diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha index 126a2f5..5d1f2f9 100644 --- a/MDK-ARM/gimbal.uvguix.yunha +++ b/MDK-ARM/gimbal.uvguix.yunha @@ -15,17 +15,17 @@ 38003 Registers - 116 100 + 116 117 346 Code Coverage - 710 100 + 710 160 204 Performance Analyzer - 443 130 130 100 + 870 @@ -101,17 +101,17 @@ -1 - 158 - 370 - 1450 - 760 + 121 + 329 + 1409 + 723 0 1205 - 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1423 @@ -1822,7 +1822,7 @@ Build 972 - 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583 @@ -3603,12 +3603,12 @@ 0 100 - 3 + 2 ..\User\module\config.c - 36 - 7 - 18 + 9 + 21 + 22 1 0 @@ -3624,18 +3624,18 @@ ../User/module/gimbal.h - 0 + 16 101 - 107 + 114 1 0 ..\User\module\gimbal.c - 36 - 319 - 335 + 16 + 13 + 24 1 0 @@ -3643,7 +3643,7 @@ ..\User\task\gimbal_ctrl.c 16 - 14 + 8 9 1 @@ -3661,7 +3661,7 @@ ..\User\device\motor_dm.c 21 - 366 + 374 380 1 @@ -3670,7 +3670,7 @@ ..\User\device\ai.c 1 - 11 + 13 19 1 @@ -3679,7 +3679,7 @@ startup_stm32f407xx.s 0 - 167 + 169 174 1 @@ -3688,7 +3688,7 @@ ../Core/Src/main.c 0 - 74 + 76 82 1 @@ -3697,7 +3697,7 @@ ..\User\task\remote.c 24 - 1 + 12 18 1 @@ -3706,7 +3706,7 @@ ../Middlewares/Third_Party/FreeRTOS/Source/tasks.c 0 - 3424 + 3426 3432 1 diff --git a/MDK-ARM/gimbal/ai.crf b/MDK-ARM/gimbal/ai.crf index 103abbe..b111d44 100644 Binary files a/MDK-ARM/gimbal/ai.crf and b/MDK-ARM/gimbal/ai.crf differ diff --git a/MDK-ARM/gimbal/ai.o b/MDK-ARM/gimbal/ai.o index 9e5d93a..cc34283 100644 Binary files a/MDK-ARM/gimbal/ai.o and b/MDK-ARM/gimbal/ai.o differ diff --git a/MDK-ARM/gimbal/atti_esti.crf b/MDK-ARM/gimbal/atti_esti.crf index 98d195c..d57bfca 100644 Binary files a/MDK-ARM/gimbal/atti_esti.crf and b/MDK-ARM/gimbal/atti_esti.crf differ diff --git a/MDK-ARM/gimbal/atti_esti.o b/MDK-ARM/gimbal/atti_esti.o index cbdbd16..49ac052 100644 Binary files a/MDK-ARM/gimbal/atti_esti.o and b/MDK-ARM/gimbal/atti_esti.o differ diff --git a/MDK-ARM/gimbal/config.crf b/MDK-ARM/gimbal/config.crf index 234b4a5..fc7eb8c 100644 Binary files a/MDK-ARM/gimbal/config.crf and b/MDK-ARM/gimbal/config.crf differ diff --git a/MDK-ARM/gimbal/config.o b/MDK-ARM/gimbal/config.o index 12a502e..afd78c4 100644 Binary files a/MDK-ARM/gimbal/config.o and b/MDK-ARM/gimbal/config.o differ diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf index c5ca810..88e9eb4 100644 Binary files a/MDK-ARM/gimbal/gimbal.axf and b/MDK-ARM/gimbal/gimbal.axf differ diff --git a/MDK-ARM/gimbal/gimbal.build_log.htm b/MDK-ARM/gimbal/gimbal.build_log.htm index 5fc709e..74f2bcd 100644 --- a/MDK-ARM/gimbal/gimbal.build_log.htm +++ b/MDK-ARM/gimbal/gimbal.build_log.htm @@ -31,6 +31,16 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o' Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.o'. Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'. +compiling remote.c... +compiling atti_esti.c... +compiling config.c... +compiling init.c... +compiling gimbal.c... +compiling gimbal_ctrl.c... +compiling ai.c... +linking... +Program Size: Code=62308 RO-data=980 RW-data=712 ZI-data=34272 +FromELF: creating hex file... "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -54,7 +64,7 @@ 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: 00:00:07 diff --git a/MDK-ARM/gimbal/gimbal.crf b/MDK-ARM/gimbal/gimbal.crf index bba4ee0..304aed9 100644 Binary files a/MDK-ARM/gimbal/gimbal.crf and b/MDK-ARM/gimbal/gimbal.crf differ diff --git a/MDK-ARM/gimbal/gimbal.hex b/MDK-ARM/gimbal/gimbal.hex index 3a03bf5..26d606d 100644 --- a/MDK-ARM/gimbal/gimbal.hex +++ b/MDK-ARM/gimbal/gimbal.hex @@ -1,5 +1,5 @@ :020000040800F2 -:10000000B088002029030008259200082D710008FF +:10000000A888002029030008259200082D71000807 :1000100091900008A5270008ADA40008000000008A :10002000000000000000000000000000690200085D :10003000772A000800000000C50200088D9900081A @@ -52,8 +52,8 @@ :10032000EFF30580704700000948804709480047FF :10033000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE795 :10034000FEE7FEE704480549054A064B70470000F2 -:10035000559A000889010008B0820020B08800206A -:10036000B0840020B084002053EA020C00F06980C1 +:10035000559A000889010008A8820020A88800207A +:10036000A8840020A884002053EA020C00F06980D1 :100370002DE9F04B4FF00006002B1FBFB3FA83F5B9 :1003800003FA05F424FA05F65E4012BF1643B2FAEA :1003900082F502FA05F4C5F120051EBF22FA05FC1C @@ -95,8 +95,8 @@ :1005D000CCF1040CBCF1020F18BF00F8012BA8BF2E :1005E00020F8022BA1EB0C01FFF7B6BF5FEAC17C3C :1005F00024BF00F8012B00F8012B48BF00F8012BA5 -:100600007047000000487047508200200048704743 -:10061000508200207546FFF7F9FFAE460500694697 +:10060000704700000048704744820020004870474F +:10061000448200207546FFF7F9FFAE4605006946A3 :10062000534620F00700854618B020B5FFF78AFE34 :10063000BDE820404FF000064FF000074FF00008E3 :100640004FF0000B21F00701AC46ACE8C009ACE864 @@ -689,7 +689,7 @@ :102AF0002978204600F034FB95ED010AD4ED020A56 :102B000020EE209A95ED020AD4ED020A60EE20CA6A :102B100095ED010AD4ED020A60EE208A95ED020AD5 -:102B2000D4ED020A20EE20DA94EDD80AD4EDD40ACE +:102B2000D4ED020A20EE20DA94EDD70AD4EDD40ACF :102B300030EE608A9FEDDB0AB4EEC08AF1EE10FA47 :102B400005DD9FEDD90A38EE400AB0EE408A9FEDD0 :102B5000D70AB4EEC08AF1EE10FA05D29FEDD20A80 @@ -735,14 +735,14 @@ :102DD00030EE2C0A84ED0A0A206990ED620AB5EE05 :102DE000C00AF1EE10FA0BDD94EDAD1AF0EE410AD7 :102DF00094EDAE1AB0EE410A04F12800FFF765FD2C -:102E000094ED021AF0EE411A94EDD81AF0EE410A50 +:102E000094ED021AF0EE411A94EDD71AF0EE410A51 :102E100094ED091AB0EE410A9FED251A04F5B07041 :102E200006F002FAB0EE40BA94ED020AF0EE401A53 -:102E300094EDD90AF0EE400A9FED1D1AB0EE4B0A50 +:102E300094EDD80AF0EE400A9FED1D1AB0EE4B0A51 :102E400004F5927006F0F0F984EDBF0A94ED021AD1 -:102E5000F0EE411A94EDDC1AF0EE410A94ED0A1AF4 +:102E5000F0EE411A94EDDB1AF0EE410A94ED0A1AF5 :102E6000B0EE410A9FED121A04F5EC7006F0DCF9A1 -:102E7000F0EE40BA94ED020AF0EE401A94EDDD0A4D +:102E7000F0EE40BA94ED020AF0EE401A94EDDC0A4E :102E8000F0EE400A9FED0A1AB0EE6B0A04F5CE7020 :102E900006F0CAF984EDC00A00BF00BF00200DE6AD :102EA00000247449DB0F4940DB0FC940DB0F49C0E8 @@ -796,28 +796,28 @@ :1031A00004F0F2FF9FED100A04F5377004F0ECFF15 :1031B00004F11800FDF706FC94EDD50A84ED070A2A :1031C00094EDD40A84ED060A94EDD40A84ED0C0A39 -:1031D00094EDDC0A84ED0A0A94EDD80A84ED090A1C +:1031D00094EDDB0A84ED0A0A94EDD70A84ED090A1E :1031E00025750020C2E700000000000070B504460D :1031F00014B94FF0FF3070BD2069807B022813D1D5 :10320000216901F10A0005F03CFC216901F10A0085 :1032100005F049FB054635B104F5517005F108018B -:103220004EC91C304EC000BF20698079022811D1E0 +:103220004EC918304EC000BF20698079022811D1E4 :103230002169881C05F025FC2169881C05F033FBF9 -:10324000054635B104F5517005F108014EC92C3021 +:10324000054635B104F5517005F108014EC9283025 :103250004EC000BF206990F82000B0B9216901F18B :103260001A0005F0CBF9216901F11A0005F022F8E6 :1032700005464DB104F55170D5E90836EA69A96AE9 -:10328000C0E90836C261816200BF2069007EB0B922 +:10328000C0E907368261416200BF2069007EB0B9A3 :10329000216901F1120005F0B1F9216901F1120073 :1032A00005F008F805464DB104F55170D5E908362A -:1032B000EA69A96AC0E90C36C262816300BF20696D +:1032B000EA69A96AC0E90B368262416300BF2069EE :1032C00090F83000B0B9216901F12A0005F096F9B3 :1032D000216901F12A0004F0EDFF05464DB104F526 -:1032E0005170D5E90836EA69A96AC0E91036C263A7 -:1032F000816400BF206990F82600022813D121695B +:1032E0005170D5E90836EA69A96AC0E90F368263E8 +:1032F000416400BF206990F82600022813D121699B :1033000001F1220005F0BDFB216901F1220005F069 :10331000CAFA054635B104F5517005F108014EC9E8 -:103320003C304EC000BF002065E730B5024612B900 +:1033200038304EC000BF002065E730B5024612B904 :103330004FF0FF3030BD02F5407091E83800443066 :1033400038C00C38D1E90445CB68C0E90445C360F6 :1033500000BFEFE710B5024692F82030012B01D0F4 @@ -2518,11 +2518,11 @@ :109D40001D4801F01CFF1D4908601D4A00211D48E7 :109D500001F015FF194948601B4A00211B4801F01A :109D60000EFF1649886000220A21022001F012FD30 -:109D70001249C86000223821022001F00BFD0F4972 +:109D70001249C86000223021022001F00BFD0F497A :109D8000486100220C21022001F004FD01460B482D :109D9000816100221821022001F0FCFC01460748E5 :109DA000C16101F095FC01F0E4FE044601F043FFBF -:109DB00070BD0000B4F50008D19D0008487E002069 +:109DB00070BD0000B4F50008D19D0008407E002071 :109DC000D8F50008159F0008FCF50008BD9F0008A5 :109DD0002DED048B01F017FC064605F09DF841ECD3 :109DE000190B9FED3F0B53EC102B04F08DFE41EC53 @@ -2541,10 +2541,10 @@ :109EB000134B0ECB0C300EC018380C4B1C330ECB92 :109EC0000EC01349486901F0F5FC114900231A46F8 :109ED00048690E4901F0ACFC204601F052FBB2E7A4 -:109EE0000000000000407F40147E0020407D0020E4 +:109EE0000000000000407F40107E0020407D0020E8 :109EF000A47D0020907D002070F50008BC7D00202E :109F0000B07D00200000000000002042F87D00200D -:109F1000487E00202DED048B01F075FB064604F011 +:109F1000407E00202DED048B01F075FB064604F019 :109F2000FBFF41EC190B9FED1E0B53EC102B04F0C3 :109F3000EBFD41EC180B04F0ABFF0546002001F0EF :109F400011FB01F053FB0446F8F7D2FC06469FEDE7 @@ -2553,16 +2553,16 @@ :109F70000E48F9F7DAF90E4900231A4688690E49A6 :109F800001F0C8FB0948F9F731F90B490748F8F720 :109F90008BFD0648F9F78BF8204601F0F2FADDE771 -:109FA0000000000000407F400000FA43987E00203F -:109FB000487E002028820020448200202DED048B62 +:109FA0000000000000407F400000FA43907E002047 +:109FB000407E002020820020388200202DED048B7E :109FC00001F021FB064604F0A7FF41EC190B9FEDC1 :109FD000150B53EC102B04F097FD41EC180B04F01B :109FE00057FF0546002001F0BDFA01F0FFFA0446D4 :109FF00001F000FA02F07CFC13E02C440B4A0C49FF :10A000000C4802F031FC0C49886901F053FC0A4904 :10A0100000231A468869074901F00AFC204601F02E -:10A02000B0FAEAE70000000000407F402C7E0020EC -:10A030000B7D0020207E0020487E002070B5044665 +:10A02000B0FAEAE70000000000407F40287E0020F0 +:10A030000B7D00201C7E0020407E002070B5044671 :10A04000A56B0020E8852846FCF796FD70BD00BF93 :10A0500000BF02680C3252E8002F22F490710268AF :10A060000C3242E80013002BF3D100BF00BF00BF49 @@ -3954,7 +3954,7 @@ :10F7000067696D62616C5F6374726C005461736BE6 :10F710005F496E697400000038F70008000000209F :10F72000C8020000C4010008B8F70008C8020020A1 -:10F73000E885000020020008C132104201037D2448 +:10F73000E085000020020008C132104201037D2450 :10F74000F41AAA0101180530022B073D0415060220 :10F7500002DA0518256666E63E23803F4FC0401753 :10F76000B7513A0C39044ABF04332041E24029140E diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index 59edbbf..0f8a20a 100644 --- a/MDK-ARM/gimbal/gimbal.htm +++ b/MDK-ARM/gimbal/gimbal.htm @@ -3,7 +3,7 @@ Static Call Graph - [gimbal\gimbal.axf]

Static Call Graph for image gimbal\gimbal.axf

-

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

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sun Oct 19 20:09:44 2025

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

Call chain for Maximum Stack Depth:

diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map index 6dcb723..bdc2ec1 100644 --- a/MDK-ARM/gimbal/gimbal.map +++ b/MDK-ARM/gimbal/gimbal.map @@ -4534,16 +4534,16 @@ Image Symbol Table bmi088_rxbuf 0x20007cf8 Data 19 bmi088.o(.bss) .bss 0x20007d0b Section 49 remote_control.o(.bss) sbus_rx_buf 0x20007d23 Data 25 remote_control.o(.bss) - .bss 0x20007d40 Section 224 atti_esti.o(.bss) - .bss 0x20007e20 Section 40 remote.o(.bss) - .bss 0x20007e48 Section 80 user_task.o(.bss) - .bss 0x20007e98 Section 952 gimbal_ctrl.o(.bss) - .bss 0x20008250 Section 96 libspace.o(.bss) - HEAP 0x200082b0 Section 512 startup_stm32f407xx.o(HEAP) - Heap_Mem 0x200082b0 Data 512 startup_stm32f407xx.o(HEAP) - STACK 0x200084b0 Section 1024 startup_stm32f407xx.o(STACK) - Stack_Mem 0x200084b0 Data 1024 startup_stm32f407xx.o(STACK) - __initial_sp 0x200088b0 Data 0 startup_stm32f407xx.o(STACK) + .bss 0x20007d40 Section 220 atti_esti.o(.bss) + .bss 0x20007e1c Section 36 remote.o(.bss) + .bss 0x20007e40 Section 80 user_task.o(.bss) + .bss 0x20007e90 Section 948 gimbal_ctrl.o(.bss) + .bss 0x20008244 Section 96 libspace.o(.bss) + HEAP 0x200082a8 Section 512 startup_stm32f407xx.o(HEAP) + Heap_Mem 0x200082a8 Data 512 startup_stm32f407xx.o(HEAP) + STACK 0x200084a8 Section 1024 startup_stm32f407xx.o(STACK) + Stack_Mem 0x200084a8 Data 1024 startup_stm32f407xx.o(STACK) + __initial_sp 0x200088a8 Data 0 startup_stm32f407xx.o(STACK) Global Symbols @@ -5161,16 +5161,16 @@ Image Symbol Table magn 0x20007da4 Data 12 atti_esti.o(.bss) eulr_to_send 0x20007db0 Data 12 atti_esti.o(.bss) imu_temp_ctrl_pid 0x20007dbc Data 60 atti_esti.o(.bss) - gimbal_to_send 0x20007df8 Data 28 atti_esti.o(.bss) - cali_bmi088 0x20007e14 Data 12 atti_esti.o(.bss) - remote_cmd 0x20007e20 Data 12 remote.o(.bss) - imu 0x20007e2c Data 28 remote.o(.bss) - task_runtime 0x20007e48 Data 80 user_task.o(.bss) - gimbal 0x20007e98 Data 912 gimbal_ctrl.o(.bss) - gimbal_imu 0x20008228 Data 28 gimbal_ctrl.o(.bss) - gimbal_cmd 0x20008244 Data 12 gimbal_ctrl.o(.bss) - __libspace_start 0x20008250 Data 96 libspace.o(.bss) - __temporary_stack_top$libspace 0x200082b0 Data 0 libspace.o(.bss) + gimbal_to_send 0x20007df8 Data 24 atti_esti.o(.bss) + cali_bmi088 0x20007e10 Data 12 atti_esti.o(.bss) + remote_cmd 0x20007e1c Data 12 remote.o(.bss) + imu 0x20007e28 Data 24 remote.o(.bss) + task_runtime 0x20007e40 Data 80 user_task.o(.bss) + gimbal 0x20007e90 Data 912 gimbal_ctrl.o(.bss) + gimbal_imu 0x20008220 Data 24 gimbal_ctrl.o(.bss) + gimbal_cmd 0x20008238 Data 12 gimbal_ctrl.o(.bss) + __libspace_start 0x20008244 Data 96 libspace.o(.bss) + __temporary_stack_top$libspace 0x200082a4 Data 0 libspace.o(.bss) @@ -5778,7 +5778,7 @@ Memory Map of the image 0x0800f718 0x0800f718 0x00000020 Data RO 9222 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800f738, Size: 0x000088b0, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000080]) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800f738, Size: 0x000088a8, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000080]) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -5818,13 +5818,14 @@ Memory Map of the image 0x20007cf8 - 0x00000013 Zero RW 7824 .bss bmi088.o 0x20007d0b - 0x00000031 Zero RW 8257 .bss remote_control.o 0x20007d3c COMPRESSED 0x00000004 PAD - 0x20007d40 - 0x000000e0 Zero RW 8530 .bss atti_esti.o - 0x20007e20 - 0x00000028 Zero RW 8579 .bss remote.o - 0x20007e48 - 0x00000050 Zero RW 8627 .bss user_task.o - 0x20007e98 - 0x000003b8 Zero RW 8645 .bss gimbal_ctrl.o - 0x20008250 - 0x00000060 Zero RW 9080 .bss c_w.l(libspace.o) - 0x200082b0 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o - 0x200084b0 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x20007d40 - 0x000000dc Zero RW 8530 .bss atti_esti.o + 0x20007e1c - 0x00000024 Zero RW 8579 .bss remote.o + 0x20007e40 - 0x00000050 Zero RW 8627 .bss user_task.o + 0x20007e90 - 0x000003b4 Zero RW 8645 .bss gimbal_ctrl.o + 0x20008244 - 0x00000060 Zero RW 9080 .bss c_w.l(libspace.o) + 0x200082a4 COMPRESSED 0x00000004 PAD + 0x200082a8 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o + 0x200084a8 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800f7b8, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) @@ -5840,8 +5841,8 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug Object Name 4242 76 0 4 0 9382 ahrs.o - 136 18 0 0 0 9743 ai.o - 324 52 32 0 224 9145 atti_esti.o + 136 18 0 0 0 9727 ai.o + 324 52 32 0 220 9129 atti_esti.o 1280 92 0 9 19 12666 bmi088.o 48 16 0 8 0 583613 bsp_delay.o 224 28 0 0 0 1555 bsp_rc.o @@ -5850,13 +5851,13 @@ Image component sizes 2652 204 0 16 2168 25071 can_1.o 0 0 0 0 0 628 cmd.o 1854 56 0 4 1736 63560 cmsis_os2.o - 8 4 0 496 0 5810 config.o + 8 4 0 496 0 5794 config.o 120 6 0 0 0 818 dma.o 0 0 0 0 0 19160 event_groups.o 500 22 0 0 0 8108 filter.o 72 20 48 4 0 3402 freertos.o - 2218 26 0 0 0 8470 gimbal.o - 168 28 0 0 952 1274 gimbal_ctrl.o + 2218 26 0 0 0 8454 gimbal.o + 168 28 0 0 948 1274 gimbal_ctrl.o 496 20 0 0 0 1239 gpio.o 336 28 56 0 64 4927 gpio_1.o 724 74 0 32 24576 4859 heap_4.o @@ -5874,7 +5875,7 @@ Image component sizes 1014 92 0 12 0 11673 port.o 216 12 8 0 0 2302 pwm.o 2930 26 0 0 64 25955 queue.o - 128 24 0 0 40 7421 remote.o + 128 24 0 0 36 7405 remote.o 628 36 0 0 49 4604 remote_control.o 604 54 0 0 368 2592 spi.o 616 56 0 0 64 8650 spi_1.o @@ -5904,7 +5905,7 @@ Image component sizes 0 0 186 0 80 1777 user_task.o ---------------------------------------------------------------------- - 54368 2750 788 712 34184 1860000 Object Totals + 54368 2750 788 712 34172 1859920 Object Totals 0 0 32 0 0 0 (incl. Generated) 74 0 2 6 4 0 (incl. Padding) @@ -5978,8 +5979,8 @@ Image component sizes 380 58 0 0 0 200 tanf.o ---------------------------------------------------------------------- - 7940 684 192 0 96 7424 Library Totals - 24 4 0 0 0 0 (incl. Padding) + 7940 684 192 0 100 7424 Library Totals + 24 4 0 0 4 0 (incl. Padding) ---------------------------------------------------------------------- @@ -5990,7 +5991,7 @@ Image component sizes 3904 460 192 0 0 3076 m_wm.l ---------------------------------------------------------------------- - 7940 684 192 0 96 7424 Library Totals + 7940 684 192 0 100 7424 Library Totals ---------------------------------------------------------------------- @@ -5999,14 +6000,14 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 62308 3434 980 712 34280 1821652 Grand Totals - 62308 3434 980 128 34280 1821652 ELF Image Totals (compressed) + 62308 3434 980 712 34272 1821572 Grand Totals + 62308 3434 980 128 34272 1821572 ELF Image Totals (compressed) 62308 3434 980 128 0 0 ROM Totals ============================================================================== Total RO Size (Code + RO Data) 63288 ( 61.80kB) - Total RW Size (RW Data + ZI Data) 34992 ( 34.17kB) + Total RW Size (RW Data + ZI Data) 34984 ( 34.16kB) Total ROM Size (Code + RO Data + RW Data) 63416 ( 61.93kB) ============================================================================== diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o index 730632f..3f911f2 100644 Binary files a/MDK-ARM/gimbal/gimbal.o and b/MDK-ARM/gimbal/gimbal.o differ diff --git a/MDK-ARM/gimbal/gimbal_ctrl.crf b/MDK-ARM/gimbal/gimbal_ctrl.crf index b87b484..ac8ea75 100644 Binary files a/MDK-ARM/gimbal/gimbal_ctrl.crf and b/MDK-ARM/gimbal/gimbal_ctrl.crf differ diff --git a/MDK-ARM/gimbal/gimbal_ctrl.o b/MDK-ARM/gimbal/gimbal_ctrl.o index ecdd327..bf30e80 100644 Binary files a/MDK-ARM/gimbal/gimbal_ctrl.o and b/MDK-ARM/gimbal/gimbal_ctrl.o differ diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep index 43a4543..8e00f8d 100644 --- a/MDK-ARM/gimbal/gimbal_gimbal.dep +++ b/MDK-ARM/gimbal/gimbal_gimbal.dep @@ -2126,7 +2126,7 @@ I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2) I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2) I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2) -I (../User/module/gimbal.h)(0x68F36552) +I (../User/module/gimbal.h)(0x68F4D502) I (../User/component/ahrs.h)(0x68F3410E) I (../User/component/filter.h)(0x68F22FA9) I (../User/component/pid.h)(0x68F22FA9) @@ -2264,7 +2264,7 @@ 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)(0x68F36552) +I (../User/module/gimbal.h)(0x68F4D502) I (../User/component/ahrs.h)(0x68F3410E) I (../User/component/user_math.h)(0x68F22FA9) I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2) @@ -2376,7 +2376,7 @@ I (../User/component/pid.h)(0x68F22FA9) I (../User/component/filter.h)(0x68F22FA9) I (../User/device/bmi088.h)(0x68F22F87) I (../User/device/device.h)(0x68F22FA9) -I (../User/module/gimbal.h)(0x68F36552) +I (../User/module/gimbal.h)(0x68F4D502) I (../User/device/motor.h)(0x68F22F87) I (../User/device/motor_dm.h)(0x68F22F87) I (../User/bsp/can.h)(0x68F22FA9) @@ -2407,7 +2407,7 @@ I (../User/component\user_math.h)(0x68F22FA9) I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2) I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2) I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2) -I (../User/module/gimbal.h)(0x68F36552) +I (../User/module/gimbal.h)(0x68F4D502) I (../User/component/ahrs.h)(0x68F3410E) I (../User/component/filter.h)(0x68F22FA9) I (../User/component/pid.h)(0x68F22FA9) @@ -2481,7 +2481,7 @@ 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)(0x68F36552) +I (../User/module/gimbal.h)(0x68F4D502) I (../User/component/ahrs.h)(0x68F3410E) I (../User/component/user_math.h)(0x68F22FA9) I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2) @@ -2535,7 +2535,7 @@ I (../User/module/config.h)(0x68DD3463) I (../User/device/motor_lz.h)(0x68F22F87) I (../User/device/motor_lk.h)(0x68F22F87) F (..\User\module\gimbal.c)(0x68F39BE3)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I.\RTE\_gimbal -ID:\KEIL_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal\gimbal.o --omf_browse gimbal\gimbal.crf --depend gimbal\gimbal.d) -I (..\User\module\gimbal.h)(0x68F36552) +I (..\User\module\gimbal.h)(0x68F4D502) I (../User/component/ahrs.h)(0x68F3410E) I (../User/component/user_math.h)(0x68F22FA9) I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2) @@ -2658,7 +2658,7 @@ 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)(0x68F22F87) -I (../User/module/gimbal.h)(0x68F36552) +I (../User/module/gimbal.h)(0x68F4D502) I (../User/component/ahrs.h)(0x68F3410E) I (../User/component/filter.h)(0x68F22FA9) I (../User/component/pid.h)(0x68F22FA9) diff --git a/MDK-ARM/gimbal/init.crf b/MDK-ARM/gimbal/init.crf index 8df28b8..2061ada 100644 Binary files a/MDK-ARM/gimbal/init.crf and b/MDK-ARM/gimbal/init.crf differ diff --git a/MDK-ARM/gimbal/init.o b/MDK-ARM/gimbal/init.o index f6b1f53..3bd61d5 100644 Binary files a/MDK-ARM/gimbal/init.o and b/MDK-ARM/gimbal/init.o differ diff --git a/MDK-ARM/gimbal/remote.crf b/MDK-ARM/gimbal/remote.crf index 482e015..42eb112 100644 Binary files a/MDK-ARM/gimbal/remote.crf and b/MDK-ARM/gimbal/remote.crf differ diff --git a/MDK-ARM/gimbal/remote.o b/MDK-ARM/gimbal/remote.o index 6213299..40f0adc 100644 Binary files a/MDK-ARM/gimbal/remote.o and b/MDK-ARM/gimbal/remote.o differ diff --git a/User/module/gimbal.h b/User/module/gimbal.h index 099dc28..342d1f0 100644 --- a/User/module/gimbal.h +++ b/User/module/gimbal.h @@ -109,7 +109,6 @@ typedef struct { typedef struct { AHRS_Gyro_t gyro; AHRS_Eulr_t eulr; - float samll_yaw; } Gimbal_IMU_t; /* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */ typedef struct {