From 8884bbbd5a69dcd47a7e863c830900ecef44ce11 Mon Sep 17 00:00:00 2001 From: yunhai8432 Date: Sat, 18 Oct 2025 21:57:38 +0800 Subject: [PATCH] =?UTF-8?q?=E8=BE=BE=E5=A6=99=E5=92=8C=E5=A4=A7=E7=96=86?= =?UTF-8?q?=E7=9B=B4=E6=8E=A5=E6=B3=A8=E5=86=8C=E5=8F=AF=E7=94=A8=EF=BC=8C?= =?UTF-8?q?=E5=8F=8Cyaw=E5=86=99=E5=AE=8C=E6=B2=A1=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/gimbal.uvguix.yunha | 179 +- MDK-ARM/gimbal.uvoptx | 87 +- MDK-ARM/gimbal.uvprojx | 15 +- MDK-ARM/gimbal/ahrs.crf | Bin 27984 -> 28015 bytes MDK-ARM/gimbal/ahrs.o | Bin 42392 -> 42416 bytes MDK-ARM/gimbal/ai.crf | Bin 937467 -> 939972 bytes MDK-ARM/gimbal/ai.d | 3 +- MDK-ARM/gimbal/ai.o | Bin 1014152 -> 1016088 bytes MDK-ARM/gimbal/atti_esti.crf | Bin 936829 -> 939339 bytes MDK-ARM/gimbal/atti_esti.d | 3 +- MDK-ARM/gimbal/atti_esti.o | Bin 1013236 -> 1015176 bytes MDK-ARM/gimbal/bmi088.crf | Bin 885597 -> 885629 bytes MDK-ARM/gimbal/bmi088.o | Bin 989948 -> 989972 bytes MDK-ARM/gimbal/bsp_delay.o | Bin 944804 -> 944804 bytes MDK-ARM/gimbal/bsp_rc.o | Bin 945344 -> 945344 bytes MDK-ARM/gimbal/calc_lib.o | Bin 20704 -> 20704 bytes MDK-ARM/gimbal/can.o | Bin 946248 -> 946248 bytes MDK-ARM/gimbal/can_1.crf | Bin 916178 -> 916178 bytes MDK-ARM/gimbal/can_1.o | Bin 1048496 -> 1048496 bytes MDK-ARM/gimbal/cmd.crf | Bin 31144 -> 31175 bytes MDK-ARM/gimbal/cmd.o | Bin 43472 -> 43496 bytes MDK-ARM/gimbal/cmsis_os2.o | Bin 1132632 -> 1132632 bytes MDK-ARM/gimbal/config.crf | Bin 936586 -> 939055 bytes MDK-ARM/gimbal/config.d | 1 + MDK-ARM/gimbal/config.o | Bin 1008760 -> 1010856 bytes MDK-ARM/gimbal/crc16.crf | Bin 18278 -> 18309 bytes MDK-ARM/gimbal/crc16.o | Bin 25684 -> 25708 bytes MDK-ARM/gimbal/crc8.crf | Bin 4673 -> 4673 bytes MDK-ARM/gimbal/crc8.o | Bin 16388 -> 16388 bytes MDK-ARM/gimbal/croutine.o | Bin 43320 -> 43320 bytes MDK-ARM/gimbal/dma.o | Bin 939684 -> 939684 bytes MDK-ARM/gimbal/event_groups.o | Bin 77280 -> 77280 bytes MDK-ARM/gimbal/filter.crf | Bin 20590 -> 20621 bytes MDK-ARM/gimbal/filter.o | Bin 34308 -> 34332 bytes MDK-ARM/gimbal/freertos.o | Bin 986476 -> 986476 bytes MDK-ARM/gimbal/freertos_cli.crf | Bin 45244 -> 45244 bytes MDK-ARM/gimbal/freertos_cli.o | Bin 55112 -> 55112 bytes MDK-ARM/gimbal/gimbal.axf | Bin 2034604 -> 2054676 bytes MDK-ARM/gimbal/gimbal.build_log.htm | 6 +- MDK-ARM/gimbal/gimbal.crf | Bin 934814 -> 938883 bytes MDK-ARM/gimbal/gimbal.d | 3 +- MDK-ARM/gimbal/gimbal.hex | 6735 +++++++++--------- MDK-ARM/gimbal/gimbal.htm | 3182 +++++---- MDK-ARM/gimbal/gimbal.lnp | 3 +- MDK-ARM/gimbal/gimbal.map | 3167 ++++---- MDK-ARM/gimbal/gimbal.o | Bin 1015224 -> 1019236 bytes MDK-ARM/gimbal/gimbal_ctrl.crf | Bin 938581 -> 941039 bytes MDK-ARM/gimbal/gimbal_ctrl.d | 3 +- MDK-ARM/gimbal/gimbal_ctrl.o | Bin 1011876 -> 1013812 bytes MDK-ARM/gimbal/gimbal_gimbal.dep | 553 +- MDK-ARM/gimbal/gpio.o | Bin 940856 -> 940856 bytes MDK-ARM/gimbal/gpio_1.crf | Bin 846874 -> 846874 bytes MDK-ARM/gimbal/gpio_1.o | Bin 953220 -> 953220 bytes MDK-ARM/gimbal/heap_4.o | Bin 58636 -> 58636 bytes MDK-ARM/gimbal/i2c.o | Bin 945568 -> 945568 bytes MDK-ARM/gimbal/i2c_1.crf | Bin 850160 -> 850160 bytes MDK-ARM/gimbal/i2c_1.o | Bin 972276 -> 972276 bytes MDK-ARM/gimbal/init.crf | Bin 934977 -> 937487 bytes MDK-ARM/gimbal/init.d | 3 +- MDK-ARM/gimbal/init.o | Bin 1010436 -> 1012376 bytes MDK-ARM/gimbal/ist8310.crf | Bin 882521 -> 882553 bytes MDK-ARM/gimbal/ist8310.o | Bin 978676 -> 978700 bytes MDK-ARM/gimbal/limiter.crf | Bin 16220 -> 16220 bytes MDK-ARM/gimbal/limiter.o | Bin 26072 -> 26072 bytes MDK-ARM/gimbal/list.o | Bin 46248 -> 46248 bytes MDK-ARM/gimbal/main.o | Bin 988036 -> 988036 bytes MDK-ARM/gimbal/mixer.crf | Bin 18982 -> 19013 bytes MDK-ARM/gimbal/mixer.o | Bin 26492 -> 26516 bytes MDK-ARM/gimbal/mm.crf | Bin 27893 -> 27893 bytes MDK-ARM/gimbal/mm.o | Bin 37184 -> 37184 bytes MDK-ARM/gimbal/motor.crf | Bin 7471 -> 7471 bytes MDK-ARM/gimbal/motor.o | Bin 19616 -> 19616 bytes MDK-ARM/gimbal/motor_dm.crf | Bin 0 -> 930525 bytes MDK-ARM/gimbal/motor_dm.d | 61 + MDK-ARM/gimbal/motor_dm.o | Bin 0 -> 1029452 bytes MDK-ARM/gimbal/motor_lk.crf | Bin 928491 -> 928523 bytes MDK-ARM/gimbal/motor_lk.o | Bin 1022988 -> 1023008 bytes MDK-ARM/gimbal/motor_rm.crf | Bin 929985 -> 930017 bytes MDK-ARM/gimbal/motor_rm.o | Bin 1023164 -> 1023192 bytes MDK-ARM/gimbal/pid.crf | Bin 21664 -> 21695 bytes MDK-ARM/gimbal/pid.o | Bin 32944 -> 32968 bytes MDK-ARM/gimbal/port.o | Bin 62480 -> 62480 bytes MDK-ARM/gimbal/pwm.crf | Bin 847046 -> 847046 bytes MDK-ARM/gimbal/pwm.o | Bin 955560 -> 955560 bytes MDK-ARM/gimbal/queue.o | Bin 129272 -> 129272 bytes MDK-ARM/gimbal/remote.crf | Bin 935270 -> 937780 bytes MDK-ARM/gimbal/remote.d | 3 +- MDK-ARM/gimbal/remote.o | Bin 1012216 -> 1014132 bytes MDK-ARM/gimbal/remote_control.o | Bin 951872 -> 951876 bytes MDK-ARM/gimbal/spi.o | Bin 946116 -> 946116 bytes MDK-ARM/gimbal/spi_1.crf | Bin 849693 -> 849693 bytes MDK-ARM/gimbal/spi_1.o | Bin 971636 -> 971636 bytes MDK-ARM/gimbal/stm32f4xx_hal.o | Bin 976484 -> 976484 bytes MDK-ARM/gimbal/stm32f4xx_hal_can.o | Bin 996624 -> 996624 bytes MDK-ARM/gimbal/stm32f4xx_hal_cortex.o | Bin 973032 -> 973032 bytes MDK-ARM/gimbal/stm32f4xx_hal_dma.o | Bin 964568 -> 964568 bytes MDK-ARM/gimbal/stm32f4xx_hal_dma_ex.o | Bin 950056 -> 950056 bytes MDK-ARM/gimbal/stm32f4xx_hal_exti.o | Bin 952032 -> 952032 bytes MDK-ARM/gimbal/stm32f4xx_hal_flash.o | Bin 963580 -> 963580 bytes MDK-ARM/gimbal/stm32f4xx_hal_flash_ex.o | Bin 961308 -> 961308 bytes MDK-ARM/gimbal/stm32f4xx_hal_flash_ramfunc.o | Bin 936376 -> 936376 bytes MDK-ARM/gimbal/stm32f4xx_hal_gpio.o | Bin 950272 -> 950272 bytes MDK-ARM/gimbal/stm32f4xx_hal_i2c.o | Bin 1101060 -> 1101060 bytes MDK-ARM/gimbal/stm32f4xx_hal_i2c_ex.o | Bin 936188 -> 936188 bytes MDK-ARM/gimbal/stm32f4xx_hal_msp.o | Bin 939136 -> 939136 bytes MDK-ARM/gimbal/stm32f4xx_hal_pwr.o | Bin 961108 -> 961108 bytes MDK-ARM/gimbal/stm32f4xx_hal_pwr_ex.o | Bin 946296 -> 946296 bytes MDK-ARM/gimbal/stm32f4xx_hal_rcc.o | Bin 962008 -> 962008 bytes MDK-ARM/gimbal/stm32f4xx_hal_rcc_ex.o | Bin 948312 -> 948312 bytes MDK-ARM/gimbal/stm32f4xx_hal_spi.o | Bin 1030660 -> 1030660 bytes MDK-ARM/gimbal/stm32f4xx_hal_tim.o | Bin 1150672 -> 1150672 bytes MDK-ARM/gimbal/stm32f4xx_hal_tim_ex.o | Bin 1015984 -> 1015984 bytes MDK-ARM/gimbal/stm32f4xx_hal_uart.o | Bin 1047276 -> 1047276 bytes MDK-ARM/gimbal/stm32f4xx_it.crf | Bin 886872 -> 886872 bytes MDK-ARM/gimbal/stm32f4xx_it.o | Bin 1010112 -> 1010112 bytes MDK-ARM/gimbal/stream_buffer.o | Bin 98832 -> 98832 bytes MDK-ARM/gimbal/system_stm32f4xx.o | Bin 939936 -> 939936 bytes MDK-ARM/gimbal/tasks.o | Bin 187384 -> 187384 bytes MDK-ARM/gimbal/tim.o | Bin 947128 -> 947128 bytes MDK-ARM/gimbal/time.crf | Bin 895562 -> 895562 bytes MDK-ARM/gimbal/time.o | Bin 979980 -> 979980 bytes MDK-ARM/gimbal/timers.o | Bin 100604 -> 100604 bytes MDK-ARM/gimbal/uart.crf | Bin 848056 -> 848056 bytes MDK-ARM/gimbal/uart.o | Bin 964404 -> 964404 bytes MDK-ARM/gimbal/ui.crf | Bin 33992 -> 34023 bytes MDK-ARM/gimbal/ui.o | Bin 45404 -> 45428 bytes MDK-ARM/gimbal/usart.o | Bin 946132 -> 946132 bytes MDK-ARM/gimbal/user_math.crf | Bin 20388 -> 20419 bytes MDK-ARM/gimbal/user_math.o | Bin 37132 -> 37156 bytes MDK-ARM/gimbal/user_task.o | Bin 47996 -> 47996 bytes User/component/user_math.c | 14 +- User/component/user_math.h | 18 +- User/device/ai.c | 5 + User/device/device_config.yaml | 3 + User/device/motor_dm.c | 496 ++ User/device/motor_dm.h | 98 + User/device/motor_lz.c | 8 - User/device/motor_lz.h | 6 - User/device/motor_rm.c | 4 +- User/module/config.c | 52 +- User/module/gimbal.c | 211 +- User/module/gimbal.h | 38 +- 142 files changed, 8113 insertions(+), 6847 deletions(-) create mode 100644 MDK-ARM/gimbal/motor_dm.crf create mode 100644 MDK-ARM/gimbal/motor_dm.d create mode 100644 MDK-ARM/gimbal/motor_dm.o create mode 100644 User/device/motor_dm.c create mode 100644 User/device/motor_dm.h diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha index d54f165..126a2f5 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\module + D:\yunha\云台\大疆电机\gimbal\User\device @@ -15,17 +15,17 @@ 38003 Registers - 116 117 + 116 100 346 Code Coverage - 710 160 + 710 100 204 Performance Analyzer - 870 + 443 130 130 100 @@ -70,7 +70,7 @@ 466 Source Browser 500 - 300 + 166 @@ -110,8 +110,8 @@ 0 - 773 - 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..\User\component\ahrs.c - 0 - 398 - 413 - 1 - - 0 - diff --git a/MDK-ARM/gimbal.uvoptx b/MDK-ARM/gimbal.uvoptx index 801169a..3a76f0d 100644 --- a/MDK-ARM/gimbal.uvoptx +++ b/MDK-ARM/gimbal.uvoptx @@ -153,64 +153,37 @@ -U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) - - - 0 - 0 - 38 - 1 -
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- 0 - 0 - 0 - 0 - 0 - 1 - D:\yunha\浜戝彴\澶х枂鐢垫満\gimbal\User\module\gimbal.c - - \\gimbal\../User/module/gimbal.c\38 - - + 0 1 - rc_ctrl,0x0A + gimbal_imu 1 1 - gimbal_to_send + gimbal,0x0A 2 1 - eulr_to_send + remote_cmd 3 1 - gimbal_ahrs + rc_ctrl,0x0A 4 1 - bmi088 + j1 5 1 - gimbal_imu - - - 6 - 1 - gimbal,0x0A - - - 7 - 1 - remote_cmd + j2 @@ -1191,6 +1164,18 @@ 0 0 + + 8 + 73 + 1 + 0 + 0 + 0 + ..\User\device\motor_dm.c + motor_dm.c + 0 + 0 + @@ -1201,7 +1186,7 @@ 0 9 - 73 + 74 1 0 0 @@ -1213,7 +1198,7 @@ 9 - 74 + 75 1 0 0 @@ -1225,7 +1210,7 @@ 9 - 75 + 76 1 0 0 @@ -1235,18 +1220,6 @@ 0 0 - - 9 - 76 - 1 - 0 - 0 - 0 - ..\User\task\gimbal_ctrl.c - gimbal_ctrl.c - 0 - 0 - 9 77 @@ -1259,6 +1232,18 @@ 0 0 + + 9 + 78 + 1 + 0 + 0 + 0 + ..\User\task\gimbal_ctrl.c + gimbal_ctrl.c + 0 + 0 + @@ -1269,7 +1254,7 @@ 0 10 - 78 + 79 1 0 0 @@ -1281,7 +1266,7 @@ 10 - 79 + 80 1 0 0 diff --git a/MDK-ARM/gimbal.uvprojx b/MDK-ARM/gimbal.uvprojx index a04986c..155c35b 100644 --- a/MDK-ARM/gimbal.uvprojx +++ 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Static Call Graph for image gimbal\gimbal.axf

-

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Fri Oct 17 16:19:40 2025 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sat Oct 18 21:53:42 2025

Maximum Stack Usage = 344 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -152,8 +152,8 @@ Function Pointers Global Symbols

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../User/component/filter.h gimbal\gimbal.o: ../User/component/pid.h gimbal\gimbal.o: ../User/device/motor.h gimbal\gimbal.o: ../User/device/device.h -gimbal\gimbal.o: ../User/device/motor_rm.h +gimbal\gimbal.o: ../User/device/motor_dm.h gimbal\gimbal.o: ../User/bsp/can.h gimbal\gimbal.o: ../Core/Inc/can.h gimbal\gimbal.o: ../Core/Inc/main.h @@ -61,4 +61,5 @@ gimbal\gimbal.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers gimbal\gimbal.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h gimbal\gimbal.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h gimbal\gimbal.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h +gimbal\gimbal.o: ../User/device/motor_rm.h gimbal\gimbal.o: ../User/bsp/time.h diff --git a/MDK-ARM/gimbal/gimbal.hex b/MDK-ARM/gimbal/gimbal.hex index b730498..3a03bf5 100644 --- a/MDK-ARM/gimbal/gimbal.hex +++ b/MDK-ARM/gimbal/gimbal.hex @@ -1,23 +1,23 @@ :020000040800F2 -:100000003087002029030008958A0008696E0008DF 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__main (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main)) -

[Calls]

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