1代自瞄

Core/Inc/stm32f4xx_it.h

@@ -57,12 +57,16 @@ void EXTI0_IRQHandler(void);
 void EXTI3_IRQHandler(void);
 void EXTI4_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
+void DMA1_Stream5_IRQHandler(void);
+void DMA1_Stream6_IRQHandler(void);
 void CAN1_TX_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
 void I2C1_EV_IRQHandler(void);
 void I2C1_ER_IRQHandler(void);
+void USART1_IRQHandler(void);
+void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
 void TIM7_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
@@ -70,6 +74,7 @@ void DMA2_Stream3_IRQHandler(void);
 void CAN2_TX_IRQHandler(void);
 void CAN2_RX0_IRQHandler(void);
 void CAN2_RX1_IRQHandler(void);
+void USART6_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Inc/usart.h

@@ -34,14 +34,20 @@ extern "C" {
 
 extern UART_HandleTypeDef huart1;
 
+extern UART_HandleTypeDef huart2;
+
 extern UART_HandleTypeDef huart3;
 
+extern UART_HandleTypeDef huart6;
+
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
 void MX_USART1_UART_Init(void);
+void MX_USART2_UART_Init(void);
 void MX_USART3_UART_Init(void);
+void MX_USART6_UART_Init(void);
 
 /* USER CODE BEGIN Prototypes */
 

Core/Src/dma.c

@@ -47,6 +47,12 @@ void MX_DMA_Init(void)
   /* DMA1_Stream1_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 7, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
+  /* DMA1_Stream5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
+  /* DMA1_Stream6_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
   /* DMA2_Stream2_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);

Core/Src/gpio.c

@@ -46,13 +46,13 @@ void MX_GPIO_Init(void)
 
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOG_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOI_CLK_ENABLE();
   __HAL_RCC_GPIOF_CLK_ENABLE();
   __HAL_RCC_GPIOH_CLK_ENABLE();
-  __HAL_RCC_GPIOG_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(CMPS_RST_GPIO_Port, CMPS_RST_Pin, GPIO_PIN_RESET);

Core/Src/main.c

@@ -105,6 +105,8 @@ int main(void)
   MX_I2C1_Init();
   MX_I2C2_Init();
   MX_USART1_UART_Init();
+  MX_USART2_UART_Init();
+  MX_USART6_UART_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */

Core/Src/stm32f4xx_it.c

@@ -65,8 +65,13 @@ extern I2C_HandleTypeDef hi2c1;
 extern DMA_HandleTypeDef hdma_spi1_rx;
 extern DMA_HandleTypeDef hdma_spi1_tx;
 extern TIM_HandleTypeDef htim7;
+extern DMA_HandleTypeDef hdma_usart2_rx;
+extern DMA_HandleTypeDef hdma_usart2_tx;
 extern DMA_HandleTypeDef hdma_usart3_rx;
+extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;
+extern UART_HandleTypeDef huart6;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -247,6 +252,34 @@ void DMA1_Stream1_IRQHandler(void)
   /* USER CODE END DMA1_Stream1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 stream5 global interrupt.
+  */
+void DMA1_Stream5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_rx);
+  /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream5_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream6 global interrupt.
+  */
+void DMA1_Stream6_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream6_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_tx);
+  /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream6_IRQn 1 */
+}
+
 /**
   * @brief This function handles CAN1 TX interrupts.
   */
@@ -331,6 +364,36 @@ void I2C1_ER_IRQHandler(void)
   /* USER CODE END I2C1_ER_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+  BSP_UART_IRQHandler(&huart1);
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USART2 global interrupt.
+  */
+void USART2_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART2_IRQn 0 */
+
+  /* USER CODE END USART2_IRQn 0 */
+  HAL_UART_IRQHandler(&huart2);
+  /* USER CODE BEGIN USART2_IRQn 1 */
+  BSP_UART_IRQHandler(&huart2);
+
+  /* USER CODE END USART2_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART3 global interrupt.
   */
@@ -430,6 +493,21 @@ void CAN2_RX1_IRQHandler(void)
   /* USER CODE END CAN2_RX1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART6 global interrupt.
+  */
+void USART6_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART6_IRQn 0 */
+
+  /* USER CODE END USART6_IRQn 0 */
+  HAL_UART_IRQHandler(&huart6);
+  /* USER CODE BEGIN USART6_IRQn 1 */
+  BSP_UART_IRQHandler(&huart6);
+
+  /* USER CODE END USART6_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/usart.c

@@ -25,7 +25,11 @@
 /* USER CODE END 0 */
 
 UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
+UART_HandleTypeDef huart6;
+DMA_HandleTypeDef hdma_usart2_rx;
+DMA_HandleTypeDef hdma_usart2_tx;
 DMA_HandleTypeDef hdma_usart3_rx;
 
 /* USART1 init function */
@@ -56,6 +60,35 @@ void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 2 */
 
+}
+/* USART2 init function */
+
+void MX_USART2_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART2_Init 0 */
+
+  /* USER CODE END USART2_Init 0 */
+
+  /* USER CODE BEGIN USART2_Init 1 */
+
+  /* USER CODE END USART2_Init 1 */
+  huart2.Instance = USART2;
+  huart2.Init.BaudRate = 115200;
+  huart2.Init.WordLength = UART_WORDLENGTH_8B;
+  huart2.Init.StopBits = UART_STOPBITS_1;
+  huart2.Init.Parity = UART_PARITY_NONE;
+  huart2.Init.Mode = UART_MODE_TX_RX;
+  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART2_Init 2 */
+
+  /* USER CODE END USART2_Init 2 */
+
 }
 /* USART3 init function */
 
@@ -85,6 +118,35 @@ void MX_USART3_UART_Init(void)
 
   /* USER CODE END USART3_Init 2 */
 
+}
+/* USART6 init function */
+
+void MX_USART6_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART6_Init 0 */
+
+  /* USER CODE END USART6_Init 0 */
+
+  /* USER CODE BEGIN USART6_Init 1 */
+
+  /* USER CODE END USART6_Init 1 */
+  huart6.Instance = USART6;
+  huart6.Init.BaudRate = 115200;
+  huart6.Init.WordLength = UART_WORDLENGTH_8B;
+  huart6.Init.StopBits = UART_STOPBITS_1;
+  huart6.Init.Parity = UART_PARITY_NONE;
+  huart6.Init.Mode = UART_MODE_TX_RX;
+  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart6) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART6_Init 2 */
+
+  /* USER CODE END USART6_Init 2 */
+
 }
 
 void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
@@ -119,10 +181,77 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART1 interrupt Init */
+    HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspInit 1 */
 
   /* USER CODE END USART1_MspInit 1 */
   }
+  else if(uartHandle->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspInit 0 */
+
+  /* USER CODE END USART2_MspInit 0 */
+    /* USART2 clock enable */
+    __HAL_RCC_USART2_CLK_ENABLE();
+
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**USART2 GPIO Configuration
+    PD6     ------> USART2_RX
+    PD5     ------> USART2_TX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_5;
+    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_USART2;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    /* USART2 DMA Init */
+    /* USART2_RX Init */
+    hdma_usart2_rx.Instance = DMA1_Stream5;
+    hdma_usart2_rx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
+
+    /* USART2_TX Init */
+    hdma_usart2_tx.Instance = DMA1_Stream6;
+    hdma_usart2_tx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart2_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
+
+    /* USART2 interrupt Init */
+    HAL_NVIC_SetPriority(USART2_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspInit 1 */
+
+  /* USER CODE END USART2_MspInit 1 */
+  }
   else if(uartHandle->Instance==USART3)
   {
   /* USER CODE BEGIN USART3_MspInit 0 */
@@ -169,6 +298,33 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 
   /* USER CODE END USART3_MspInit 1 */
   }
+  else if(uartHandle->Instance==USART6)
+  {
+  /* USER CODE BEGIN USART6_MspInit 0 */
+
+  /* USER CODE END USART6_MspInit 0 */
+    /* USART6 clock enable */
+    __HAL_RCC_USART6_CLK_ENABLE();
+
+    __HAL_RCC_GPIOG_CLK_ENABLE();
+    /**USART6 GPIO Configuration
+    PG14     ------> USART6_TX
+    PG9     ------> USART6_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_14|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_AF8_USART6;
+    HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+
+    /* USART6 interrupt Init */
+    HAL_NVIC_SetPriority(USART6_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART6_IRQn);
+  /* USER CODE BEGIN USART6_MspInit 1 */
+
+  /* USER CODE END USART6_MspInit 1 */
+  }
 }
 
 void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
@@ -190,10 +346,36 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9);
 
+    /* USART1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspDeInit 1 */
 
   /* USER CODE END USART1_MspDeInit 1 */
   }
+  else if(uartHandle->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspDeInit 0 */
+
+  /* USER CODE END USART2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART2_CLK_DISABLE();
+
+    /**USART2 GPIO Configuration
+    PD6     ------> USART2_RX
+    PD5     ------> USART2_TX
+    */
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_6|GPIO_PIN_5);
+
+    /* USART2 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+    HAL_DMA_DeInit(uartHandle->hdmatx);
+
+    /* USART2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspDeInit 1 */
+
+  /* USER CODE END USART2_MspDeInit 1 */
+  }
   else if(uartHandle->Instance==USART3)
   {
   /* USER CODE BEGIN USART3_MspDeInit 0 */
@@ -217,6 +399,26 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
   /* USER CODE END USART3_MspDeInit 1 */
   }
+  else if(uartHandle->Instance==USART6)
+  {
+  /* USER CODE BEGIN USART6_MspDeInit 0 */
+
+  /* USER CODE END USART6_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART6_CLK_DISABLE();
+
+    /**USART6 GPIO Configuration
+    PG14     ------> USART6_TX
+    PG9     ------> USART6_RX
+    */
+    HAL_GPIO_DeInit(GPIOG, GPIO_PIN_14|GPIO_PIN_9);
+
+    /* USART6 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART6_IRQn);
+  /* USER CODE BEGIN USART6_MspDeInit 1 */
+
+  /* USER CODE END USART6_MspDeInit 1 */
+  }
 }
 
 /* USER CODE BEGIN 1 */

MDK-ARM/.vscode/c_cpp_properties.json

@@ -3,103 +3,83 @@
         {
             "name": "gimbal",
             "includePath": [
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Core\\Inc",
+                "d:\\yunha\\1\\ai\\gimbal\\Core\\Inc",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Drivers\\CMSIS\\Include",
+                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\CMSIS\\Include",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\User\\bsp",
+                "d:\\yunha\\1\\ai\\gimbal\\User\\bsp",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\User\\component",
+                "d:\\yunha\\1\\ai\\gimbal\\User\\component",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\User\\device",
+                "d:\\yunha\\1\\ai\\gimbal\\User\\device",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\User\\task",
+                "d:\\yunha\\1\\ai\\gimbal\\User\\task",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\User",
+                "d:\\yunha\\1\\ai\\gimbal\\User",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\User\\module",
+                "d:\\yunha\\1\\ai\\gimbal\\User\\module",
-                "D:\\KEIL_MDK\\ARM\\ARMCC\\include",
+                "d:\\yunha\\1\\ai\\gimbal\\MDK-ARM",
-                "D:\\KEIL_MDK\\ARM\\ARMCC\\include\\rw",
+                "d:\\yunha\\1\\ai\\gimbal\\Core\\Src",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\MDK-ARM",
+                "d:\\yunha\\1\\ai\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Src",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Core\\Src",
+                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+                "d:\\yunha\\1\\ai\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source",
-                "d:\\yunha\\云台\\大疆电机\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
             ],
             "defines": [
                 "USE_HAL_DRIVER",
                 "STM32F407xx",
-                "__CC_ARM",
-                "__arm__",
-                "__align(x)=",
-                "__ALIGNOF__(x)=",
                 "__alignof__(x)=",
                 "__asm(x)=",
+                "__asm__(x)=",
                 "__forceinline=",
                 "__restrict=",
-                "__global_reg(n)=",
+                "__volatile__=",
                 "__inline=",
-                "__int64=long long",
+                "__inline__=",
-                "__INTADDR__(expr)=0",
-                "__irq=",
-                "__packed=",
-                "__pure=",
-                "__smc(n)=",
-                "__svc(n)=",
-                "__svc_indirect(n)=",
-                "__svc_indirect_r7(n)=",
-                "__value_in_regs=",
-                "__weak=",
-                "__writeonly=",
                 "__declspec(x)=",
                 "__attribute__(x)=",
                 "__nonnull__(x)=",
+                "__unaligned=",
+                "__promise(x)=",
+                "__irq=",
+                "__swi=",
+                "__weak=",
                 "__register=",
+                "__pure=",
+                "__value_in_regs=",
                 "__breakpoint(x)=",
-                "__cdp(x,y,z)=",
-                "__clrex()=",
-                "__clz(x)=0U",
                 "__current_pc()=0U",
                 "__current_sp()=0U",
                 "__disable_fiq()=",
                 "__disable_irq()=",
-                "__dmb(x)=",
-                "__dsb(x)=",
                 "__enable_fiq()=",
                 "__enable_irq()=",
-                "__fabs(x)=0.0",
-                "__fabsf(x)=0.0f",
-                "__force_loads()=",
                 "__force_stores()=",
-                "__isb(x)=",
-                "__ldrex(x)=0U",
-                "__ldrexd(x)=0U",
-                "__ldrt(x)=0U",
                 "__memory_changed()=",
-                "__nop()=",
-                "__pld(...)=",
-                "__pli(...)=",
-                "__qadd(x,y)=0",
-                "__qdbl(x)=0",
-                "__qsub(x,y)=0",
-                "__rbit(x)=0U",
-                "__rev(x)=0U",
-                "__return_address()=0U",
-                "__ror(x,y)=0U",
                 "__schedule_barrier()=",
                 "__semihost(x,y)=0",
-                "__sev()=",
+                "__vfp_status(x,y)=0",
-                "__sqrt(x)=0.0",
+                "__builtin_arm_nop()=",
-                "__sqrtf(x)=0.0f",
+                "__builtin_arm_wfi()=",
-                "__ssat(x,y)=0",
+                "__builtin_arm_wfe()=",
-                "__strex(x,y)=0U",
+                "__builtin_arm_sev()=",
-                "__strexd(x,y)=0",
+                "__builtin_arm_sevl()=",
-                "__strt(x,y)=",
+                "__builtin_arm_yield()=",
-                "__swp(x,y)=0U",
+                "__builtin_arm_isb(x)=",
-                "__usat(x,y)=0U",
+                "__builtin_arm_dsb(x)=",
-                "__wfe()=",
+                "__builtin_arm_dmb(x)=",
-                "__wfi()=",
+                "__builtin_bswap32(x)=0U",
-                "__yield()=",
+                "__builtin_bswap16(x)=0U",
-                "__vfp_status(x,y)=0"
+                "__builtin_arm_rbit(x)=0U",
+                "__builtin_clz(x)=0U",
+                "__builtin_arm_ldrex(x)=0U",
+                "__builtin_arm_strex(x,y)=0U",
+                "__builtin_arm_clrex()=",
+                "__builtin_arm_ssat(x,y)=0U",
+                "__builtin_arm_usat(x,y)=0U",
+                "__builtin_arm_ldaex(x)=0U",
+                "__builtin_arm_stlex(x,y)=0U",
+                "__GNUC__=4",
+                "__GNUC_MINOR__=2",
+                "__GNUC_PATCHLEVEL__=1"
             ],
             "intelliSenseMode": "${default}"
         }

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

@@ -8,3 +8,7 @@
 
 [info] Log at : 2025/10/12|20:17:36|GMT+0800
 
+[info] Log at : 2025/12/15|23:05:39|GMT+0800
+
+[info] Log at : 2025/12/15|23:05:45|GMT+0800
+

MDK-ARM/.vscode/uv4.log

@@ -1,31 +0,0 @@
-*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\KEIL_MDK\ARM\ARMCC\Bin'
-Build target 'gimbal'
-Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o' to 'gimbal\can_1.o'.Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.o'.Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'.compiling 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(141): warning:  #940-D: missing return statement at end of non-void function "Gimbal_UpdateIMU" 
-  }
-..\User\module\gimbal.c(239): warning:  #111-D: statement is unreachable
-      g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
-..\User\module\gimbal.c(244): warning:  #940-D: missing return statement at end of non-void function "Gimbal_Control" 
-  }
-..\User\module\gimbal.c(257): warning:  #1035-D: single-precision operand implicitly converted to double-precision
-      output.torque = g->out.yaw * 2.5;
-..\User\module\gimbal.c(256): warning:  #550-D: variable "output"  was set but never used
-      MOTOR_MIT_Output_t output = {0};
-..\User\module\gimbal.c: 11 warnings, 0 errors
-linking...
-Program Size: Code=46272 RO-data=944 RW-data=384 ZI-data=31544  
-FromELF: creating hex file...
-"gimbal\gimbal.axf" - 0 Error(s), 11 Warning(s).
-Build Time Elapsed:  00:00:05

MDK-ARM/.vscode/uv4.log.lock

@@ -1 +1 @@
-2025/10/2 22:09:13
+2025/12/15 23:05:57

MDK-ARM/gimbal.uvoptx

@@ -120,7 +120,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -158,27 +158,47 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>gimbal_imu</ItemText>
+          <ItemText>gimbal,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>gimbal,0x0A</ItemText>
+          <ItemText>rc_ctrl,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>remote_cmd</ItemText>
+          <ItemText>gimbal_cmd</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl,0x0A</ItemText>
+          <ItemText>ai</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>gimbal_cmd</ItemText>
+          <ItemText>jiaozhun</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ai_cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ai_g_cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>gimbal_cmd_1</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>gimbal_cmd_2</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
@@ -791,7 +811,7 @@
 
   <Group>
     <GroupName>bsp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1239,6 +1259,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>9</GroupNumber>
+      <FileNumber>79</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\ai.c</PathWithFileName>
+      <FilenameWithoutPath>ai.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -1249,7 +1281,19 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>79</FileNumber>
+      <FileNumber>80</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\module\config.c</PathWithFileName>
+      <FilenameWithoutPath>config.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>81</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1261,13 +1305,25 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>80</FileNumber>
+      <FileNumber>82</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\module\config.c</PathWithFileName>
+      <PathWithFileName>..\User\module\remote_cmd.c</PathWithFileName>
-      <FilenameWithoutPath>config.c</FilenameWithoutPath>
+      <FilenameWithoutPath>remote_cmd.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>83</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\module\shoot.c</PathWithFileName>
+      <FilenameWithoutPath>shoot.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>

MDK-ARM/gimbal.uvprojx

@@ -82,7 +82,7 @@
           </BeforeMake>
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
-            <RunUserProg2>0</RunUserProg2>
+            <RunUserProg2>1</RunUserProg2>
             <UserProg1Name></UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
@@ -2056,20 +2056,35 @@
               <FileType>1</FileType>
               <FilePath>..\User\task\gimbal_ctrl.c</FilePath>
             </File>
+            <File>
+              <FileName>ai.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\ai.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
           <GroupName>modele</GroupName>
           <Files>
+            <File>
+              <FileName>config.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\module\config.c</FilePath>
+            </File>
             <File>
               <FileName>gimbal.c</FileName>
               <FileType>1</FileType>
               <FilePath>..\User\module\gimbal.c</FilePath>
             </File>
             <File>
-              <FileName>config.c</FileName>
+              <FileName>remote_cmd.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\module\config.c</FilePath>
+              <FilePath>..\User\module\remote_cmd.c</FilePath>
+            </File>
+            <File>
+              <FileName>shoot.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\module\shoot.c</FilePath>
             </File>
           </Files>
         </Group>

MDK-ARM/gimbal/ai.d

@@ -56,6 +56,4 @@ gimbal/ai.o: ..\User\device\ai.c ..\User\device\ai.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
   ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
-  ..\User\component\bsp_rc.h \
+  ..\User\component\bsp_rc.h ..\User\bsp\uart.h ..\Core\Inc\usart.h
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \
-  ..\Core\Inc\usart.h ..\User\component\crc16.h ..\User\component\crc8.h

MDK-ARM/gimbal/ai_1.d

@@ -0,0 +1,60 @@
+gimbal/ai_1.o: ..\User\task\ai.c ..\User\task\user_task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\User\device\ai.h ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\module\gimbal.h ..\User\component\ahrs.h \
+  ..\User\component\user_math.h ..\User\component\filter.h \
+  ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\device\motor.h ..\User\device\device.h \
+  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\Core\Inc\stm32f4xx_hal_conf.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  ..\Drivers\CMSIS\Include\core_cm4.h \
+  ..\Drivers\CMSIS\Include\cmsis_version.h \
+  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+  ..\Drivers\CMSIS\Include\mpu_armv7.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
+  ..\User\component\bsp_rc.h

MDK-ARM/gimbal/config.d

@@ -55,4 +55,5 @@ gimbal/config.o: ..\User\module\config.c ..\User\component\user_math.h \
   ..\User\component\ahrs.h ..\User\component\user_math.h \
   ..\User\component\filter.h ..\User\component\pid.h \
   ..\User\component\filter.h ..\User\device\motor_dm.h \
-  ..\User\device\motor_rm.h ..\User\device\motor.h
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\module\shoot.h ..\Core\Inc\main.h

MDK-ARM/gimbal/gimbal.build_log.htm

@@ -21,8 +21,8 @@ Target DLL:      CMSIS_AGDI.dll V1.32.13.0
 Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
-D:\yunha\1\two-yaw\gimbal\MDK-ARM\gimbal.uvprojx
+D:\yunha\1\ai\gimbal\MDK-ARM\gimbal.uvprojx
-Project File Date:  12/11/2025
+Project File Date:  12/15/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -31,9 +31,10 @@ 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'.
-compiling config.c...
+Note: source file '..\User\task\ai.c' - object file renamed from 'gimbal\ai.o' to 'gimbal\ai_1.o'.
+compiling ai.c...
 linking...
-Program Size: Code=89768 RO-data=1132 RW-data=392 ZI-data=34224  
+Program Size: Code=94480 RO-data=1680 RW-data=680 ZI-data=35136  
 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>

MDK-ARM/gimbal/gimbal.lnp

@@ -77,8 +77,11 @@
 "gimbal\remote.o"
 "gimbal\user_task.o"
 "gimbal\gimbal_ctrl.o"
-"gimbal\gimbal.o"
+"gimbal\ai_1.o"
 "gimbal\config.o"
+"gimbal\gimbal.o"
+"gimbal\remote_cmd.o"
+"gimbal\shoot.o"
 --strict --scatter "gimbal\gimbal.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers

MDK-ARM/gimbal/gimbal_ctrl.d

@@ -11,16 +11,16 @@ gimbal/gimbal_ctrl.o: ..\User\task\gimbal_ctrl.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
-  ..\User\module\gimbal.h ..\User\component\ahrs.h \
+  ..\User\device\ai.h ..\User\component\user_math.h \
-  ..\User\component\user_math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\component\filter.h ..\User\component\pid.h \
+  ..\User\module\gimbal.h ..\User\component\ahrs.h \
-  ..\User\component\filter.h ..\User\device\motor.h \
+  ..\User\component\user_math.h ..\User\component\filter.h \
-  ..\User\device\device.h ..\User\device\motor_dm.h ..\User\bsp\can.h \
+  ..\User\component\pid.h ..\User\component\filter.h \
-  ..\Core\Inc\can.h ..\Core\Inc\main.h \
+  ..\User\device\motor.h ..\User\device\device.h \
-  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
   ..\Core\Inc\stm32f4xx_hal_conf.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
   ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
@@ -56,5 +56,7 @@ gimbal/gimbal_ctrl.o: ..\User\task\gimbal_ctrl.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\module\config.h ..\User\device\motor_lz.h \
+  ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
-  ..\User\device\motor_lk.h ..\User\module\gimbal.h
+  ..\User\component\bsp_rc.h ..\User\module\config.h \
+  ..\User\device\motor_lz.h ..\User\device\motor_lk.h \
+  ..\User\module\gimbal.h ..\User\module\shoot.h ..\Core\Inc\main.h

MDK-ARM/gimbal/init.d

@@ -57,4 +57,6 @@ gimbal/init.o: ..\User\task\init.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
   ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
-  ..\User\component\bsp_rc.h
+  ..\User\component\bsp_rc.h ..\User\device\ai.h \
+  ..\User\component\user_math.h ..\User\module\gimbal.h \
+  ..\User\device\remote_control.h

MDK-ARM/gimbal/remote.d

@@ -12,7 +12,7 @@ gimbal/remote.o: ..\User\task\remote.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
   ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
-  ..\User\component\bsp_rc.h ..\User\device\ai.h \
+  ..\User\component\bsp_rc.h ..\User\module\remote_cmd.h \
   ..\User\component\user_math.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
@@ -58,4 +58,4 @@ gimbal/remote.o: ..\User\task\remote.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
   ..\User\device\motor_rm.h ..\User\device\motor.h \
-  ..\User\device\remote_control.h
+  ..\User\module\gimbal.h

MDK-ARM/gimbal/remote_cmd.d

@@ -0,0 +1,61 @@
+gimbal/remote_cmd.o: ..\User\module\remote_cmd.c \
+  ..\User\module\remote_cmd.h ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\User\module\gimbal.h ..\User\component\ahrs.h \
+  ..\User\component\user_math.h ..\User\component\filter.h \
+  ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\device\motor.h ..\User\device\device.h \
+  ..\User\device\motor_dm.h ..\User\bsp\can.h ..\Core\Inc\can.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\Core\Inc\stm32f4xx_hal_conf.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  ..\Drivers\CMSIS\Include\core_cm4.h \
+  ..\Drivers\CMSIS\Include\cmsis_version.h \
+  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+  ..\Drivers\CMSIS\Include\mpu_armv7.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  ..\User\bsp\bsp.h ..\User\bsp\mm.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\remote_control.h ..\User\module\struct_typedef.h \
+  ..\User\component\bsp_rc.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \
+  ..\Core\Inc\usart.h ..\User\component\crc16.h ..\User\component\crc8.h

MDK-ARM/gimbal/shoot.d

@@ -0,0 +1,58 @@
+gimbal/shoot.o: ..\User\module\shoot.c \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\module\shoot.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\Core\Inc\stm32f4xx_hal_conf.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  ..\Drivers\CMSIS\Include\core_cm4.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  ..\Drivers\CMSIS\Include\cmsis_version.h \
+  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+  ..\Drivers\CMSIS\Include\mpu_armv7.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\component\pid.h ..\User\component\filter.h \
+  ..\User\component\user_math.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
+  ..\User\device\motor_rm.h ..\User\device\motor.h \
+  ..\User\device\device.h ..\User\device\motor.h ..\User\bsp\can.h \
+  ..\Core\Inc\can.h ..\Core\Inc\main.h ..\User\bsp\bsp.h \
+  ..\User\bsp\mm.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  ..\User\bsp\time.h ..\User\component\filter.h \
+  ..\User\component\user_math.h