From bd4f29128bc94dbc66a31f8da05c0bd227b21480 Mon Sep 17 00:00:00 2001 From: yunhai8432 Date: Thu, 16 Oct 2025 22:27:46 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BE=9B=E5=8F=91=E5=B0=84=E6=B5=8B=E8=AF=95?= =?UTF-8?q?=E7=94=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Inc/stm32f4xx_it.h | 1 + Core/Src/can.c | 5 +- Core/Src/stm32f4xx_it.c | 14 + MDK-ARM/.vscode/keil-assistant.log | 2 + MDK-ARM/gimbal.uvguix.yunha | 622 +- MDK-ARM/gimbal.uvoptx | 158 +- MDK-ARM/gimbal.uvprojx | 335 +- MDK-ARM/gimbal/ahrs.crf | Bin 27984 -> 28097 bytes MDK-ARM/gimbal/ahrs.o | Bin 42392 -> 42284 bytes MDK-ARM/gimbal/ai.crf | Bin 936719 -> 943120 bytes MDK-ARM/gimbal/ai.d | 3 +- MDK-ARM/gimbal/ai.o | Bin 1013704 -> 1018264 bytes MDK-ARM/gimbal/atti_esti.crf | Bin 936081 -> 936539 bytes MDK-ARM/gimbal/atti_esti.o | Bin 1012788 -> 1012128 bytes MDK-ARM/gimbal/bmi088.crf | Bin 885597 -> 885714 bytes MDK-ARM/gimbal/bmi088.o | Bin 989948 -> 989120 bytes MDK-ARM/gimbal/bsp_delay.o | Bin 944804 -> 944224 bytes MDK-ARM/gimbal/bsp_rc.o | Bin 945344 -> 944780 bytes MDK-ARM/gimbal/calc_lib.o | Bin 20704 -> 20560 bytes MDK-ARM/gimbal/can.o | Bin 946184 -> 945608 bytes MDK-ARM/gimbal/can_1.crf | Bin 916178 -> 916175 bytes MDK-ARM/gimbal/can_1.o | Bin 1048496 -> 1047552 bytes MDK-ARM/gimbal/cmd.crf | Bin 31144 -> 31257 bytes MDK-ARM/gimbal/cmd.o | Bin 43472 -> 43304 bytes MDK-ARM/gimbal/cmsis_os2.o | Bin 1132632 -> 1130872 bytes MDK-ARM/gimbal/config.crf | Bin 935826 -> 941601 bytes MDK-ARM/gimbal/config.d | 3 +- MDK-ARM/gimbal/config.o | Bin 1008148 -> 1013240 bytes MDK-ARM/gimbal/crc16.crf | Bin 18278 -> 18391 bytes MDK-ARM/gimbal/crc16.o | Bin 25684 -> 25612 bytes MDK-ARM/gimbal/crc8.crf | Bin 4673 -> 4673 bytes MDK-ARM/gimbal/crc8.o | Bin 16388 -> 16304 bytes MDK-ARM/gimbal/croutine.o | Bin 43320 -> 43156 bytes MDK-ARM/gimbal/dma.o | Bin 939684 -> 939156 bytes MDK-ARM/gimbal/event_groups.o | Bin 77280 -> 76904 bytes MDK-ARM/gimbal/filter.crf | Bin 20590 -> 20703 bytes MDK-ARM/gimbal/filter.o | Bin 34308 -> 34192 bytes MDK-ARM/gimbal/freertos.crf | Bin 901676 -> 902021 bytes MDK-ARM/gimbal/freertos.o | Bin 986476 -> 985956 bytes MDK-ARM/gimbal/freertos_cli.crf | Bin 45244 -> 45244 bytes MDK-ARM/gimbal/freertos_cli.o | Bin 55112 -> 54868 bytes MDK-ARM/gimbal/gimbal.axf | Bin 2032064 -> 2637612 bytes MDK-ARM/gimbal/gimbal.build_log.htm | 12 +- MDK-ARM/gimbal/gimbal.crf | Bin 933268 -> 933385 bytes MDK-ARM/gimbal/gimbal.hex | 7097 +++++++++--------- MDK-ARM/gimbal/gimbal.htm | 4453 +++++------ MDK-ARM/gimbal/gimbal.lnp | 2 + MDK-ARM/gimbal/gimbal.map | 3603 ++++----- MDK-ARM/gimbal/gimbal.o | Bin 1015044 -> 1014164 bytes MDK-ARM/gimbal/gimbal_ctrl.crf | Bin 937829 -> 943486 bytes MDK-ARM/gimbal/gimbal_ctrl.d | 1 + MDK-ARM/gimbal/gimbal_ctrl.o | Bin 1011428 -> 1014268 bytes MDK-ARM/gimbal/gimbal_gimbal.dep | 646 +- MDK-ARM/gimbal/gpio.o | Bin 940856 -> 940344 bytes MDK-ARM/gimbal/gpio_1.crf | Bin 846874 -> 846874 bytes MDK-ARM/gimbal/gpio_1.o | Bin 953220 -> 952588 bytes MDK-ARM/gimbal/heap_4.o | Bin 58636 -> 58380 bytes MDK-ARM/gimbal/i2c.o | Bin 945568 -> 944992 bytes MDK-ARM/gimbal/i2c_1.crf | Bin 850160 -> 850160 bytes MDK-ARM/gimbal/i2c_1.o | Bin 972276 -> 971492 bytes MDK-ARM/gimbal/init.crf | Bin 934229 -> 935482 bytes MDK-ARM/gimbal/init.d | 2 +- MDK-ARM/gimbal/init.o | Bin 1009988 -> 1009872 bytes MDK-ARM/gimbal/ist8310.crf | Bin 882521 -> 882638 bytes MDK-ARM/gimbal/ist8310.o | Bin 978676 -> 977916 bytes MDK-ARM/gimbal/limiter.crf | Bin 16220 -> 16220 bytes MDK-ARM/gimbal/limiter.o | Bin 26072 -> 25980 bytes MDK-ARM/gimbal/list.o | Bin 46248 -> 46052 bytes MDK-ARM/gimbal/main.o | Bin 988036 -> 987260 bytes MDK-ARM/gimbal/mixer.crf | Bin 18982 -> 19095 bytes MDK-ARM/gimbal/mixer.o | Bin 26492 -> 26436 bytes MDK-ARM/gimbal/mm.crf | Bin 27893 -> 27893 bytes MDK-ARM/gimbal/mm.o | Bin 37184 -> 37032 bytes MDK-ARM/gimbal/motor.crf | Bin 7471 -> 7471 bytes MDK-ARM/gimbal/motor.o | Bin 19616 -> 19516 bytes MDK-ARM/gimbal/motor_lk.crf | Bin 928491 -> 928608 bytes MDK-ARM/gimbal/motor_lk.o | Bin 1022988 -> 1022044 bytes MDK-ARM/gimbal/motor_rm.crf | Bin 929985 -> 930102 bytes MDK-ARM/gimbal/motor_rm.o | Bin 1023164 -> 1022256 bytes MDK-ARM/gimbal/pid.crf | Bin 21664 -> 21777 bytes MDK-ARM/gimbal/pid.o | Bin 32944 -> 32828 bytes MDK-ARM/gimbal/port.o | Bin 62480 -> 62196 bytes MDK-ARM/gimbal/pwm.crf | Bin 847046 -> 847046 bytes MDK-ARM/gimbal/pwm.o | Bin 955560 -> 954900 bytes MDK-ARM/gimbal/queue.o | Bin 129272 -> 128592 bytes MDK-ARM/gimbal/remote.crf | Bin 934522 -> 941118 bytes MDK-ARM/gimbal/remote.d | 5 +- MDK-ARM/gimbal/remote.o | Bin 1011768 -> 1015216 bytes MDK-ARM/gimbal/remote_control.crf | Bin 848388 -> 849305 bytes MDK-ARM/gimbal/remote_control.d | 5 +- MDK-ARM/gimbal/remote_control.o | Bin 951876 -> 952568 bytes MDK-ARM/gimbal/shoot.crf | Bin 0 -> 940528 bytes MDK-ARM/gimbal/shoot.d | 64 + MDK-ARM/gimbal/shoot.o | Bin 0 -> 1028108 bytes MDK-ARM/gimbal/shoot_ctrl.crf | Bin 0 -> 946548 bytes MDK-ARM/gimbal/shoot_ctrl.d | 71 + MDK-ARM/gimbal/shoot_ctrl.o | Bin 0 -> 1019436 bytes MDK-ARM/gimbal/spi.o | Bin 946116 -> 945540 bytes MDK-ARM/gimbal/spi_1.crf | Bin 849693 -> 849693 bytes MDK-ARM/gimbal/spi_1.o | Bin 971636 -> 970840 bytes MDK-ARM/gimbal/startup_stm32f407xx.o | Bin 7944 -> 7936 bytes MDK-ARM/gimbal/stm32f4xx_hal.o | Bin 976484 -> 975632 bytes MDK-ARM/gimbal/stm32f4xx_hal_can.o | Bin 996624 -> 995660 bytes MDK-ARM/gimbal/stm32f4xx_hal_cortex.o | Bin 973032 -> 972272 bytes MDK-ARM/gimbal/stm32f4xx_hal_dma.o | Bin 964568 -> 963904 bytes MDK-ARM/gimbal/stm32f4xx_hal_dma_ex.o | Bin 950056 -> 949536 bytes MDK-ARM/gimbal/stm32f4xx_hal_exti.o | Bin 952032 -> 951432 bytes MDK-ARM/gimbal/stm32f4xx_hal_flash.o | Bin 963580 -> 962856 bytes MDK-ARM/gimbal/stm32f4xx_hal_flash_ex.o | Bin 961308 -> 960624 bytes MDK-ARM/gimbal/stm32f4xx_hal_flash_ramfunc.o | Bin 936376 -> 935888 bytes MDK-ARM/gimbal/stm32f4xx_hal_gpio.o | Bin 950272 -> 949696 bytes MDK-ARM/gimbal/stm32f4xx_hal_i2c.o | Bin 1101060 -> 1099504 bytes MDK-ARM/gimbal/stm32f4xx_hal_i2c_ex.o | Bin 936188 -> 935712 bytes MDK-ARM/gimbal/stm32f4xx_hal_msp.o | Bin 939136 -> 938636 bytes MDK-ARM/gimbal/stm32f4xx_hal_pwr.o | Bin 961108 -> 960416 bytes MDK-ARM/gimbal/stm32f4xx_hal_pwr_ex.o | Bin 946296 -> 945740 bytes MDK-ARM/gimbal/stm32f4xx_hal_rcc.o | Bin 962008 -> 961356 bytes MDK-ARM/gimbal/stm32f4xx_hal_rcc_ex.o | Bin 948312 -> 947764 bytes MDK-ARM/gimbal/stm32f4xx_hal_spi.o | Bin 1030660 -> 1029472 bytes MDK-ARM/gimbal/stm32f4xx_hal_tim.o | Bin 1150672 -> 1148672 bytes MDK-ARM/gimbal/stm32f4xx_hal_tim_ex.o | Bin 1015984 -> 1014964 bytes MDK-ARM/gimbal/stm32f4xx_hal_uart.o | Bin 1047276 -> 1045996 bytes MDK-ARM/gimbal/stm32f4xx_it.crf | Bin 886818 -> 887566 bytes MDK-ARM/gimbal/stm32f4xx_it.d | 2 +- MDK-ARM/gimbal/stm32f4xx_it.o | Bin 1008712 -> 1008120 bytes MDK-ARM/gimbal/stream_buffer.o | Bin 98832 -> 98340 bytes MDK-ARM/gimbal/system_stm32f4xx.o | Bin 939936 -> 939424 bytes MDK-ARM/gimbal/tasks.o | Bin 187384 -> 186320 bytes MDK-ARM/gimbal/tim.o | Bin 947128 -> 946536 bytes MDK-ARM/gimbal/time.crf | Bin 895562 -> 895562 bytes MDK-ARM/gimbal/time.o | Bin 979980 -> 979288 bytes MDK-ARM/gimbal/timers.o | Bin 100604 -> 100064 bytes MDK-ARM/gimbal/uart.crf | Bin 848056 -> 848056 bytes MDK-ARM/gimbal/uart.o | Bin 964404 -> 963676 bytes MDK-ARM/gimbal/ui.crf | Bin 33992 -> 34105 bytes MDK-ARM/gimbal/ui.o | Bin 45404 -> 45256 bytes MDK-ARM/gimbal/usart.o | Bin 946132 -> 945568 bytes MDK-ARM/gimbal/user_math.crf | Bin 20388 -> 20643 bytes MDK-ARM/gimbal/user_math.o | Bin 37132 -> 38628 bytes MDK-ARM/gimbal/user_task.crf | Bin 55024 -> 55367 bytes MDK-ARM/gimbal/user_task.o | Bin 47996 -> 48116 bytes User/bsp/can.c | 3 +- User/component/user_math.c | 29 +- User/component/user_math.h | 20 +- User/device/ai.c | 36 +- User/device/ai.h | 3 +- User/device/motor_lz.c | 8 - User/device/motor_lz.h | 6 - User/device/motor_rm.c | 4 +- User/device/remote_control.h | 33 +- User/module/config.c | 146 +- User/module/config.h | 3 +- User/module/shoot.c | 611 ++ User/module/shoot.h | 242 + User/task/config.yaml | 7 + User/task/gimbal_ctrl.c | 2 +- User/task/init.c | 4 +- User/task/remote.c | 9 +- User/task/shoot_ctrl.c | 59 + User/task/user_task.c | 5 + User/task/user_task.h | 8 + gimbal.ioc | 6 +- 162 files changed, 10010 insertions(+), 8340 deletions(-) create mode 100644 MDK-ARM/gimbal/shoot.crf create mode 100644 MDK-ARM/gimbal/shoot.d create mode 100644 MDK-ARM/gimbal/shoot.o create mode 100644 MDK-ARM/gimbal/shoot_ctrl.crf create mode 100644 MDK-ARM/gimbal/shoot_ctrl.d create mode 100644 MDK-ARM/gimbal/shoot_ctrl.o create mode 100644 User/module/shoot.c create mode 100644 User/module/shoot.h create mode 100644 User/task/shoot_ctrl.c diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h index 3595dcf..ae0b418 100644 --- a/Core/Inc/stm32f4xx_it.h +++ b/Core/Inc/stm32f4xx_it.h @@ -67,6 +67,7 @@ void USART3_IRQHandler(void); void TIM7_IRQHandler(void); void DMA2_Stream2_IRQHandler(void); void DMA2_Stream3_IRQHandler(void); +void CAN2_TX_IRQHandler(void); void CAN2_RX0_IRQHandler(void); void CAN2_RX1_IRQHandler(void); /* USER CODE BEGIN EFP */ diff --git a/Core/Src/can.c b/Core/Src/can.c index 5208cb7..d584ece 100644 --- a/Core/Src/can.c +++ b/Core/Src/can.c @@ -79,7 +79,7 @@ void MX_CAN2_Init(void) hcan2.Init.TimeTriggeredMode = DISABLE; hcan2.Init.AutoBusOff = DISABLE; hcan2.Init.AutoWakeUp = DISABLE; - hcan2.Init.AutoRetransmission = DISABLE; + hcan2.Init.AutoRetransmission = ENABLE; hcan2.Init.ReceiveFifoLocked = DISABLE; hcan2.Init.TransmitFifoPriority = DISABLE; if (HAL_CAN_Init(&hcan2) != HAL_OK) @@ -157,6 +157,8 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /* CAN2 interrupt Init */ + HAL_NVIC_SetPriority(CAN2_TX_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(CAN2_TX_IRQn); HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0); HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn); HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0); @@ -214,6 +216,7 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6); /* CAN2 interrupt Deinit */ + HAL_NVIC_DisableIRQ(CAN2_TX_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn); HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); /* USER CODE BEGIN CAN2_MspDeInit 1 */ diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index 66f682c..e04cdc6 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -388,6 +388,20 @@ void DMA2_Stream3_IRQHandler(void) /* USER CODE END DMA2_Stream3_IRQn 1 */ } +/** + * @brief This function handles CAN2 TX interrupts. + */ +void CAN2_TX_IRQHandler(void) +{ + /* USER CODE BEGIN CAN2_TX_IRQn 0 */ + + /* USER CODE END CAN2_TX_IRQn 0 */ + HAL_CAN_IRQHandler(&hcan2); + /* USER CODE BEGIN CAN2_TX_IRQn 1 */ + + /* USER CODE END CAN2_TX_IRQn 1 */ +} + /** * @brief This function handles CAN2 RX0 interrupts. */ diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 746fff0..d981181 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -6,3 +6,5 @@ [info] Log at : 2025/10/10|18:54:48|GMT+0800 +[info] Log at : 2025/10/12|20:17:36|GMT+0800 + diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha index 75af154..23d7f02 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\gimbal\User\task @@ -15,17 +15,17 @@ 38003 Registers - 116 100 + 142 100 346 Code Coverage - 710 100 + 740 100 204 Performance Analyzer - 443 130 130 100 + 370 130 130 100 @@ -91,7 +91,7 @@ 44 2 - 2 + 3 -32000 -32000 @@ -101,17 +101,17 @@ -1 - 257 - 187 - 1267 - 859 + 158 + 370 + 1450 + 760 0 - 1583 - 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 + 60 + 010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000 @@ -120,7 +120,7 @@ -1 -1 - 1 + 0 0 0 0 @@ -130,11 +130,11 @@ 0 16 - 1400000059020000A00500002A030000 + B80000004F00000028040000BF000000 16 - F600000070020000A005000041030000 + B80000006600000028040000D6000000 @@ -150,17 +150,17 @@ 0 16 - 03000000660000000D00000011030000 + 03000000660000003401000057020000 16 - 7000000087000000240100002C010000 + A4000000BB0000005801000060010000 109 109 - 0 + 1 0 0 0 @@ -170,11 +170,11 @@ 0 16 - 0300000066000000EF00000011030000 + 03000000660000003401000057020000 16 - 7000000087000000440100004A020000 + A4000000BB000000780100007E020000 @@ -190,11 +190,11 @@ 0 16 - 96FFFFFF46FFFFFFFEFFFFFF84010000 + 03000000B30100002504000007020000 16 - 220000003900000036020000A9000000 + A4000000BB000000B80200002B010000 @@ -210,11 +210,11 @@ 0 16 - 96FFFFFF46FFFFFFFEFFFFFF84010000 + 03000000B30100002504000007020000 16 - 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- 0 - 0 - 0 - 0 - 0 - 0 - ..\User\module\gimbal.c - - - - - 1 - 0 - 38 - 1 -
134229624
- 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 + Shoot_CMD_t 1 1 - gimbal_to_send + Config_RobotParam_t 2 1 - eulr_to_send + rc_ctrl,0x0A 3 1 - gimbal_ahrs + shoot_cmd,0x0A 4 1 - bmi088 - - - 5 - 1 - gimbal_imu - - - 6 - 1 - gimbal,0x0A - - - 7 - 1 - remote_cmd + \\gimbal\../User/task/shoot_ctrl.c\shoot_cmd,0x0A @@ -258,19 +210,19 @@ 0 0 - - + + 0 0 0 - - - - - - - - + + + + + + + + 1 0 @@ -1195,8 +1147,16 @@ 0 0 + + + + task + 1 + 0 + 0 + 0 - 8 + 9 72 1 0 @@ -1207,14 +1167,6 @@ 0 0 - - - - task - 1 - 0 - 0 - 0 9 73 @@ -1246,6 +1198,18 @@ 0 0 0 + ..\User\task\shoot_ctrl.c + shoot_ctrl.c + 0 + 0 + + + 9 + 76 + 1 + 0 + 0 + 0 ..\User\task\remote.c remote.c 0 @@ -1253,7 +1217,7 @@ 9 - 76 + 77 1 0 0 @@ -1265,7 +1229,7 @@ 9 - 77 + 78 1 0 0 @@ -1285,7 +1249,7 @@ 0 10 - 78 + 79 1 0 0 @@ -1297,7 +1261,7 @@ 10 - 79 + 80 1 0 0 @@ -1307,6 +1271,18 @@ 0 0 + + 10 + 81 + 1 + 0 + 0 + 0 + ..\User\module\shoot.c + shoot.c + 0 + 0 + diff --git a/MDK-ARM/gimbal.uvprojx b/MDK-ARM/gimbal.uvprojx index feb392c..0028702 100644 --- a/MDK-ARM/gimbal.uvprojx +++ b/MDK-ARM/gimbal.uvprojx @@ -1,10 +1,7 @@ - - - + + 2.1 -
### uVision Project, (C) Keil Software
- gimbal @@ -19,28 +16,28 @@ Keil.STM32F4xx_DFP.3.0.0 https://www.keil.com/pack/ IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ - - - + + + 0 - - - - - - - - - - + + + + + + + + + + $$Device:STM32F407IGHx$CMSIS\SVD\STM32F407.svd 0 0 - - - - - + + + + + 0 0 @@ -55,15 +52,15 @@ 1 1 1 - + 1 0 0 0 0 - - + + 0 0 0 @@ -72,8 +69,8 @@ 0 0 - - + + 0 0 0 @@ -82,15 +79,15 @@ 0 1 - - + + 0 0 0 0 1 - + 0 @@ -104,8 +101,8 @@ 0 0 3 - - + + 0 @@ -139,10 +136,10 @@ 1 BIN\UL2V8M.DLL "" () - - - - + + + + 0 @@ -175,7 +172,7 @@ 0 0 "Cortex-M4" - + 0 0 0 @@ -309,7 +306,7 @@ 0x4000 - + 1 @@ -336,10 +333,10 @@ 0 0 - + USE_HAL_DRIVER,STM32F407xx - - ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User/bsp;../User/component;../User/device;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../User/task;../User;../User/module + + ../Core/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../User/bsp;../User/device;../Middlewares/Third_Party/FreeRTOS/Source/include;../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F;../User/task;../User;../User/module;../User/component @@ -354,9 +351,9 @@ 0 1 - - - + + + ../Core/Inc @@ -367,15 +364,15 @@ 0 1 0 - - - - - - - - - + + + + + + + + + @@ -415,8 +412,6 @@ 2 2 11 - - 1 @@ -444,12 +439,6 @@ 2 2 2 - - - - - - @@ -471,8 +460,6 @@ 2 2 11 - - 1 @@ -500,12 +487,6 @@ 2 2 2 - - - - - - @@ -527,8 +508,6 @@ 2 2 11 - - 1 @@ -556,12 +535,6 @@ 2 2 2 - - - - - - @@ -583,8 +556,6 @@ 2 2 11 - - 1 @@ -612,12 +583,6 @@ 2 2 2 - - - - - - @@ -639,8 +604,6 @@ 2 2 11 - - 1 @@ -668,12 +631,6 @@ 2 2 2 - - - - - - @@ -695,8 +652,6 @@ 2 2 11 - - 1 @@ -724,12 +679,6 @@ 2 2 2 - - - - - - @@ -751,8 +700,6 @@ 2 2 11 - - 1 @@ -780,12 +727,6 @@ 2 2 2 - - - - - - @@ -807,8 +748,6 @@ 2 2 11 - - 1 @@ -836,12 +775,6 @@ 2 2 2 - - - - - - @@ -878,8 +811,6 @@ 2 2 11 - - 1 @@ -907,12 +838,6 @@ 2 2 2 - - - - - - @@ -999,8 +924,6 @@ 2 2 11 - - 1 @@ -1028,12 +951,6 @@ 2 2 2 - - - - - - @@ -1055,8 +972,6 @@ 2 2 11 - - 1 @@ -1084,12 +999,6 @@ 2 2 2 - - - - - - @@ -1111,8 +1020,6 @@ 2 2 11 - - 1 @@ -1140,12 +1047,6 @@ 2 2 2 - - - - - - @@ -1177,8 +1078,6 @@ 2 2 11 - - 1 @@ -1206,12 +1105,6 @@ 2 2 2 - - - - - - @@ -1243,8 +1136,6 @@ 2 2 11 - - 1 @@ -1272,12 +1163,6 @@ 2 2 2 - - - - - - 2 @@ -1290,12 +1175,6 @@ 2 2 1 - - - - - - @@ -1317,8 +1196,6 @@ 2 2 11 - - 1 @@ -1346,12 +1223,6 @@ 2 2 2 - - - - - - @@ -1373,8 +1244,6 @@ 2 2 11 - - 1 @@ -1402,12 +1271,6 @@ 2 2 2 - - - - - - @@ -1429,8 +1292,6 @@ 2 2 11 - - 1 @@ -1458,12 +1319,6 @@ 2 2 2 - - - - - - @@ -1485,8 +1340,6 @@ 2 2 11 - - 1 @@ -1514,12 +1367,6 @@ 2 2 2 - - - - - - @@ -1541,8 +1388,6 @@ 2 2 11 - - 1 @@ -1570,12 +1415,6 @@ 2 2 2 - - - - - - @@ -1597,8 +1436,6 @@ 2 2 11 - - 1 @@ -1626,12 +1463,6 @@ 2 2 2 - - - - - - @@ -1653,8 +1484,6 @@ 2 2 11 - - 1 @@ -1682,12 +1511,6 @@ 2 2 2 - - - - - - @@ -1709,8 +1532,6 @@ 2 2 11 - - 1 @@ -1738,12 +1559,6 @@ 2 2 2 - - - - - - @@ -1765,8 +1580,6 @@ 2 2 11 - - 1 @@ -1794,12 +1607,6 @@ 2 2 2 - - - - - - @@ -1821,8 +1628,6 @@ 2 2 11 - - 1 @@ -1850,12 +1655,6 @@ 2 2 2 - - - - - - @@ -2015,16 +1814,16 @@ 1 ..\User\device\remote_control.c - - ai.c - 1 - ..\User\device\ai.c - task + + ai.c + 1 + ..\User\device\ai.c + init.c 1 @@ -2035,6 +1834,11 @@ 1 ..\User\task\atti_esti.c + + shoot_ctrl.c + 1 + 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804d027..efda8a8 100644 --- a/MDK-ARM/gimbal/ai.d +++ b/MDK-ARM/gimbal/ai.d @@ -62,9 +62,10 @@ gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/task.h gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/include/list.h gimbal\ai.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h +gimbal\ai.o: ../User/module/shoot.h gimbal\ai.o: ..\User\device\remote_control.h gimbal\ai.o: ../User/module/struct_typedef.h -gimbal\ai.o: ../User/component/bsp_rc.h +gimbal\ai.o: ..\User\component\bsp_rc.h gimbal\ai.o: D:\KEIL_MDK\ARM\ARMCC\Bin\..\include\string.h gimbal\ai.o: ../User/bsp\uart.h gimbal\ai.o: ../Core/Inc/usart.h diff --git a/MDK-ARM/gimbal/ai.o b/MDK-ARM/gimbal/ai.o index 7ba21295d3e1dbb3661b0b19b9dcb32f48002c46..b3905319e2f41c83cca919e88901c96ed2b693da 100644 GIT binary patch delta 59592 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-D:\yunha\̨\󽮵\gimbal\MDK-ARM\gimbal.uvprojx -Project File Date: 10/12/2025 +D:\yunha\̨\\gimbal\MDK-ARM\gimbal.uvprojx +Project File Date: 10/15/2025

Output:

*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\KEIL_MDK\ARM\ARMCC\Bin' @@ -31,10 +31,6 @@ 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 gimbal.c... -linking... -Program Size: Code=59892 RO-data=980 RW-data=404 ZI-data=33788 -FromELF: creating hex file... "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -58,7 +54,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h -Build Time Elapsed: 00:00:03 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/gimbal/gimbal.crf b/MDK-ARM/gimbal/gimbal.crf index 62e9b2d8a93ff23d856e5864871dfa4fb8e35506..04eb29f620a8a78b949a66c49880898541d78fa4 100644 GIT binary patch delta 264351 zcmaG}33wF6wyvJ(?&-^EK;ON0;szop z!T=+Ss0bn|AOsBpE+8(TtgIl;ztt=(2D3_qBBl zHTAWBw5@Zf^bfz!riM!IZg|m_CHFODWgh8BY;i`DV{5AVmX}-GYB-WdZ0Y`lsGI!h zF|LNYBX6)ro0XfOFE=|*ZCD=jT=%#bl1B(fh$E*kFRL(-ob?Y$e(;7pcKf6$bZEn|>iT&NqKU6dsjM2e%092LMk_W9ob!8cO(Es3oe%=4F+oq6=rpO>O zE*~Q4*2{-UntulvALYULzFC6Hhsb-@%ZJIk{%!;Nb)QBVH<~55e2Bbby?mH#@c(;Y zzX3CO`-Ac1DRThmbpn|lcAZF`47*Mu)BN8K9NcpbFFaURR7*Tf?x5y#_}J2lNrg2< ztU>)a-!eY3xURNx+&CRAHw7-^?L`UXk+ADTQg6K;8y{XiHlam% zBJr6jEaPKKyk$iX6?)6Ou)=Fux~XVQBhf2JRztwW>`0n z)x0vcsG?+YX-Vw_l4)wSnrS^b>^hN5vR*^$uySY}UY_mX(&nE`K%qyN_2Y>uQ5A 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index 5c8c909..c5ccfa8 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: Sun Oct 12 17:51:50 2025 +

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Thu Oct 16 21:31:34 2025

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

Call chain for Maximum Stack Depth:

@@ -12,7 +12,7 @@ Task_atti_esti ⇒ AHRS_Update ⇒ AHRS_UpdateIMU

Functions with no stack information

@@ -133,6 +133,7 @@ Function Pointers

  • Task_atti_esti from atti_esti.o(i.Task_atti_esti) referenced from init.o(i.Task_Init)
  • Task_gimbal_ctrl from gimbal_ctrl.o(i.Task_gimbal_ctrl) referenced from init.o(i.Task_Init)
  • Task_remote from remote.o(i.Task_remote) referenced from init.o(i.Task_Init) +
  • Task_shoot_ctrl from shoot_ctrl.o(i.Task_shoot_ctrl) referenced from init.o(i.Task_Init)
  • UART4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • UART5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • UART_DMAAbortOnError from stm32f4xx_hal_uart.o(i.UART_DMAAbortOnError) referenced from stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler) @@ -142,170 +143,170 @@ Function Pointers
  • USART6_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • UsageFault_Handler from stm32f4xx_it.o(i.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(i.prvIdleTask) referenced from tasks.o(i.vTaskStartScheduler) -
  • prvTaskExitError from port.o(i.prvTaskExitError) referenced from port.o(i.pxPortInitialiseStack) -
  • prvTimerTask from timers.o(i.prvTimerTask) referenced from timers.o(i.xTimerCreateTimerTask) +
  • __main from __main.o(!!!main) referenced from startup_stm32f407xx.o(.text) +
  • prvIdleTask from tasks.o(i.prvIdleTask) referenced from tasks.o(i.vTaskStartScheduler) +
  • prvTaskExitError from port.o(i.prvTaskExitError) referenced from port.o(i.pxPortInitialiseStack) +
  • prvTimerTask from timers.o(i.prvTimerTask) referenced from timers.o(i.xTimerCreateTimerTask)

    Global Symbols

    -

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

    [Calls]

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