83,42 +85,44 @@ Mcu.IP6=NVIC
Mcu.IP7=RCC
Mcu.IP8=SPI1
Mcu.IP9=SPI2
Mcu.IPNb=14
Mcu.IPNb=15
Mcu.Name=STM32F407I(E-G)Hx
Mcu.Package=UFBGA176
Mcu.Pin0=PB8
Mcu.Pin1=PB5
Mcu.Pin10=PC10
Mcu.Pin11=PD1
Mcu.Pin12=PI3
Mcu.Pin13=PI2
Mcu.Pin14=PI1
Mcu.Pin15=PF0
Mcu.Pin16=PH0-OSC_IN
Mcu.Pin17=PH1-OSC_OUT
Mcu.Pin18=PF1
Mcu.Pin19=PG6
Mcu.Pin10=PC11
Mcu.Pin11=PC10
Mcu.Pin12=PD1
Mcu.Pin13=PI3
Mcu.Pin14=PI2
Mcu.Pin15=PI1
Mcu.Pin16=PF0
Mcu.Pin17=PA9
Mcu.Pin18=PH0-OSC_IN
Mcu.Pin19=PH1-OSC_OUT
Mcu.Pin2=PB4
Mcu.Pin20=PF6
Mcu.Pin21=PG3
Mcu.Pin22=PA0-WKUP
Mcu.Pin23=PA4
Mcu.Pin24=PC4
Mcu.Pin25=PC5
Mcu.Pin26=PA7
Mcu.Pin27=PB0
Mcu.Pin28=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin29=VP_SYS_VS_Systick
Mcu.Pin20=PF1
Mcu.Pin21=PG6
Mcu.Pin22=PF6
Mcu.Pin23=PG3
Mcu.Pin24=PA0-WKUP
Mcu.Pin25=PA4
Mcu.Pin26=PC4
Mcu.Pin27=PC5
Mcu.Pin28=PA7
Mcu.Pin29=PB0
Mcu.Pin3=PB3
Mcu.Pin30=VP_TIM7_VS_ClockSourceINT
Mcu.Pin31=VP_TIM10_VS_ClockSourceINT
Mcu.Pin30=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin31=VP_SYS_VS_Systick
Mcu.Pin32=VP_TIM7_VS_ClockSourceINT
Mcu.Pin33=VP_TIM10_VS_ClockSourceINT
Mcu.Pin4=PA14
Mcu.Pin5=PA13
Mcu.Pin6=PB9
Mcu.Pin7=PB6
Mcu.Pin8=PD0
Mcu.Pin9=PC11
Mcu.PinsNb=32
Mcu.Pin7=PB7
Mcu.Pin8=PB6
Mcu.Pin9=PD0
Mcu.PinsNb=34
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
@ -176,6 +180,8 @@ PA7.GPIO_PuPd=GPIO_PULLUP
PA7.Locked=true
PA7.Mode=Full_Duplex_Master
PA7.Signal=SPI1_MOSI
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
PB0.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
PB0.GPIO_Label=GYRO_CS
PB0.GPIO_PuPd=GPIO_PULLUP
@ -196,6 +202,8 @@ PB5.Mode=CAN_Activate
PB5.Signal=CAN2_RX
PB6.Mode=CAN_Activate
PB6.Signal=CAN2_TX
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PB8.Mode=I2C
PB8.Signal=I2C1_SCL
PB9.Mode=I2C
@ -352,6 +360,8 @@ TIM10.IPParameters=Channel,Period
TIM10.Period=5000
TIM7.IPParameters=Period
TIM7.Period=999
USART1.IPParameters=VirtualMode
USART1.VirtualMode=VM_ASYNC
USART3.BaudRate=100000
USART3.IPParameters=VirtualMode,BaudRate,Parity,StopBits
USART3.Parity=PARITY_EVEN