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新版云台（没调好）

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yunhai8432 2026-01-03 21:06:53 +08:00
parent dbf0aee315
commit 590238dd8b
39 changed files with 4222 additions and 4124 deletions
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2
.mxproject
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2
Core/Inc/FreeRTOSConfig.h
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@ -73,7 +73,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)0x6000)
#define configTOTAL_HEAP_SIZE ((size_t)0x8000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configGENERATE_RUN_TIME_STATS 1
#define configUSE_TRACE_FACILITY 1

2
Core/Inc/stm32f4xx_it.h
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@ -22,7 +22,7 @@
#define __STM32F4xx_IT_H
#ifdef __cplusplus
extern "C" {
extern "C" {
#endif
/* Private includes ----------------------------------------------------------*/

2
Core/Src/freertos.c
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@ -124,7 +124,7 @@ void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
osThreadNew(Task_Init, NULL, &attr_init); // 创建åˆ<EFBFBD>始化任åŠ?
osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任<EFBFBD>?
/* USER CODE END RTOS_THREADS */
/* USER CODE BEGIN RTOS_EVENTS */

12
Core/Src/gpio.c
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@ -63,39 +63,39 @@ void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin : PtPin */
/*Configure GPIO pin : CMPS_RST_Pin */
GPIO_InitStruct.Pin = CMPS_RST_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
HAL_GPIO_Init(CMPS_RST_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
/*Configure GPIO pin : CMPS_INT_Pin */
GPIO_InitStruct.Pin = CMPS_INT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(CMPS_INT_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
/*Configure GPIO pin : USER_KEY_Pin */
GPIO_InitStruct.Pin = USER_KEY_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(USER_KEY_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
/*Configure GPIO pin : ACCL_CS_Pin */
GPIO_InitStruct.Pin = ACCL_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
HAL_GPIO_Init(ACCL_CS_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : PCPin PCPin */
/*Configure GPIO pins : ACCL_INT_Pin GYRO_INT_Pin */
GPIO_InitStruct.Pin = ACCL_INT_Pin|GYRO_INT_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */
/*Configure GPIO pin : GYRO_CS_Pin */
GPIO_InitStruct.Pin = GYRO_CS_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;

7
Core/Src/main.c
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@ -112,9 +112,7 @@ int main(void)
/* USER CODE END 2 */
/* Init scheduler */
osKernelInitialize();
/* Call init function for freertos objects (in cmsis_os2.c) */
osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
MX_FREERTOS_Init();
/* Start scheduler */
@ -196,8 +194,7 @@ void Error_Handler(void)
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.

1
Core/Src/stm32f4xx_hal_msp.c
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@ -1,4 +1,3 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************

180
MDK-ARM/gimbal.uvguix.yunha
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26
MDK-ARM/gimbal.uvoptx
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@ -183,42 +183,52 @@
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal_cmd_ai</ItemText>
<ItemText>ai_cmd</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>ai_cmd</ItemText>
<ItemText>shoot_cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>shoot_cmd,0x0A</ItemText>
<ItemText>shoot_rc_cmd</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>shoot_rc_cmd</ItemText>
<ItemText>shoot</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>Shoot_t</ItemText>
<ItemText>R_mode</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
<ItemText>s_mode</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>R_mode</ItemText>
<ItemText>jiaozhun</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>s_mode</ItemText>
<ItemText>cali_bmi088</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal_cmd</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal_imu</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>

2
MDK-ARM/gimbal.uvprojx
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@ -358,7 +358,7 @@
<MiscControls></MiscControls>
<Define></Define>
<Undefine></Undefine>
<IncludePath>../Core/Inc</IncludePath>
<IncludePath>../Core/Inc;../Drivers/CMSIS/Include</IncludePath>
</VariousControls>
</Aads>
<LDads>

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MDK-ARM/gimbal/ai.o
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MDK-ARM/gimbal/ai_1.o
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MDK-ARM/gimbal/atti_esti.o
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MDK-ARM/gimbal/config.o
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MDK-ARM/gimbal/gimbal.axf
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7
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\git_gimbal\ai\gimbal\MDK-ARM\gimbal.uvprojx
Project File Date: 01/02/2026
Project File Date: 01/03/2026
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@ -32,6 +32,9 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o
Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'.
Note: source file '..\User\task\ai.c' - object file renamed from 'gimbal\ai.o' to 'gimbal\ai_1.o'.
compiling gimbal.c...
linking...
Program Size: Code=100536 RO-data=1728 RW-data=700 ZI-data=55348
"gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -56,7 +59,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:01
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

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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.o
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110
MDK-ARM/gimbal/gimbal_gimbal.dep
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@ -1,7 +1,7 @@
Dependencies for Project 'gimbal', Target 'gimbal': (DO NOT MODIFY !)
CompilerVersion: 6160000::V6.16::ARMCLANG
F (startup_stm32f407xx.s)(0x6943EF0D)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c -gdwarf-3 -I ../Core/Inc -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -Wa,armasm,--pd,"__UVISION_VERSION SETA 534" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1" -o gimbal/startup_stm32f407xx.o)
F (../Core/Src/main.c)(0x69400250)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/main.o -MD)
F (startup_stm32f407xx.s)(0x6958D403)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c -gdwarf-3 -I ../Core/Inc -I ../Drivers/CMSIS/Include -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -Wa,armasm,--pd,"__UVISION_VERSION SETA 534" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1" -o gimbal/startup_stm32f407xx.o)
F (../Core/Src/main.c)(0x6958D3DB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/main.o -MD)
I (..\Core\Inc\main.h)(0x693FEFE9)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x693FEFE9)
@ -39,7 +39,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -55,7 +55,7 @@ I (..\Core\Inc\spi.h)(0x693FEFE8)
I (..\Core\Inc\tim.h)(0x693FEFE8)
I (..\Core\Inc\usart.h)(0x6940024F)
I (..\Core\Inc\gpio.h)(0x693FEFE5)
F (../Core/Src/gpio.c)(0x6940024C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gpio.o -MD)
F (../Core/Src/gpio.c)(0x6958D3D3)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gpio.o -MD)
I (..\Core\Inc\gpio.h)(0x693FEFE5)
I (..\Core\Inc\main.h)(0x693FEFE9)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -92,11 +92,11 @@ 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/freertos.c)(0x693FEFE7)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/freertos.o -MD)
F (../Core/Src/freertos.c)(0x6958D3D8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/freertos.o -MD)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -398,9 +398,9 @@ 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 (..\Core\Inc\stm32f4xx_it.h)(0x6943EF0B)
I (..\Core\Inc\stm32f4xx_it.h)(0x6958D3DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -415,7 +415,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\device\remote_control.h)(0x6957E45B)
I (..\User\module\struct_typedef.h)(0x693AB322)
I (..\User\component\bsp_rc.h)(0x693AB321)
F (../Core/Src/stm32f4xx_hal_msp.c)(0x693FEFE8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/stm32f4xx_hal_msp.o -MD)
F (../Core/Src/stm32f4xx_hal_msp.c)(0x6958D3DB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/stm32f4xx_hal_msp.o -MD)
I (..\Core\Inc\main.h)(0x693FEFE9)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x693FEFE9)
@ -1190,7 +1190,7 @@ F (../Middlewares/Third_Party/FreeRTOS/Source/croutine.c)(0x68B055DB)(-xc -std=c
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1204,7 +1204,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1219,7 +1219,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1232,7 +1232,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1246,7 +1246,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1261,7 +1261,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1277,7 +1277,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1295,7 +1295,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1344,7 +1344,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1356,7 +1356,7 @@ F (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c)(0x6
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1407,7 +1407,7 @@ I (..\User\bsp\mm.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1502,7 +1502,7 @@ I (..\User\bsp\mm.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1594,7 +1594,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -1757,7 +1757,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2041,7 +2041,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\bsp\mm.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2101,7 +2101,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\bsp\mm.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2156,7 +2156,7 @@ 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)(0x693AB321)
F (..\User\device\ai.c)(0x695895DC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ai.o -MD)
F (..\User\device\ai.c)(0x6958CDA0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ai.o -MD)
I (..\User\device\ai.h)(0x6941B613)
I (..\User\component\user_math.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@ -2164,7 +2164,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x693FED4C)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\component\ahrs.h)(0x6943F21A)
I (..\User\component\filter.h)(0x6943F21A)
I (..\User\component\pid.h)(0x6943F21A)
@ -2210,7 +2210,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\bsp\mm.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2269,7 +2269,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\bsp\mm.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2289,7 +2289,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2297,7 +2297,7 @@ 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\module\gimbal.h)(0x693FED4C)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\component\ahrs.h)(0x6943F21A)
I (..\User\component\user_math.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@ -2353,13 +2353,13 @@ I (..\User\component\bsp_rc.h)(0x693AB321)
I (..\User\device\ai.h)(0x6941B613)
I (..\User\module\remote_cmd.h)(0x6957FAC3)
I (..\User\module\shoot.h)(0x69588E9B)
F (..\User\task\atti_esti.c)(0x6957E358)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/atti_esti.o -MD)
F (..\User\task\atti_esti.c)(0x6958B1E9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/atti_esti.o -MD)
I (..\User\task\user_task.h)(0x6957F1E7)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2412,7 +2412,7 @@ I (..\User\component\pid.h)(0x6943F21A)
I (..\User\component\filter.h)(0x6943F21A)
I (..\User\device\bmi088.h)(0x6943F21A)
I (..\User\device\device.h)(0x6943F21A)
I (..\User\module\gimbal.h)(0x693FED4C)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\device\motor.h)(0x6943F21A)
I (..\User\device\motor_dm.h)(0x6943F21A)
I (..\User\bsp\can.h)(0x6943F21A)
@ -2427,7 +2427,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2443,7 +2443,7 @@ I (..\User\module\remote_cmd.h)(0x6957FAC3)
I (..\User\component\user_math.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x693FED4C)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\component\ahrs.h)(0x6943F21A)
I (..\User\component\filter.h)(0x6943F21A)
I (..\User\component\pid.h)(0x6943F21A)
@ -2496,7 +2496,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2504,13 +2504,13 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
F (..\User\task\gimbal_ctrl.c)(0x6957E358)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal_ctrl.o -MD)
F (..\User\task\gimbal_ctrl.c)(0x6958E9F4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal_ctrl.o -MD)
I (..\User\task\user_task.h)(0x6957F1E7)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2523,7 +2523,7 @@ I (..\User\component\user_math.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x693FED4C)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\component\ahrs.h)(0x6943F21A)
I (..\User\component\filter.h)(0x6943F21A)
I (..\User\component\pid.h)(0x6943F21A)
@ -2579,7 +2579,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2638,7 +2638,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055
I (..\User\module\config.h)(0x693FC3A8)
I (..\User\device\motor_lz.h)(0x6943F21A)
I (..\User\device\motor_lk.h)(0x6943F21A)
I (..\User\module\gimbal.h)(0x693FED4C)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\component\ahrs.h)(0x6943F21A)
I (..\User\device\motor_dm.h)(0x6943F21A)
I (..\User\device\remote_control.h)(0x6957E45B)
@ -2651,7 +2651,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2664,7 +2664,7 @@ I (..\User\component\user_math.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x693FED4C)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\component\ahrs.h)(0x6943F21A)
I (..\User\component\filter.h)(0x6943F21A)
I (..\User\component\pid.h)(0x6943F21A)
@ -2710,7 +2710,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\bsp\mm.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x6943F21A)
F (..\User\module\config.c)(0x695898BA)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD)
F (..\User\module\config.c)(0x6958EA76)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD)
I (..\User\component\user_math.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@ -2760,7 +2760,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\bsp\mm.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2770,14 +2770,14 @@ 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)(0x6943F21A)
I (..\User\module\gimbal.h)(0x693FED4C)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\component\ahrs.h)(0x6943F21A)
I (..\User\component\filter.h)(0x6943F21A)
I (..\User\component\pid.h)(0x6943F21A)
I (..\User\device\motor_dm.h)(0x6943F21A)
I (..\User\device\motor_rm.h)(0x6943F21A)
I (..\User\module\shoot.h)(0x69588E9B)
F (..\User\module\shoot.c)(0x695895DC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/shoot.o -MD)
F (..\User\module\shoot.c)(0x6958CBDF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/shoot.o -MD)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\module\shoot.h)(0x69588E9B)
@ -2830,7 +2830,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\bsp\mm.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2840,8 +2840,8 @@ 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 (..\User\bsp\time.h)(0x6943F21A)
F (..\User\module\gimbal.c)(0x6957D293)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD)
I (..\User\module\gimbal.h)(0x693FED4C)
F (..\User\module\gimbal.c)(0x6958EB9D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\component\ahrs.h)(0x6943F21A)
I (..\User\component\user_math.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@ -2893,7 +2893,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\bsp\mm.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
@ -2904,7 +2904,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x6943F21A)
I (..\User\bsp\time.h)(0x6943F21A)
F (..\User\module\remote_cmd.c)(0x69589322)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/remote_cmd.o -MD)
F (..\User\module\remote_cmd.c)(0x6958CB81)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/remote_cmd.o -MD)
I (..\User\module\remote_cmd.h)(0x6957FAC3)
I (..\User\component\user_math.h)(0x6943F21A)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@ -2912,7 +2912,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x693FED4C)
I (..\User\module\gimbal.h)(0x6958E7C0)
I (..\User\component\ahrs.h)(0x6943F21A)
I (..\User\component\filter.h)(0x6943F21A)
I (..\User\component\pid.h)(0x6943F21A)
@ -2958,7 +2958,7 @@ I (..\User\bsp\bsp.h)(0x6943F21A)
I (..\User\bsp\mm.h)(0x6943F21A)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7)
I (..\Core\Inc\FreeRTOSConfig.h)(0x6958D3D8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)

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MDK-ARM/gimbal/shoot.o
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MDK-ARM/gimbal/startup_stm32f407xx.o
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MDK-ARM/gimbal/stm32f4xx_hal_msp.o
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4
MDK-ARM/startup_stm32f407xx.s
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@ -29,7 +29,7 @@
; <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
; </h>
Stack_Size EQU 0x400
Stack_Size EQU 0x2000
AREA STACK, NOINIT, READWRITE, ALIGN=3
Stack_Mem SPACE Stack_Size
@ -40,7 +40,7 @@ __initial_sp
; <o> Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
; </h>
Heap_Size EQU 0x200
Heap_Size EQU 0x1000
AREA HEAP, NOINIT, READWRITE, ALIGN=3
__heap_base

2
User/device/ai.c
View File

@ -55,7 +55,7 @@ int8_t AI_ParseHost(AI_t* ai,Gimbal_Feedback_t* g_feedback){
ai->TX.q[3]=g_feedback->imu.quat.q3;
ai->TX.bullet_count=10;
ai->TX.bullet_speed=22;
ai->TX.bullet_speed=17.5;
ai->TX.crc16=CRC16_Calc(((const uint8_t*)&(ai->TX)),sizeof(ai->TX)-sizeof(uint16_t), CRC16_INIT );
if(CRC16_Verify(((const uint8_t*)&(ai->TX)), sizeof(ai->TX))!=true){

37
User/module/config.c
View File

@ -30,16 +30,13 @@ Config_RobotParam_t robot_config = {
.pit=Gyro_x,
.yaw=Gyro_z,
},
// .Accl={
// .pit=Accl_z,
// .yaw=Accl_y,
// },
},
/*欧拉角限位和电机角度限位*/
.Limit_t= {
.pit_max= 0.15,
.pit_min=-0.23,
.pit_max= 0.21,
.pit_min=-0.53,
/*零点参数*/
.zero={
.yaw_encoder=1.26,
@ -55,8 +52,6 @@ Config_RobotParam_t robot_config = {
.imu = {
.yaw=false,
.pit=false,
.coefficient_yaw=0,
.coefficient_pit=0,
},
},
@ -95,7 +90,7 @@ Config_RobotParam_t robot_config = {
// .yaw_dm_Reduction_ratio=1.0f,//减速比
.pit_dm={.kd=0.2,},
.pit_dm_Reduction_ratio=1.0f,
.major_yaw_dm={.kd=0.1,},
.major_yaw_dm={.kd=0.2,},
.major_yaw_dm_Reduction_ratio=1.0f,//减速比
},
@ -108,21 +103,21 @@ Config_RobotParam_t robot_config = {
/* 大yaw参数 */
.major_yaw_omega={
.k = 0.0f,
.p = 0.3f,
.i = 0.0f,
.p = 0.08f,
.i = 0.1f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 1.0f,
.out_limit = 12.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f
},
.major_yaw_angle={
.k = 2.0f,
.p = 40.5f,//36.5
.i = 0.0f,
.d = 0.12f,
.i_limit = 0.0f,
.out_limit = 7.0f,
.k = 1.0f,
.p = 75.0f,//36.5
.i = 20.0f,
.d = 0.2f,
.i_limit =5.0f,
.out_limit = 12.0f,
.d_cutoff_freq = 20.0f,
.range = M_2PI
},
@ -160,9 +155,9 @@ Config_RobotParam_t robot_config = {
.range = -1.0f,
},
.pit_angle = {
.k = -2.0f,
.p = 9.0f,
.i = 4.0f,
.k = -1.0f,
.p = 8.0f,
.i = 3.0f,
.d = 0.1f,
.i_limit = 1.0f,
.out_limit = 7.0f,

72
User/module/gimbal.c
View File

@ -33,6 +33,12 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
static double poly(double x) {
return 0.420757*pow(x,3) + -2.27122*pow(x,2) + 4.13016*x + -1.98984;
}
/**
* \brief 计算角度偏差
*
@ -51,11 +57,6 @@ static float motor_imu_offset(float* motor, float* imu){
return motor_imu_offset;
}
static double poly(double x) {
return 0.420757*pow(x,3) + -2.27122*pow(x,2) + 4.13016*x + -1.98984;
}
/**
* \brief 设置云台模式
*
@ -243,7 +244,7 @@ int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal) {
return -1;
/* 更新大yaw电机反馈数据（RM和DM） */
/* 更新大yaw电机反馈数据（RM和DM） */
if(gimbal->param->motor.major_yaw==RM){
MOTOR_RM_Update(&(gimbal->param->motor.major_yaw_rm_motor));
MOTOR_RM_t *rm_motor_yaw = MOTOR_RM_GetMotor(&(gimbal->param->motor.major_yaw_rm_motor));
@ -341,6 +342,27 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
}
int8_t Gimbal_Control_mode(Gimbal_t *g,Gimbal_CMD_t *g_cmd){
if (g == NULL || g_cmd == NULL) {
return -1;
}
switch(g_cmd->ctrl_mode){
case GIMBAL_MODE_REMOTE:
g->setpoint.eulr.yaw+=(g_cmd->delta_yaw*g->dt);
g->setpoint.eulr.pit+=(g_cmd->delta_pit*g->dt);
break;
case GIMBAL_MODE_AI:
g->setpoint.eulr.yaw=g_cmd->set_yaw;
g->setpoint.eulr.pit=g_cmd->set_pit;
break;
case GIMBAL_MODE_NUC:
/* 可能用不上，还在想 */
break;
}
return GIMBAL_OK;
};
/**
* \brief 运行云台控制逻辑
*
@ -354,7 +376,6 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
return -1;
}
g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
g->lask_wakeup = BSP_TIME_Get_us();
Gimbal_SetMode(g, g_cmd->mode);
@ -382,12 +403,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
g->out.pit = 0.0f;
break;
case GIMBAL_MODE_ABSOLUTE:/*绝对模式*/
// g->setpoint.eulr.yaw+=delta_yaw;
// g->setpoint.eulr.pit+=delta_pit;
g->setpoint.eulr.yaw=g_cmd->set_yaw;
g->setpoint.eulr.pit=g_cmd->set_pit;
/* 手动和自瞄 */
Gimbal_Control_mode(g, g_cmd);
if (g->param->motor.limit_yaw==true)
Clip(&(g->setpoint.eulr.yaw),delta_min,delta_max);
else{
@ -411,27 +428,28 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
g->setpoint.major_yaw,
g->feedback.motor.yaw.rotor_abs_angle,
g->feedback.motor.yaw.rotor_speed,g->dt);
// g->out.yaw_4310 = PID_Calc(&g->pid.yaw_4310_omega,yaw_omega_set_point,
// g->feedback.imu.gyro.z,0.0f,g->dt);
// g->out.major_yaw = PID_Calc(&g->pid.major_yaw_omega,major_yaw_omega_set_point,
// g->feedback.motor.yaw.rotor_speed,0.0f,g->dt);
g->out.major_yaw = major_yaw_omega_set_point; // 直接输出速度环目标值作为电机输出
// g->ai.v_err=g->ai.v - g->setpoint.eulr.yaw;
// g->ai.p_err=g->ai.p - g->direction.Gyro.yaw;
// g->out.yaw=g->ai.accl+g->ai.p_err*g->param->acclctrl.k+g->param->acclctrl.p*g->ai.v_err;
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->direction.Eulr.yaw, 0.0f, g->dt);
g->direction.Eulr.yaw, 0.0f, g->dt);
g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
g->direction.Gyro.yaw, 0.f, g->dt);
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
g->direction.Eulr.pit, 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);
g->out.pit = pit_omega_set_point+poly(g->feedback.motor.pit.rotor_abs_angle);
/*前馈添加*/
if(g->param->feedforward.imu.yaw==true)
g->out.yaw+=g->param->feedforward.imu.coefficient_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z);
g->out.yaw+=g->param->feedforward.imu.K_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z);
if(g->param->feedforward.imu.pit==true)
g->out.pit+=g->param->feedforward.imu.coefficient_pit*(pit_omega_set_point - g->feedback.imu.gyro.x);
g->out.pit+=g->param->feedforward.imu.K_pit*(pit_omega_set_point - g->feedback.imu.gyro.x);
break;
case GIMBAL_MODE_RELATIVE:
@ -483,14 +501,13 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
g->direction.Eulr.pit, 0.0f, g->dt);
// g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
// g->direction.Gyro.pit, 0.f, g->dt);
g->out.pit = pit_omega_set_point+poly(g->feedback.motor.pit.rotor_abs_angle);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->direction.Gyro.pit, 0.f, g->dt);
/*前馈添加*/
if(g->param->feedforward.imu.yaw==true)
g->out.yaw+=g->param->feedforward.imu.coefficient_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z);
g->out.yaw+=g->param->feedforward.imu.K_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z);
if(g->param->feedforward.imu.pit==true)
g->out.pit+=g->param->feedforward.imu.coefficient_pit*(pit_omega_set_point - g->feedback.imu.gyro.x);
g->out.pit+=g->param->feedforward.imu.K_pit*(pit_omega_set_point - g->feedback.imu.gyro.x);
break;
}
/* 输出滤波 */
@ -564,3 +581,4 @@ void Gimbal_Output(Gimbal_t *g){
}
}

41
User/module/gimbal.h
View File

@ -30,6 +30,13 @@ typedef enum {
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
} Gimbal_Mode_t;
typedef enum {
GIMBAL_MODE_REMOTE, /* 遥控器模式 */
GIMBAL_MODE_NUC, /* 操作手模式 */
GIMBAL_MODE_AI, /* 自瞄模式 */
} Gimbal_Control_Mode_t;
typedef enum {
DM, /*大妙*/
RM, /*大疆 */
@ -61,7 +68,8 @@ typedef enum {
} Gimbal_Quat_t;
typedef struct {
Gimbal_Mode_t mode;
Gimbal_Mode_t mode;
Gimbal_Control_Mode_t ctrl_mode;
float delta_yaw;
float delta_pit;
float set_yaw;
@ -129,7 +137,13 @@ typedef struct {
/* 云台参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
typedef struct {
struct{
float k;
float p;
}acclctrl;
Gimbal_MOTOR_t_Param_t motor;
struct {
KPID_Params_t major_yaw_omega; /* yaw轴角速度环PID参数 */
@ -166,11 +180,15 @@ typedef struct {
struct{
bool yaw;
bool pit;
float coefficient_yaw;
float coefficient_pit;
float K_yaw;
float K_pit;
}imu;
}feedforward;
/* 低通滤波器截止频率 */
struct {
@ -248,6 +266,7 @@ typedef struct {
Gimbal_Params_t *param; /* 云台的参数，用Gimbal_Init设定 */
/* 模块通用 */
Gimbal_Control_Mode_t ctrl_mode;
Gimbal_Mode_t mode; /* 云台模式 */
Gimbal_MOTOR_t MOTOR;
Gimbal_zero_t zero;
@ -255,7 +274,6 @@ typedef struct {
/* PID计算的目标值 */
struct {
float major_yaw;
AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
AHRS_Eulr_t ecd;
} setpoint;
@ -287,7 +305,20 @@ typedef struct {
LowPassFilter2p_t yaw;
LowPassFilter2p_t pit;
} filter_out;
struct{
float p_err;
float v_err;
float v;
float p;
float accl;
}ai;
Gimbal_Output_t out; /* 云台输出 */
Gimbal_Feedback_t feedback; /* 反馈 */
@ -340,4 +371,4 @@ void Gimbal_Output(Gimbal_t *g);
#ifdef __cplusplus
}
#endif
#endif

17
User/module/remote_cmd.c
View File

@ -9,17 +9,22 @@
#include "shoot.h"
int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu)
{
if(rc_ctrl->sw[5]==200){
if(rc_ctrl->sw[1]==200){
g_cmd->ctrl_mode=GIMBAL_MODE_REMOTE;
g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
// g_cmd->delta_pit=((rc_ctrl->ch[1]-114)*(0.1/758));//806~-780,0.473~-0.71
// g_cmd->delta_yaw=((rc_ctrl->ch[0]+84)*(1.8/781));//400~-397
g_cmd->delta_pit=((rc_ctrl->ch[2]-780)*(0.8/830));//806~-780,0.473~-0.71
g_cmd->delta_yaw=((rc_ctrl->ch[0])*(1.8/800));//400~-397
}
else if(rc_ctrl->sw[5]==1800)
else if(rc_ctrl->sw[2]==1800)
{
g_cmd->ctrl_mode=GIMBAL_MODE_AI;
g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
}
else if(rc_ctrl->sw[2]==200)
{
g_cmd->mode=GIMBAL_MODE_RELAX;
}
}
}
int8_t shoot_remote_cmd(Shoot_CMD_t *s_cmd,RC_ctrl_t *rc_ctrl,Remote_Mode *mode)

2
User/module/shoot.c
View File

@ -173,7 +173,7 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
switch(s->param->basic.projectileType)
{
case SHOOT_PROJECTILE_17MM:
s->target_variable.fric_rpm=6350.0f;
s->target_variable.fric_rpm=5500.0f;
break;
case SHOOT_PROJECTILE_42MM:
s->target_variable.fric_rpm=4000.0f;

2
User/task/atti_esti.c
View File

@ -31,7 +31,7 @@ KPID_t imu_temp_ctrl_pid;
Gimbal_IMU_t gimbal_to_send;
BMI088_Cali_t cali_bmi088= {
.gyro_offset = {0.00426521571f,-0.00170175056f,0.00184185198f},
.gyro_offset = {-0.00115062925,-0.00201643188,-4.1654228e-05},
};
static const KPID_Params_t imu_temp_ctrl_pid_param = {

27
User/task/gimbal_ctrl.c
View File

@ -19,8 +19,9 @@
AI_cmd_t ai_g_cmd;
Gimbal_t gimbal;
Gimbal_IMU_t gimbal_imu;
Gimbal_CMD_t gimbal_cmd_remote;
Gimbal_CMD_t gimbal_cmd;
Gimbal_CMD_t gimbal_cmd_ai;
Gimbal_CMD_t gimbal_cmd_remote;
Gimbal_Direction_t send_nuc;
/* USER STRUCT END */
@ -45,22 +46,28 @@ void Task_gimbal_ctrl(void *argument) {
/* USER CODE BEGIN */
/* 陀螺仪数据更新 */
if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK){
Gimbal_UpdateIMU(&gimbal, &gimbal_imu);}
Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
}
/* ai指令 */
if(osMessageQueueGet(task_runtime.msgq.ai.g_cmd, &ai_g_cmd, NULL, 0)==osOK){
if(osMessageQueueGet(task_runtime.msgq.ai.g_cmd, &ai_g_cmd, NULL, 0)==osOK);
if(ai_g_cmd.mode==0){
gimbal_cmd_ai.set_pit=gimbal_imu.eulr.rol;
gimbal_cmd_ai.set_yaw=gimbal_imu.eulr.yaw;
gimbal_cmd.set_pit=gimbal_imu.eulr.rol;
gimbal_cmd.set_yaw=gimbal_imu.eulr.yaw;
}
if(ai_g_cmd.mode==2){
gimbal_cmd_ai.set_pit=ai_g_cmd.gimbal_t.setpoint.pit;
gimbal_cmd_ai.set_yaw=ai_g_cmd.gimbal_t.setpoint.yaw;
gimbal_cmd.set_pit=ai_g_cmd.gimbal_t.setpoint.pit;
gimbal_cmd.set_yaw=ai_g_cmd.gimbal_t.setpoint.yaw;
}
}
if(osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd_remote, NULL, 0)==osOK)
gimbal_cmd_ai.mode=gimbal_cmd_remote.mode;
gimbal_cmd.mode=gimbal_cmd_remote.mode;
gimbal_cmd.ctrl_mode=gimbal_cmd_remote.ctrl_mode;
Gimbal_UpdateFeedback(&gimbal);
Gimbal_Control(&gimbal,&gimbal_cmd_ai);
// gimbal.ai.v=
Gimbal_Control(&gimbal,&gimbal_cmd);
Gimbal_Output(&gimbal);
osMessageQueueReset(task_runtime.msgq.ai.imu);
osMessageQueuePut(task_runtime.msgq.ai.imu,&gimbal.direction, 0, 0);

19
gimbal.ioc
View File

@ -130,7 +130,7 @@ FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
FREERTOS.configENABLE_FPU=1
FREERTOS.configGENERATE_RUN_TIME_STATS=1
FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
FREERTOS.configTOTAL_HEAP_SIZE=0x6000
FREERTOS.configTOTAL_HEAP_SIZE=0x8000
FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
File.Version=6
GPIO.groupedBy=Group By Peripherals
@ -199,8 +199,8 @@ Mcu.PinsNb=38
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx
MxCube.Version=6.12.1
MxDb.Version=DB.6.0.121
MxCube.Version=6.16.1
MxDb.Version=DB.6.0.161
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@ -307,6 +307,13 @@ PC5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
PC5.GPIO_PuPd=GPIO_PULLUP
PC5.Locked=true
PC5.Signal=GPXTI5
PCC.Checker=false
PCC.Line=STM32F407/417
PCC.MCU=STM32F407I(E-G)Hx
PCC.PartNumber=STM32F407IGHx
PCC.Series=STM32F4
PCC.Temperature=25
PCC.Vdd=3.3
PD0.Mode=CAN_Activate
PD0.Signal=CAN1_RX
PD1.Locked=true
@ -357,6 +364,7 @@ PinOutPanel.CurrentBGAView=Top
PinOutPanel.RotationAngle=0
ProjectManager.AskForMigrate=true
ProjectManager.BackupPrevious=false
ProjectManager.CompilerLinker=GCC
ProjectManager.CompilerOptimize=6
ProjectManager.ComputerToolchain=false
ProjectManager.CoupleFile=true
@ -366,8 +374,9 @@ ProjectManager.DeletePrevious=true
ProjectManager.DeviceId=STM32F407IGHx
ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3
ProjectManager.FreePins=false
ProjectManager.FreePinsContext=
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.HeapSize=0x1000
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LibraryCopy=1
@ -379,7 +388,7 @@ ProjectManager.ProjectFileName=gimbal.ioc
ProjectManager.ProjectName=gimbal
ProjectManager.ProjectStructure=
ProjectManager.RegisterCallBack=
ProjectManager.StackSize=0x400
ProjectManager.StackSize=0x2000
ProjectManager.TargetToolchain=MDK-ARM V5.32
ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=