From 6be20921bf6e08832571a62ccaa269934888052a Mon Sep 17 00:00:00 2001 From: yunhai8432 Date: Sat, 1 Nov 2025 22:17:57 +0800 Subject: [PATCH] =?UTF-8?q?=E5=9C=A8=E8=8B=B1=E9=9B=84=E6=B5=8B=E8=AF=95?= =?UTF-8?q?=E4=B8=8A=E8=AF=95=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/gimbal.uvguix.yunha | 154 +- MDK-ARM/gimbal.uvoptx | 37 +- MDK-ARM/gimbal.uvprojx | 10 + MDK-ARM/gimbal/ahrs.o | Bin 18084 -> 18076 bytes MDK-ARM/gimbal/ai.d | 6 +- MDK-ARM/gimbal/ai.o | Bin 3376 -> 4788 bytes MDK-ARM/gimbal/atti_esti.o | Bin 7908 -> 7908 bytes MDK-ARM/gimbal/bmi088.o | Bin 16092 -> 16084 bytes MDK-ARM/gimbal/can_1.o | Bin 39480 -> 39472 bytes MDK-ARM/gimbal/chassis.d | 58 + MDK-ARM/gimbal/chassis.o | Bin 0 -> 17652 bytes MDK-ARM/gimbal/chassis_ctrl.d | 62 + MDK-ARM/gimbal/chassis_ctrl.o | Bin 0 -> 10952 bytes MDK-ARM/gimbal/cmd.o | Bin 16632 -> 16624 bytes MDK-ARM/gimbal/config.d | 6 +- MDK-ARM/gimbal/config.o | Bin 5288 -> 6376 bytes MDK-ARM/gimbal/crc16.o | Bin 4472 -> 4464 bytes MDK-ARM/gimbal/crc8.o | Bin 3544 -> 3536 bytes MDK-ARM/gimbal/filter.o | Bin 9876 -> 9868 bytes MDK-ARM/gimbal/freertos.o | Bin 7252 -> 7244 bytes MDK-ARM/gimbal/freertos_cli.o | Bin 10148 -> 10140 bytes MDK-ARM/gimbal/gimbal.axf | Bin 583772 -> 607388 bytes MDK-ARM/gimbal/gimbal.build_log.htm | 12 +- MDK-ARM/gimbal/gimbal.htm | 4499 +++++++++++++------------ MDK-ARM/gimbal/gimbal.lnp | 2 + MDK-ARM/gimbal/gimbal.map | 4858 ++++++++++++++------------- MDK-ARM/gimbal/gimbal.o | Bin 16736 -> 16948 bytes MDK-ARM/gimbal/gimbal_ctrl.d | 5 +- MDK-ARM/gimbal/gimbal_ctrl.o | Bin 9188 -> 9340 bytes MDK-ARM/gimbal/gimbal_gimbal.dep | 607 ++-- MDK-ARM/gimbal/gpio_1.o | Bin 10964 -> 10956 bytes MDK-ARM/gimbal/i2c_1.o | Bin 19668 -> 19660 bytes MDK-ARM/gimbal/init.d | 6 +- MDK-ARM/gimbal/init.o | Bin 2668 -> 2876 bytes MDK-ARM/gimbal/ist8310.o | Bin 10996 -> 10988 bytes MDK-ARM/gimbal/limiter.o | Bin 5028 -> 5020 bytes MDK-ARM/gimbal/mixer.o | Bin 4840 -> 4832 bytes MDK-ARM/gimbal/mm.o | Bin 2676 -> 2668 bytes MDK-ARM/gimbal/motor.o | Bin 4036 -> 4028 bytes MDK-ARM/gimbal/motor_dm.o | Bin 19716 -> 19708 bytes MDK-ARM/gimbal/motor_lk.o | Bin 16260 -> 16252 bytes MDK-ARM/gimbal/motor_rm.o | Bin 18132 -> 18124 bytes MDK-ARM/gimbal/pid.o | Bin 8608 -> 8600 bytes MDK-ARM/gimbal/pwm.o | Bin 12540 -> 12532 bytes MDK-ARM/gimbal/remote.d | 4 +- MDK-ARM/gimbal/remote.o | Bin 3820 -> 4264 bytes MDK-ARM/gimbal/spi_1.o | Bin 18992 -> 18984 bytes MDK-ARM/gimbal/stm32f4xx_it.o | Bin 13660 -> 13652 bytes MDK-ARM/gimbal/time.o | Bin 5108 -> 5100 bytes MDK-ARM/gimbal/uart.o | Bin 15764 -> 15756 bytes MDK-ARM/gimbal/ui.o | Bin 14536 -> 14528 bytes MDK-ARM/gimbal/user_math.o | Bin 7780 -> 7772 bytes MDK-ARM/gimbal/user_task.o | Bin 5740 -> 6184 bytes User/device/ai.c | 18 +- User/device/ai.h | 2 +- User/module/chassis.c | 296 ++ User/module/chassis.h | 238 ++ User/module/config.c | 142 +- User/module/config.h | 4 +- User/module/gimbal.c | 19 +- User/module/gimbal.h | 4 +- User/task/chassis_ctrl.c | 57 + User/task/config.yaml | 7 + User/task/gimbal_ctrl.c | 5 +- User/task/init.c | 4 + User/task/remote.c | 11 +- User/task/user_task.c | 5 + User/task/user_task.h | 15 + 68 files changed, 6292 insertions(+), 4861 deletions(-) create mode 100644 MDK-ARM/gimbal/chassis.d create mode 100644 MDK-ARM/gimbal/chassis.o create mode 100644 MDK-ARM/gimbal/chassis_ctrl.d create mode 100644 MDK-ARM/gimbal/chassis_ctrl.o create mode 100644 User/module/chassis.c create mode 100644 User/module/chassis.h create mode 100644 User/task/chassis_ctrl.c diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha index 9a90408..e9f7497 100644 --- a/MDK-ARM/gimbal.uvguix.yunha +++ b/MDK-ARM/gimbal.uvguix.yunha @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- D:\yunha\云台\大疆电机\gimbal\User\device + D:\yunha\gimbal_test\gimbal\User\module @@ -15,17 +15,17 @@ 38003 Registers - 115 55 + 115 100 346 Code Coverage - 710 160 + 710 100 204 Performance Analyzer - 870 + 443 130 130 100 @@ -93,25 +93,25 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 -1 - 121 - 329 - 1409 - 723 + 174 + 248 + 1328 + 776 0 - 841 - 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898 @@ -3603,84 +3603,102 @@ 0 100 - 4 + 9 - ..\User\module\gimbal.h - 12 - 26 - 34 + ..\User\module\chassis.c + 114 + 201 + 218 1 0 - ..\User\device\ai.h + startup_stm32f407xx.s 0 - 1 - 16 + 163 + 174 1 0 - ..\User\device\remote_control.h - 22 - 72 - 92 + ../Core/Src/main.c + 0 + 65 + 73 + 1 + + 0 + + + ..\User\module\chassis.h + 31 + 23 + 32 + 1 + + 0 + + + ..\User\device\ai.c + 27 + 22 + 37 + 1 + + 0 + + + ..\User\task\chassis_ctrl.c + 55 + 26 + 47 1 0 ..\User\module\gimbal.c - 42 - 219 - 233 + 16 + 13 + 24 + 1 + + 0 + + + ..\User\task\gimbal_ctrl.c + 49 + 26 + 51 + 1 + + 0 + + + ..\User\task\user_task.c + 0 + 1 + 1 1 0 ..\User\module\config.c - 16 - 38 - 50 + 0 + 136 + 147 1 0 - ..\User\component\ui.c - 3 - 277 - 288 - 1 - - 0 - - - ..\User\component\ahrs.c - 5 - 390 - 413 - 1 - - 0 - - - ..\User\task\init.c - 77 - 24 - 41 - 1 - - 0 - - - ..\User\device\motor.h - 14 - 19 - 32 + ..\User\module\gimbal.h + 17 + 1 + 13 1 0 diff --git a/MDK-ARM/gimbal.uvoptx b/MDK-ARM/gimbal.uvoptx index 3a76f0d..359941e 100644 --- a/MDK-ARM/gimbal.uvoptx +++ b/MDK-ARM/gimbal.uvoptx @@ -178,12 +178,17 @@ 4 1 - j1 + chassis_cmd 5 1 - j2 + chassis + + + 6 + 1 + g->out.yaw_dm.torque @@ -1244,6 +1249,18 @@ 0 0 + + 9 + 79 + 1 + 0 + 0 + 0 + ..\User\task\chassis_ctrl.c + chassis_ctrl.c + 0 + 0 + @@ -1254,7 +1271,7 @@ 0 10 - 79 + 80 1 0 0 @@ -1266,7 +1283,7 @@ 10 - 80 + 81 1 0 0 @@ -1276,6 +1293,18 @@ 0 0 + + 10 + 82 + 1 + 0 + 0 + 0 + ..\User\module\chassis.c + chassis.c + 0 + 0 + diff --git a/MDK-ARM/gimbal.uvprojx b/MDK-ARM/gimbal.uvprojx index c57c91c..6028bd2 100644 --- a/MDK-ARM/gimbal.uvprojx +++ b/MDK-ARM/gimbal.uvprojx @@ -2056,6 +2056,11 @@ 1 ..\User\task\gimbal_ctrl.c + + chassis_ctrl.c + 1 + ..\User\task\chassis_ctrl.c + @@ -2071,6 +2076,11 @@ 1 ..\User\module\config.c + + chassis.c + 1 + ..\User\module\chassis.c + diff --git a/MDK-ARM/gimbal/ahrs.o b/MDK-ARM/gimbal/ahrs.o index 96f590cd29a02605a7db618cf3bc4b2afce7c3e6..c7541d5d40ce1db483b225f260f5204dd33942d6 100644 GIT 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-D:\yunha\gimbal\motor\gimbal\MDK-ARM\gimbal.uvprojx -Project File Date: 10/25/2025 +D:\yunha\gimbal_test\gimbal\MDK-ARM\gimbal.uvprojx +Project File Date: 11/01/2025

Output:

*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin' @@ -32,14 +32,8 @@ 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'. compiling gimbal_ctrl.c... -compiling ai.c... -compiling init.c... -compiling remote.c... -compiling config.c... -compiling gimbal.c... -compiling atti_esti.c... linking... -Program Size: Code=84384 RO-data=996 RW-data=416 ZI-data=34280 +Program Size: Code=88240 RO-data=1044 RW-data=552 ZI-data=35272 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index 687ea59..aab38ef 100644 --- a/MDK-ARM/gimbal/gimbal.htm +++ b/MDK-ARM/gimbal/gimbal.htm @@ -3,16 +3,16 @@ Static Call Graph - [gimbal\gimbal.axf]

Static Call Graph for image gimbal\gimbal.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Tue Oct 28 22:17:10 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Nov 1 21:50:45 2025

-

Maximum Stack Usage = 432 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

+

Maximum Stack Usage = 436 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

-Task_atti_esti ⇒ AHRS_Update ⇒ AHRS_UpdateIMU ⇒ InvSqrt +Task_chassis_ctrl ⇒ Chassis_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd

Functions with no stack information

@@ -131,6 +131,7 @@ Function Pointers

  • TIM8_UP_TIM13_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • Task_Init from init.o(.text.Task_Init) referenced 2 times from freertos.o(.text.MX_FREERTOS_Init)
  • Task_atti_esti from atti_esti.o(.text.Task_atti_esti) referenced 2 times from init.o(.text.Task_Init) +
  • Task_chassis_ctrl from chassis_ctrl.o(.text.Task_chassis_ctrl) referenced 2 times from init.o(.text.Task_Init)
  • Task_gimbal_ctrl from gimbal_ctrl.o(.text.Task_gimbal_ctrl) referenced 2 times from init.o(.text.Task_Init)
  • Task_remote from remote.o(.text.Task_remote) referenced 2 times from init.o(.text.Task_Init)
  • UART4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) @@ -143,146 +144,157 @@ Function Pointers
  • UsageFault_Handler from stm32f4xx_it.o(.text.UsageFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  • WWDG_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • __main from __main.o(!!!main) referenced from startup_stm32f407xx.o(.text) -
  • prvIdleTask from tasks.o(.text.prvIdleTask) referenced 2 times from tasks.o(.text.vTaskStartScheduler) -
  • prvTaskExitError from port.o(.text.prvTaskExitError) referenced 2 times from port.o(.text.pxPortInitialiseStack) -
  • prvTimerTask from timers.o(.text.prvTimerTask) referenced 2 times from timers.o(.text.xTimerCreateTimerTask) +
  • prvIdleTask from tasks.o(.text.prvIdleTask) referenced 2 times from tasks.o(.text.vTaskStartScheduler) +
  • prvTaskExitError from port.o(.text.prvTaskExitError) referenced 2 times from port.o(.text.pxPortInitialiseStack) +
  • prvTimerTask from timers.o(.text.prvTimerTask) referenced 2 times from timers.o(.text.xTimerCreateTimerTask)

    Global Symbols

    __main (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main)) -

    [Calls]