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电机注册能直接用，添加双yaw没试

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This commit is contained in:
yunhai8432 2025-10-19 20:10:49 +08:00
parent 8884bbbd5a
commit ad2053d85b
22 changed files with 114 additions and 104 deletions
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52
MDK-ARM/gimbal.uvguix.yunha
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MDK-ARM/gimbal/ai.crf
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MDK-ARM/gimbal/ai.o
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MDK-ARM/gimbal/atti_esti.crf
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MDK-ARM/gimbal/atti_esti.o
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MDK-ARM/gimbal/config.crf
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MDK-ARM/gimbal/config.o
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MDK-ARM/gimbal/gimbal.axf
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MDK-ARM/gimbal/gimbal.build_log.htm
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@ -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).
<h2>Software Packages used:</h2>
@ -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
</pre>
</body>
</html>

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MDK-ARM/gimbal/gimbal.crf
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MDK-ARM/gimbal/gimbal.hex
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@ -1,5 +1,5 @@
:020000040800F2
:10000000B088002029030008259200082D710008FF
:10000000A888002029030008259200082D71000807
:1000100091900008A5270008ADA40008000000008A
:10002000000000000000000000000000690200085D
:10003000772A000800000000C50200088D9900081A
@ -52,8 +52,8 @@
:10032000EFF30580704700000948804709480047FF
:10033000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE795
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@ -95,8 +95,8 @@
:1005D000CCF1040CBCF1020F18BF00F8012BA8BF2E
:1005E00020F8022BA1EB0C01FFF7B6BF5FEAC17C3C
:1005F00024BF00F8012B00F8012B48BF00F8012BA5
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@ -689,7 +689,7 @@
:102AF0002978204600F034FB95ED010AD4ED020A56
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:102B5000D70AB4EEC08AF1EE10FA05D29FEDD20A80
@ -735,14 +735,14 @@
:102DD00030EE2C0A84ED0A0A206990ED620AB5EE05
:102DE000C00AF1EE10FA0BDD94EDAD1AF0EE410AD7
:102DF00094EDAE1AB0EE410A04F12800FFF765FD2C
:102E000094ED021AF0EE411A94EDD81AF0EE410A50
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:102E400004F5927006F0F0F984EDBF0A94ED021AD1
:102E5000F0EE411A94EDDC1AF0EE410A94ED0A1AF4
:102E5000F0EE411A94EDDB1AF0EE410A94ED0A1AF5
:102E6000B0EE410A9FED121A04F5EC7006F0DCF9A1
:102E7000F0EE40BA94ED020AF0EE401A94EDDD0A4D
:102E7000F0EE40BA94ED020AF0EE401A94EDDC0A4E
:102E8000F0EE400A9FED0A1AB0EE6B0A04F5CE7020
:102E900006F0CAF984EDC00A00BF00BF00200DE6AD
:102EA00000247449DB0F4940DB0FC940DB0F49C0E8
@ -796,28 +796,28 @@
:1031A00004F0F2FF9FED100A04F5377004F0ECFF15
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:1031E00025750020C2E700000000000070B504460D
:1031F00014B94FF0FF3070BD2069807B022813D1D5
:10320000216901F10A0005F03CFC216901F10A0085
:1032100005F049FB054635B104F5517005F108018B
:103220004EC91C304EC000BF20698079022811D1E0
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:1032B000EA69A96AC0E90B368262416300BF2069EE
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:1032D000216901F12A0004F0EDFF05464DB104F526
:1032E0005170D5E90836EA69A96AC0E91036C263A7
:1032F000816400BF206990F82600022813D121695B
:1032E0005170D5E90836EA69A96AC0E90F368263E8
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@ -2518,11 +2518,11 @@
:109D40001D4801F01CFF1D4908601D4A00211D48E7
:109D500001F015FF194948601B4A00211B4801F01A
:109D60000EFF1649886000220A21022001F012FD30
:109D70001249C86000223821022001F00BFD0F4972
:109D70001249C86000223021022001F00BFD0F497A
:109D8000486100220C21022001F004FD01460B482D
:109D9000816100221821022001F0FCFC01460748E5
:109DA000C16101F095FC01F0E4FE044601F043FFBF
:109DB00070BD0000B4F50008D19D0008487E002069
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:109DC000D8F50008159F0008FCF50008BD9F0008A5
:109DD0002DED048B01F017FC064605F09DF841ECD3
:109DE000190B9FED3F0B53EC102B04F08DFE41EC53
@ -2541,10 +2541,10 @@
:109EB000134B0ECB0C300EC018380C4B1C330ECB92
:109EC0000EC01349486901F0F5FC114900231A46F8
:109ED00048690E4901F0ACFC204601F052FBB2E7A4
:109EE0000000000000407F40147E0020407D0020E4
:109EE0000000000000407F40107E0020407D0020E8
:109EF000A47D0020907D002070F50008BC7D00202E
:109F0000B07D00200000000000002042F87D00200D
:109F1000487E00202DED048B01F075FB064604F011
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:109F3000EBFD41EC180B04F0ABFF0546002001F0EF
:109F400011FB01F053FB0446F8F7D2FC06469FEDE7
@ -2553,16 +2553,16 @@
:109F70000E48F9F7DAF90E4900231A4688690E49A6
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:109FB000487E002028820020448200202DED048B62
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:109FB000407E002020820020388200202DED048B7E
:109FC00001F021FB064604F0A7FF41EC190B9FEDC1
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:109FE00057FF0546002001F0BDFA01F0FFFA0446D4
:109FF00001F000FA02F07CFC13E02C440B4A0C49FF
:10A000000C4802F031FC0C49886901F053FC0A4904
:10A0100000231A468869074901F00AFC204601F02E
:10A02000B0FAEAE70000000000407F402C7E0020EC
:10A030000B7D0020207E0020487E002070B5044665
:10A02000B0FAEAE70000000000407F40287E0020F0
:10A030000B7D00201C7E0020407E002070B5044671
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:10A0500000BF02680C3252E8002F22F490710268AF
:10A060000C3242E80013002BF3D100BF00BF00BF49
@ -3954,7 +3954,7 @@
:10F7000067696D62616C5F6374726C005461736BE6
:10F710005F496E697400000038F70008000000209F
:10F72000C8020000C4010008B8F70008C8020020A1
:10F73000E885000020020008C132104201037D2448
:10F73000E085000020020008C132104201037D2450
:10F74000F41AAA0101180530022B073D0415060220
:10F7500002DA0518256666E63E23803F4FC0401753
:10F76000B7513A0C39044ABF04332041E24029140E

2
MDK-ARM/gimbal/gimbal.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [gimbal\gimbal.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image gimbal\gimbal.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sat Oct 18 21:53:42 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sun Oct 19 20:09:44 2025
<BR><P>
<H3>Maximum Stack Usage = 344 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>

83
MDK-ARM/gimbal/gimbal.map
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@ -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)
==============================================================================

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MDK-ARM/gimbal/gimbal.o
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MDK-ARM/gimbal/gimbal_ctrl.crf
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MDK-ARM/gimbal/gimbal_ctrl.o
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MDK-ARM/gimbal/gimbal_gimbal.dep
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@ -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)

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MDK-ARM/gimbal/init.crf
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MDK-ARM/gimbal/init.o
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MDK-ARM/gimbal/remote.crf
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MDK-ARM/gimbal/remote.o
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1
User/module/gimbal.h
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@ -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 {