yunhai/gimbal
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: yunhai:main
Branches Tags
yunhai:main
yunhai:hero
yunhai:12shoot—gimbal
..
compare: yunhai:hero
Branches Tags
yunhai:main
yunhai:hero
yunhai:12shoot—gimbal

1 Commits
main ... hero

Author SHA1 Message Date
yunhai8432
6be20921bf 在英雄测试上试试 2025-11-01 22:17:57 +08:00
68 changed files with 6503 additions and 5106 deletions
Show Stats Expand all files Collapse all files

355
MDK-ARM/gimbal.uvguix.yunha
View File

File diff suppressed because one or more lines are too long

37
MDK-ARM/gimbal.uvoptx
View File

@ -178,12 +178,17 @@
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>j1</ItemText>
<ItemText>chassis_cmd</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>j2</ItemText>
<ItemText>chassis</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>g-&gt;out.yaw_dm.torque</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
@ -1244,6 +1249,18 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>9</GroupNumber>
<FileNumber>79</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\task\chassis_ctrl.c</PathWithFileName>
<FilenameWithoutPath>chassis_ctrl.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
@ -1254,7 +1271,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>79</FileNumber>
<FileNumber>80</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1266,7 +1283,7 @@
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>80</FileNumber>
<FileNumber>81</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -1276,6 +1293,18 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>10</GroupNumber>
<FileNumber>82</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\module\chassis.c</PathWithFileName>
<FilenameWithoutPath>chassis.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>

10
MDK-ARM/gimbal.uvprojx
View File

@ -2056,6 +2056,11 @@
<FileType>1</FileType>
<FilePath>..\User\task\gimbal_ctrl.c</FilePath>
</File>
<File>
<FileName>chassis_ctrl.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\task\chassis_ctrl.c</FilePath>
</File>
</Files>
</Group>
<Group>
@ -2071,6 +2076,11 @@
<FileType>1</FileType>
<FilePath>..\User\module\config.c</FilePath>
</File>
<File>
<FileName>chassis.c</FileName>
<FileType>1</FileType>
<FilePath>..\User\module\chassis.c</FilePath>
</File>
</Files>
</Group>
<Group>

BIN
MDK-ARM/gimbal/ahrs.o
View File

Binary file not shown.

6
MDK-ARM/gimbal/ai.d
View File

@ -58,4 +58,8 @@ gimbal/ai.o: ..\User\device\ai.c ..\User\device\ai.h \
..\User\device\remote_control.h ..\User\module\struct_typedef.h \
..\User\component\bsp_rc.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\uart.h \
..\Core\Inc\usart.h ..\User\component\crc16.h ..\User\component\crc8.h
..\Core\Inc\usart.h ..\User\component\crc16.h ..\User\component\crc8.h \
..\User\module\chassis.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\filter.h ..\User\component\mixer.h \
..\User\component\pid.h ..\User\component\ahrs.h

BIN
MDK-ARM/gimbal/ai.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/atti_esti.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/bmi088.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/can_1.o
View File

Binary file not shown.

58
MDK-ARM/gimbal/chassis.d Normal file
View File

@ -0,0 +1,58 @@
gimbal/chassis.o: ..\User\module\chassis.c \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdlib.h ..\User\bsp\mm.h \
..\User\bsp\can.h ..\Core\Inc\can.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\ahrs.h ..\User\component\user_math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\device.h ..\User\device\motor.h \
..\User\module\chassis.h ..\User\component\filter.h \
..\User\component\mixer.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\component\ahrs.h

BIN
MDK-ARM/gimbal/chassis.o Normal file
View File

Binary file not shown.

62
MDK-ARM/gimbal/chassis_ctrl.d Normal file
View File

@ -0,0 +1,62 @@
gimbal/chassis_ctrl.o: ..\User\task\chassis_ctrl.c \
..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stddef.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
..\Core\Inc\FreeRTOSConfig.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\User\module\chassis.h ..\User\bsp\can.h ..\Core\Inc\can.h \
..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
..\Drivers\CMSIS\Include\core_cm4.h \
..\Drivers\CMSIS\Include\cmsis_version.h \
..\Drivers\CMSIS\Include\cmsis_compiler.h \
..\Drivers\CMSIS\Include\cmsis_armclang.h \
..\Drivers\CMSIS\Include\mpu_armv7.h \
..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
..\User\bsp\bsp.h ..\User\bsp\mm.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdbool.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\filter.h ..\User\component\user_math.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\float.h \
D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h \
..\User\component\mixer.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\component\ahrs.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\device.h ..\User\device\motor.h ..\User\module\config.h \
..\User\device\motor_lz.h ..\User\device\motor_lk.h \
..\User\module\gimbal.h ..\User\component\ahrs.h \
..\User\component\filter.h ..\User\component\pid.h \
..\User\device\motor_dm.h ..\User\module\chassis.h

BIN
MDK-ARM/gimbal/chassis_ctrl.o Normal file
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/cmd.o
View File

Binary file not shown.

6
MDK-ARM/gimbal/config.d
View File

@ -55,4 +55,8 @@ gimbal/config.o: ..\User\module\config.c ..\User\component\user_math.h \
..\User\component\ahrs.h ..\User\component\user_math.h \
..\User\component\filter.h ..\User\component\pid.h \
..\User\component\filter.h ..\User\device\motor_dm.h \
..\User\device\motor_rm.h ..\User\device\motor.h
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\module\chassis.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\component\filter.h ..\User\component\mixer.h \
..\User\component\pid.h ..\User\component\ahrs.h

BIN
MDK-ARM/gimbal/config.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/crc16.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/crc8.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/filter.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/freertos.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/freertos_cli.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/gimbal.axf
View File

Binary file not shown.

8
MDK-ARM/gimbal/gimbal.build_log.htm
View File

@ -21,8 +21,8 @@ Target DLL: CMSIS_AGDI.dll V1.32.13.0
Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\yunha\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
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
@ -31,9 +31,9 @@ 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...
compiling gimbal_ctrl.c...
linking...
Program Size: Code=84848 RO-data=996 RW-data=404 ZI-data=34268
Program Size: Code=88240 RO-data=1044 RW-data=552 ZI-data=35272
"gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>

4468
MDK-ARM/gimbal/gimbal.htm
View File

File diff suppressed because it is too large Load Diff

2
MDK-ARM/gimbal/gimbal.lnp
View File

@ -77,8 +77,10 @@
"gimbal\remote.o"
"gimbal\user_task.o"
"gimbal\gimbal_ctrl.o"
"gimbal\chassis_ctrl.o"
"gimbal\gimbal.o"
"gimbal\config.o"
"gimbal\chassis.o"
--strict --scatter "gimbal\gimbal.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers

4871
MDK-ARM/gimbal/gimbal.map
View File

File diff suppressed because it is too large Load Diff

BIN
MDK-ARM/gimbal/gimbal.o
View File

Binary file not shown.

5
MDK-ARM/gimbal/gimbal_ctrl.d
View File

@ -57,4 +57,7 @@ gimbal/gimbal_ctrl.o: ..\User\task\gimbal_ctrl.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\module\config.h ..\User\device\motor_lz.h \
..\User\device\motor_lk.h ..\User\module\gimbal.h
..\User\device\motor_lk.h ..\User\module\gimbal.h \
..\User\module\chassis.h ..\User\component\filter.h \
..\User\component\mixer.h ..\User\component\pid.h \
..\User\component\ahrs.h

BIN
MDK-ARM/gimbal/gimbal_ctrl.o
View File

Binary file not shown.

607
MDK-ARM/gimbal/gimbal_gimbal.dep
View File

@ -139,7 +139,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\task\user_task.h)(0x68DCD971)
I (..\User\task\user_task.h)(0x69057439)
F (../Core/Src/can.c)(0x68F0F9C4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/can.o -MD)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
@ -362,7 +362,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
F (../Core/Src/stm32f4xx_it.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/stm32f4xx_it.o -MD)
F (../Core/Src/stm32f4xx_it.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/stm32f4xx_it.o -MD)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DCA1AB)
@ -408,10 +408,10 @@ 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\bsp\uart.h)(0x68F22FA9)
I (..\User\bsp\uart.h)(0x69057261)
I (..\Core\Inc\usart.h)(0x68E500A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\device\remote_control.h)(0x68FA15AF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\bsp_rc.h)(0x62055230)
@ -1364,8 +1364,8 @@ 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)
F (..\User\bsp\can.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/can_1.o -MD)
I (..\User\bsp\can.h)(0x68F22FA9)
F (..\User\bsp\can.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/can_1.o -MD)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -1402,8 +1402,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
@ -1417,11 +1417,11 @@ 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 (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\bsp\gpio.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gpio_1.o -MD)
I (..\User\bsp\gpio.h)(0x68F22FA9)
F (..\User\bsp\gpio.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gpio_1.o -MD)
I (..\User\bsp\gpio.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\Core\Inc\gpio.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -1457,8 +1457,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
F (..\User\bsp\i2c.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/i2c_1.o -MD)
I (..\User\bsp\i2c.h)(0x68F22FA9)
F (..\User\bsp\i2c.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/i2c_1.o -MD)
I (..\User\bsp\i2c.h)(0x69057261)
I (..\Core\Inc\i2c.h)(0x68DCA1AA)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -1496,9 +1496,9 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x68F22FA9)
F (..\User\bsp\mm.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/mm.o -MD)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
F (..\User\bsp\mm.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/mm.o -MD)
I (..\User\bsp\mm.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
@ -1508,7 +1508,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
F (..\User\bsp\pwm.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/pwm.o -MD)
F (..\User\bsp\pwm.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/pwm.o -MD)
I (..\Core\Inc\tim.h)(0x68DCA16E)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -1545,9 +1545,9 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\pwm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x68F22FA9)
F (..\User\bsp\spi.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/spi_1.o -MD)
I (..\User\bsp\pwm.h)(0x69057261)
I (..\User\bsp\bsp.h)(0x69057261)
F (..\User\bsp\spi.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/spi_1.o -MD)
I (..\Core\Inc\spi.h)(0x68DCA125)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -1584,13 +1584,13 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\spi.h)(0x68F22FA9)
I (..\User\bsp\spi.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x68F22FA9)
F (..\User\bsp\time.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/time.o -MD)
I (..\User\bsp\time.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
F (..\User\bsp\time.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/time.o -MD)
I (..\User\bsp\time.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
@ -1635,7 +1635,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
F (..\User\bsp\uart.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/uart.o -MD)
F (..\User\bsp\uart.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/uart.o -MD)
I (..\Core\Inc\usart.h)(0x68E500A8)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -1672,50 +1672,50 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\uart.h)(0x68F22FA9)
I (..\User\bsp\uart.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x68F22FA9)
F (..\User\component\ahrs.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ahrs.o -MD)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
F (..\User\component\ahrs.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ahrs.o -MD)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\component\cmd.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/cmd.o -MD)
I (..\User\component\cmd.h)(0x68F22FA9)
F (..\User\component\cmd.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/cmd.o -MD)
I (..\User\component\cmd.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\component\filter.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/filter.o -MD)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\user_math.h)(0x68F22FA9)
F (..\User\component\filter.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/filter.o -MD)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\crc8.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/crc8.o -MD)
I (..\User\component\crc8.h)(0x68F22FA9)
F (..\User\component\crc8.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/crc8.o -MD)
I (..\User\component\crc8.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
F (..\User\component\crc16.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/crc16.o -MD)
I (..\User\component\crc16.h)(0x68F22FA9)
F (..\User\component\crc16.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/crc16.o -MD)
I (..\User\component\crc16.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\freertos_cli.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/freertos_cli.o -MD)
F (..\User\component\freertos_cli.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/freertos_cli.o -MD)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
@ -1728,42 +1728,42 @@ 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\component\FreeRTOS_CLI.h)(0x68F22FA9)
F (..\User\component\limiter.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/limiter.o -MD)
I (..\User\component\limiter.h)(0x68F22FA9)
I (..\User\component\FreeRTOS_CLI.h)(0x69057261)
F (..\User\component\limiter.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/limiter.o -MD)
I (..\User\component\limiter.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\mixer.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/mixer.o -MD)
I (..\User\component\mixer.h)(0x68F22FA9)
I (..\User\component\user_math.h)(0x68F22FA9)
F (..\User\component\mixer.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/mixer.o -MD)
I (..\User\component\mixer.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\pid.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/pid.o -MD)
I (..\User\component\pid.h)(0x68F22FA9)
F (..\User\component\pid.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/pid.o -MD)
I (..\User\component\pid.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\ui.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ui.o -MD)
I (..\User\component\ui.h)(0x68F22FA9)
F (..\User\component\ui.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ui.o -MD)
I (..\User\component\ui.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6035A4A8)
F (..\User\component\user_math.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/user_math.o -MD)
I (..\User\component\user_math.h)(0x68F22FA9)
F (..\User\component\user_math.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/user_math.o -MD)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@ -1850,16 +1850,16 @@ I (..\User\component\calc_lib.h)(0x62054DF2)
F (..\User\component\calc_lib.c)(0x68B718FD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/calc_lib.o -MD)
I (..\User\component\calc_lib.h)(0x62054DF2)
I (../User/module/struct_typedef.h)(0x68DBD148)
F (..\User\device\bmi088.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/bmi088.o -MD)
I (..\User\device\bmi088.h)(0x68F22F87)
F (..\User\device\bmi088.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/bmi088.o -MD)
I (..\User\device\bmi088.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\device\device.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\Core\Inc\gpio.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
@ -1896,22 +1896,22 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\gpio.h)(0x68F22FA9)
I (..\User\bsp\spi.h)(0x68F22FA9)
I (..\User\bsp\time.h)(0x69057261)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\gpio.h)(0x69057261)
I (..\User\bsp\spi.h)(0x69057261)
I (..\Core\Inc\spi.h)(0x68DCA125)
F (..\User\device\ist8310.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ist8310.o -MD)
I (..\User\device\ist8310.h)(0x68F22F87)
F (..\User\device\ist8310.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ist8310.o -MD)
I (..\User\device\ist8310.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\device\device.h)(0x69057261)
I (..\Core\Inc\gpio.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -1947,24 +1947,24 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\gpio.h)(0x68F22FA9)
I (..\User\bsp\i2c.h)(0x68F22FA9)
I (..\User\bsp\time.h)(0x69057261)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\gpio.h)(0x69057261)
I (..\User\bsp\i2c.h)(0x69057261)
I (..\Core\Inc\i2c.h)(0x68DCA1AA)
F (..\User\device\motor.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/motor.o -MD)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
F (..\User\device\motor.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/motor.o -MD)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\device\motor_rm.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/motor_rm.o -MD)
I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
F (..\User\device\motor_rm.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/motor_rm.o -MD)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2000,8 +2000,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68DF391E)
@ -2014,17 +2014,17 @@ 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 (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68F22FA9)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\bsp\time.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
F (..\User\device\motor_lk.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/motor_lk.o -MD)
I (..\User\device\motor_lk.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
F (..\User\device\motor_lk.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/motor_lk.o -MD)
I (..\User\device\motor_lk.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\User\device\motor.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2060,8 +2060,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68DF391E)
@ -2074,8 +2074,8 @@ 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 (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68F22FA9)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\bsp\time.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
F (..\User\device\remote_control.c)(0x68DB8902)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/remote_control.o -MD)
@ -2118,22 +2118,22 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\component\calc_lib.h)(0x62054DF2)
F (..\User\device\ai.c)(0x68F37707)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ai.o -MD)
I (..\User\device\ai.h)(0x68DD46B5)
I (..\User\component\user_math.h)(0x68F22FA9)
F (..\User\device\ai.c)(0x69060D4C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/ai.o -MD)
I (..\User\device\ai.h)(0x69057669)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x6917284C)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\User\module\gimbal.h)(0x69057D0A)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\pid.h)(0x69057261)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (..\User\device\motor_dm.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2168,8 +2168,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68DF391E)
@ -2181,22 +2181,24 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\device\remote_control.h)(0x68FA15AF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\bsp_rc.h)(0x62055230)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\uart.h)(0x68F22FA9)
I (..\User\bsp\uart.h)(0x69057261)
I (..\Core\Inc\usart.h)(0x68E500A8)
I (..\User\component\crc16.h)(0x68F22FA9)
I (..\User\component\crc8.h)(0x68F22FA9)
F (..\User\device\motor_dm.c)(0x68F22FA9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/motor_dm.o -MD)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\component\crc16.h)(0x69057261)
I (..\User\component\crc8.h)(0x69057261)
I (..\User\module\chassis.h)(0x69060B63)
I (..\User\component\mixer.h)(0x69057261)
F (..\User\device\motor_dm.c)(0x69057261)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/motor_dm.o -MD)
I (..\User\device\motor_dm.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\User\device\motor.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2232,8 +2234,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68DF391E)
@ -2245,13 +2247,13 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\bsp\time.h)(0x68F22FA9)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\bsp\time.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\task\init.c)(0x68FC3922)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/init.o -MD)
I (..\User\task\user_task.h)(0x68DCD971)
F (..\User\task\init.c)(0x69058383)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/init.o -MD)
I (..\User\task\user_task.h)(0x69057439)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@ -2264,18 +2266,18 @@ 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)(0x6917284C)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\module\gimbal.h)(0x69057D0A)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\pid.h)(0x69057261)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (..\User\device\motor_dm.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2310,15 +2312,17 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\module\chassis.h)(0x69060B63)
I (..\User\component\mixer.h)(0x69057261)
I (..\User\device\remote_control.h)(0x68FA15AF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\bsp_rc.h)(0x62055230)
F (..\User\task\atti_esti.c)(0x68E65205)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/atti_esti.o -MD)
I (..\User\task\user_task.h)(0x68DCD971)
F (..\User\task\atti_esti.c)(0x6905725E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/atti_esti.o -MD)
I (..\User\task\user_task.h)(0x69057439)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@ -2331,7 +2335,7 @@ 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\bsp\pwm.h)(0x68F22FA9)
I (..\User\bsp\pwm.h)(0x69057261)
I (..\Core\Inc\tim.h)(0x68DCA16E)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2366,27 +2370,27 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
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)(0x6917284C)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x69057261)
I (..\User\component\filter.h)(0x69057261)
I (..\User\device\bmi088.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (..\User\module\gimbal.h)(0x69057D0A)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\motor_dm.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\device\ist8310.h)(0x68F22F87)
F (..\User\task\remote.c)(0x68DF3F57)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/remote.o -MD)
I (..\User\task\user_task.h)(0x68DCD971)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\device\ist8310.h)(0x69057261)
F (..\User\task\remote.c)(0x6905DE6E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/remote.o -MD)
I (..\User\task\user_task.h)(0x69057439)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@ -2402,19 +2406,19 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\User\device\remote_control.h)(0x68FA15AF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\bsp_rc.h)(0x62055230)
I (..\User\device\ai.h)(0x68DD46B5)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\device\ai.h)(0x69057669)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\module\gimbal.h)(0x6917284C)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\User\module\gimbal.h)(0x69057D0A)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\pid.h)(0x69057261)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (..\User\device\motor_dm.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2449,12 +2453,14 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x68F22F87)
F (..\User\task\user_task.c)(0x68DCCBFE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/user_task.o -MD)
I (..\User\task\user_task.h)(0x68DCD971)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\module\chassis.h)(0x69060B63)
I (..\User\component\mixer.h)(0x69057261)
F (..\User\task\user_task.c)(0x6905725E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/user_task.o -MD)
I (..\User\task\user_task.h)(0x69057439)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@ -2467,8 +2473,8 @@ 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)
F (..\User\task\gimbal_ctrl.c)(0x6908B058)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal_ctrl.o -MD)
I (..\User\task\user_task.h)(0x68DCD971)
F (..\User\task\gimbal_ctrl.c)(0x69061033)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal_ctrl.o -MD)
I (..\User\task\user_task.h)(0x69057439)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@ -2481,18 +2487,18 @@ 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)(0x6917284C)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\module\gimbal.h)(0x69057D0A)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\pid.h)(0x69057261)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (..\User\device\motor_dm.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2527,28 +2533,31 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x68F22F87)
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)(0x692C2F69)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD)
I (..\User\module\gimbal.h)(0x6917284C)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\module\config.h)(0x69057230)
I (..\User\device\motor_lz.h)(0x69057261)
I (..\User\device\motor_lk.h)(0x69057261)
I (..\User\module\chassis.h)(0x69060B63)
I (..\User\component\mixer.h)(0x69057261)
F (..\User\task\chassis_ctrl.c)(0x690575AB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/chassis_ctrl.o -MD)
I (..\User\task\user_task.h)(0x69057439)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68DF391E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
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\chassis.h)(0x69060B63)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2583,33 +2592,40 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68DF391E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\bsp\time.h)(0x68F22FA9)
F (..\User\module\config.c)(0x691727B8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD)
I (..\User\component\user_math.h)(0x68F22FA9)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\component\mixer.h)(0x69057261)
I (..\User\component\pid.h)(0x69057261)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (..\User\module\config.h)(0x69057230)
I (..\User\device\motor_lz.h)(0x69057261)
I (..\User\device\motor_lk.h)(0x69057261)
I (..\User\module\gimbal.h)(0x69057D0A)
I (..\User\device\motor_dm.h)(0x69057261)
F (..\User\module\gimbal.c)(0x6905F3CF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD)
I (..\User\module\gimbal.h)(0x69057D0A)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\module\config.h)(0x68DD3463)
I (..\User\device\motor_lz.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\pid.h)(0x69057261)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (..\User\device\motor_dm.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
@ -2644,8 +2660,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x68F22FA9)
I (..\User\bsp\mm.h)(0x68F22FA9)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68DF391E)
@ -2657,10 +2673,137 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_lk.h)(0x68F22F87)
I (..\User\module\gimbal.h)(0x6917284C)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\bsp\time.h)(0x69057261)
F (..\User\module\config.c)(0x690607C8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\module\config.h)(0x69057230)
I (..\User\device\motor_lz.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (..\User\device\motor.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DCA1AB)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x69057261)
I (..\User\bsp\mm.h)(0x69057261)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68DF391E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_lk.h)(0x69057261)
I (..\User\module\gimbal.h)(0x69057D0A)
I (..\User\component\ahrs.h)(0x69057261)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\pid.h)(0x69057261)
I (..\User\device\motor_dm.h)(0x69057261)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\module\chassis.h)(0x69060B63)
I (..\User\component\mixer.h)(0x69057261)
F (..\User\module\chassis.c)(0x69060B64)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -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_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/chassis.o -MD)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
I (..\User\bsp\mm.h)(0x69057261)
I (..\User\bsp\can.h)(0x69057261)
I (..\Core\Inc\can.h)(0x68DCA124)
I (..\Core\Inc\main.h)(0x68DCA53F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DCA1AB)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68B05645)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68B05646)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68B05646)
I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68B05646)
I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68B05646)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (..\User\bsp\bsp.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB)
I (..\Core\Inc\FreeRTOSConfig.h)(0x68DF391E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68B055DB)
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\component\ahrs.h)(0x69057261)
I (..\User\component\user_math.h)(0x69057261)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\motor_rm.h)(0x69057261)
I (..\User\device\motor.h)(0x69057261)
I (..\User\device\device.h)(0x69057261)
I (..\User\module\chassis.h)(0x69060B63)
I (..\User\component\filter.h)(0x69057261)
I (..\User\component\mixer.h)(0x69057261)
I (..\User\component\pid.h)(0x69057261)

BIN
MDK-ARM/gimbal/gpio_1.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/i2c_1.o
View File

Binary file not shown.

6
MDK-ARM/gimbal/init.d
View File

@ -56,5 +56,7 @@ gimbal/init.o: ..\User\task\init.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\remote_control.h ..\User\module\struct_typedef.h \
..\User\component\bsp_rc.h
..\User\module\chassis.h ..\User\component\filter.h \
..\User\component\mixer.h ..\User\component\pid.h \
..\User\component\ahrs.h ..\User\device\remote_control.h \
..\User\module\struct_typedef.h ..\User\component\bsp_rc.h

BIN
MDK-ARM/gimbal/init.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/ist8310.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/limiter.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/mixer.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/mm.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/motor.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/motor_dm.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/motor_lk.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/motor_rm.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/pid.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/pwm.o
View File

Binary file not shown.

4
MDK-ARM/gimbal/remote.d
View File

@ -58,4 +58,6 @@ gimbal/remote.o: ..\User\task\remote.c ..\User\task\user_task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
..\User\device\motor_rm.h ..\User\device\motor.h \
..\User\device\remote_control.h
..\User\device\remote_control.h ..\User\module\chassis.h \
..\User\component\filter.h ..\User\component\mixer.h \
..\User\component\pid.h ..\User\component\ahrs.h

BIN
MDK-ARM/gimbal/remote.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/spi_1.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/stm32f4xx_it.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/time.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/uart.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/ui.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/user_math.o
View File

Binary file not shown.

BIN
MDK-ARM/gimbal/user_task.o
View File

Binary file not shown.

18
User/device/ai.c
View File

@ -5,6 +5,7 @@
#include "component\crc8.h"
#include "component\user_math.h"
#include "gimbal.h"
#include "chassis.h"
#include "remote_control.h"
#define a_pit 0.000744005
#define b_pit 0.10966763
@ -15,7 +16,7 @@
int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu)
int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl)
{
if(rc_ctrl->sw[2]==1800){
g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
@ -31,7 +32,20 @@ int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu)
}
int8_t remote_chassis_ParseHost(Chassis_CMD_t *c_cmd,Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl)
{
if(rc_ctrl->sw[4]==1000){
c_cmd->mode=CHASSIS_MODE_FOLLOW_GIMBAL_35;
g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
g_cmd->delta_pit=((rc_ctrl->ch[2]-963)*(0.6/-639));//806~-780,0.473~-0.71
g_cmd->delta_yaw=((rc_ctrl->ch[3]+54)*(1.8/348));//400~-397
}
else if(rc_ctrl->sw[4]==1694){
g_cmd->mode=GIMBAL_MODE_RELAX;
c_cmd->mode=CHASSIS_MODE_RELAX;
}
}

2
User/device/ai.h
View File

@ -13,7 +13,7 @@ extern "C" {
#include "gimbal.h"
#include "remote_control.h"
int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t *imu);
int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl);
#ifdef __cplusplus
}

296
User/module/chassis.c Normal file
View File

@ -0,0 +1,296 @@
/*
µ×ÅÌÄ£×é
*/
#include "cmsis_os2.h"
#include <stdlib.h>
#include "bsp/mm.h"
#include "bsp/can.h"
#include "component/ahrs.h"
#include "device/motor_rm.h"
#include "device/motor.h"
#include "module/chassis.h"
/**
* @brief µ×ÅÌСÍÓÂÝģʽÏà¹Ø²ÎÊý
*/
#define CHASSIS_ROTOR_WZ_MIN 0.6f //СÍÓÂÝ×îСËÙ¶È
#define CHASSIS_ROTOR_WZ_MAX 0.8f //СÍÓÂÝ×î´óËÙ¶È
#define M_7OVER72PI (M_2PI * 7.0f / 72.0f) //½Ç¶ÈÆ«ÒÆÁ¿£¨ÓÃÔÚ¸úËæÔÆ̨35¡ã£©
#define CHASSIS_ROTOR_OMEGA 0.001f //½ÇËٶȱ仯ƵÂÊ
/**
* @brief ÉèÖõ×ÅÌģʽ
* @param c µ×Å̽ṹÌåÖ¸Õë
* @param mode Ä¿±ê¿ØÖÆģʽ
* @param now µ±Ç°Ê±¼ä´Á(ms)
* @return CHASSIS_OK:³É¹¦ CHASSIS_ERR_NULL:¿Õ
*/
static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode, uint32_t now) {
if (!c)
return CHASSIS_ERR_NULL;
if (mode == c->mode)
return CHASSIS_OK;
//Ëæ»úÖÖ×Ó£¬Ð¡ÍÓÂÝģʽËæ»úÉèÖÃÐýת·½Ïò
if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) {
srand(now);
c->wz_multi = (rand() % 2) ? -1 : 1;
}
//ÖØÖÃPIDºÍÂ˲¨
for (uint8_t i = 0; i < c->num_wheel; i++) {
PID_Reset(&c->pid.motor[i]);
LowPassFilter2p_Reset(&c->filter.in[i], 0.0f);
LowPassFilter2p_Reset(&c->filter.out[i], 0.0f);
}
c->mode = mode;
return CHASSIS_OK;
}
/**
* @brief СÍÓÂÝģʽ¯Ì¬½ÇËÙÈ
* @param min ×îСËÙÈ
* @param max ×î´óËÙÈ
* @param now µ±Ç°Ê±¼ä´Á(ms)
* @return ½ÇËÙÈÖµ
*/
static float Chassis_CalcWz(const float min, const float max, uint32_t now) {
float wz_vary = fabsf(0.2f * sinf(CHASSIS_ROTOR_OMEGA * (float)now)) + min;
return (wz_vary > max) ? max : wz_vary;
}
/**
* @brief µ×ÅÌģʽ³õʼ»¯
* @param c µ×Å̽ṹÌåÖ¸Õë
* @param param µ×Å̲ÎÊý½á¹¹ÌåÖ¸Õë
* @param mech_zero »úеÁãµãÅ·À­½Ç
* @param target_freq ¿ØÖÆƵÂÊ(Hz)
* @return CHASSIS_OK:³É¹¦ CHASSIS_ERR_NULL:¿Õ CHASSIS_ERR_TYPE:²»Ö§³ÖµÄģʽ
*/
int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
float target_freq) {
if (!c) return CHASSIS_ERR_NULL;
//³õʼ»¯CANͨÐÅ
BSP_CAN_Init();
c->param = param;
c->mode = CHASSIS_MODE_RELAX;
//¸ù¾Ýµ×Å̲»Í¬ÉèÖÃģʽÂÖ×ÓÓë»ìºÏÆ÷
Mixer_Mode_t mixer_mode;
switch (param->type) {
case CHASSIS_TYPE_MECANUM://ÂóÂÖ
c->num_wheel = 4;
mixer_mode = MIXER_MECANUM;
break;
case CHASSIS_TYPE_PARLFIX4:
c->num_wheel = 4;
mixer_mode = MIXER_PARLFIX4;
break;
case CHASSIS_TYPE_PARLFIX2:
c->num_wheel = 2;
mixer_mode = MIXER_PARLFIX2;
break;
case CHASSIS_TYPE_OMNI_CROSS:
c->num_wheel = 4;
mixer_mode = MIXER_OMNICROSS;
break;
case CHASSIS_TYPE_OMNI_PLUS: //È«ÏòÂÖ£¨Àϲ½±øÀàÐÍ£©
c->num_wheel = 4;
mixer_mode = MIXER_OMNIPLUS;
break;
case CHASSIS_TYPE_SINGLE:
c->num_wheel = 1;
mixer_mode = MIXER_SINGLE;
break;
default:
return CHASSIS_ERR_TYPE;
}
//³õʼ»¯Ê±¼ä´Á
c->last_wakeup = 0;
c->dt = 0.0f;
//³õʼ»¯PIDºÍÂ˲¨
for (uint8_t i = 0; i < c->num_wheel; i++) {
PID_Init(&c->pid.motor[i], KPID_MODE_NO_D, target_freq, &param->pid.motor_pid_param);
LowPassFilter2p_Init(&c->filter.in[i], target_freq, param->low_pass_cutoff_freq.in);
LowPassFilter2p_Init(&c->filter.out[i], target_freq, param->low_pass_cutoff_freq.out);
//ÇåÁãµç»ú·´À¡
c->feedback.motor[i].rotor_speed = 0;
c->feedback.motor[i].torque_current = 0;
c->feedback.motor[i].rotor_abs_angle = 0;
c->feedback.motor[i].temp = 0;
}
//³õʼ»¯PIDºÍ»ìºÏÆ÷
PID_Init(&c->pid.follow, KPID_MODE_NO_D, target_freq, &param->pid.follow_pid_param);
Mixer_Init(&c->mixer, mixer_mode);
//ÇåÁãÔ˶¯ÏòÁ¿ºÍÊä³ö
c->move_vec.vx = c->move_vec.vy = c->move_vec.wz = 0.0f;
for (uint8_t i = 0; i < c->num_wheel; i++) {
c->out.motor[i] = 0.0f;
}
//×¢²á´ó½®µç»ú
for (int i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Register(&(c->param->motor_param[i]));
}
return CHASSIS_OK;
}
/**
* @brief ¸üеç»ú·´À¡(IMU+µç»ú״̬)
* @param c µ×Å̽ṹÌåÖ¸Õë
* @param feedback µ×ÅÌ·´À¡Ö¸Õë½á¹¹Ìå
* @return CHASSIS_OK:³É¹¦ CHASSIS_ERR_NULL:¿Õ
*/
int8_t Chassis_UpdateFeedback(Chassis_t *c) {
//¸üÐÂËùÓеç»ú·´À¡
for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Update(&(c->param->motor_param[i]));
MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
c->motors[i] = rm_motor;
MOTOR_RM_t *rm = c->motors[i];
if (rm_motor != NULL) {
c->feedback.motor[i] = rm_motor->feedback;
}else
{
return CHASSIS_ERR_NULL;
}
}
return CHASSIS_OK;
}
/**
* @brief µ×Å̵ç»ú¿ØÖÆ
* @param c µ×Å̽ṹÌåÖ¸Õë
* @param c_cmd ¿ØÖÆÃüÁî
* @param now µ±Ç°Ê±¼ä´Á(ms)
* @return CHASSIS_OK:³É¹¦ CHASSIS_ERR_NULL:¿Õ
*/
int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd, uint32_t now) {
if (!c || !c_cmd) return CHASSIS_ERR_NULL;
//¼ÆËã¿ØÖÆÖÜÆÚ
c->dt = (float)(now - c->last_wakeup) / 1000.0f;
c->last_wakeup = now;
if (!isfinite(c->dt) || c->dt <= 0.0f) {
c->dt = 0.001f;
}
if (c->dt < 0.0005f) c->dt = 0.0005f;
if (c->dt > 0.050f) c->dt = 0.050f;
//ÉèÖÃģʽ
Chassis_SetMode(c, c_cmd->mode, now);
//²»Í¬Ä£Ê½Ï¶ÔÓ¦½âË㣨Ô˶¯ÏòÁ¿£©
switch (c->mode) {
case CHASSIS_MODE_BREAK:
c->move_vec.vx = c->move_vec.vy = 0.0f;
break;
case CHASSIS_MODE_INDEPENDENT:
c->move_vec.vx = c_cmd->ctrl_vec.vx;
c->move_vec.vy = c_cmd->ctrl_vec.vy;
break;
default: { //Ò£¿ØÆ÷×ø±ê->»úÌå×ø±êϵ
float beta = c->feedback.encoder_gimbalYawMotor - c->mech_zero;
float cosb = cosf(beta);
float sinb = sinf(beta);
c->move_vec.vx = cosb * c_cmd->ctrl_vec.vx - sinb * c_cmd->ctrl_vec.vy;
c->move_vec.vy = sinb * c_cmd->ctrl_vec.vx + cosb * c_cmd->ctrl_vec.vy;
break;
}
}
//¸ù¾Ýģʽ¼ÆËãµ×Å̽ÇËÙ¶È
switch (c->mode) {
case CHASSIS_MODE_RELAX:
case CHASSIS_MODE_BREAK:
case CHASSIS_MODE_INDEPENDENT:
c->move_vec.wz = 0.0f;
break;
case CHASSIS_MODE_OPEN:
c->move_vec.wz = c_cmd->ctrl_vec.wz;
break;
//ÔÆ̨¸úËæ
case CHASSIS_MODE_FOLLOW_GIMBAL:
c->move_vec.wz = PID_Calc(&c->pid.follow, c->mech_zero, c->feedback.encoder_gimbalYawMotor, 0.0f, c->dt);
break;
//ÔÆ̨¸úË棨ƫÒÆ£©
case CHASSIS_MODE_FOLLOW_GIMBAL_35:
c->move_vec.wz = PID_Calc(&c->pid.follow,c->mech_zero +M_7OVER72PI, c->feedback.encoder_gimbalYawMotor, 0.0f, c->dt);
break;
//СÍÓÂÝ
case CHASSIS_MODE_ROTOR:
c->move_vec.wz = c->wz_multi * Chassis_CalcWz(CHASSIS_ROTOR_WZ_MIN,CHASSIS_ROTOR_WZ_MAX, now);
break;
}
//Ô˶¯Ñ§Äæ½âË㣬Ô˶¯ÏòÁ¿·Ö½âΪµç»úתËÙ
Mixer_Apply(&c->mixer, &c->move_vec, c->setpoint.motor_rpm, c->num_wheel, 500.0f);
for (uint8_t i = 0; i < c->num_wheel; i++) {
float rf = c->setpoint.motor_rpm[i];///Ä¿±êתËÙ
float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed);
float out_current;
switch (c->mode) {
case CHASSIS_MODE_BREAK:
case CHASSIS_MODE_FOLLOW_GIMBAL:
case CHASSIS_MODE_FOLLOW_GIMBAL_35:
case CHASSIS_MODE_ROTOR:
case CHASSIS_MODE_INDEPENDENT:
out_current = PID_Calc(&c->pid.motor[i], c->setpoint.motor_rpm[i], fb, 0.0f, c->dt);
break;
case CHASSIS_MODE_OPEN:
out_current = c->setpoint.motor_rpm[i] / 7000.0f;
break;
case CHASSIS_MODE_RELAX:
out_current = 0.0f;
break;
}
//µÍͨÂ˲¨ºÍÏÞ·ù
c->out.motor[i] = LowPassFilter2p_Apply(&c->filter.out[i], out_current);
Clip(&c->out.motor[i], -c->param->limit.max_current, c->param->limit.max_current);
}
return CHASSIS_OK;
}
/**
* @brief µç»úÊä³ö
* @param c µ×Å̽ṹÌåÖ¸Õë
*/
void Chassis_Output(Chassis_t *c) {
if (!c)
return;
//ÿ¸öµç»úÄ¿±êÊä³ö
for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_t *rm = c->motors[i];
if (!rm) continue;
MOTOR_RM_SetOutput(&rm->param, c->out.motor[i]);
}
//µ÷ÓÃctrl
for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_t *rm = c->motors[i];
if (rm) {
MOTOR_RM_Ctrl(&rm->param);
}
}
}
/**
* @brief ÖØÖõ×ÅÌÊä³ö
* @param c µ×Å̽ṹÌåÖ¸Õë
*/
void Chassis_ResetOutput(Chassis_t *c) {
if (!c) return;
for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_t *m = c->motors[i];
if (m) {
MOTOR_RM_Relax(&(m->param));
}
}
}

238
User/module/chassis.h Normal file
View File

@ -0,0 +1,238 @@
/*
µ×ÅÌÄ£×é
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
#include "bsp/can.h"
#include "component\filter.h"
#include "component\mixer.h"
#include "component\pid.h"
#include "component\ahrs.h"
#include "device/motor_rm.h"
/* Exported constants ------------------------------------------------------- */
#define CHASSIS_OK (0) /* ÔËÐÐÕý³£ */
#define CHASSIS_ERR (-1) /* ÔËÐÐʱ³öÏÖÁËһЩС´íÎó */
#define CHASSIS_ERR_NULL (-2) /* ÔËÐÐʱ·¢ÏÖNULLÖ¸Õë */
#define CHASSIS_ERR_MODE (-3) /* ÔËÐÐʱ³öÅäÖÃÁË´íÎóµÄChassisMode_t */
#define CHASSIS_ERR_TYPE (-4) /* ÔËÐÐʱ³öÅäÖÃÁË´íÎóµÄChassis_Type_t */
#define MAX_MOTOR_CURRENT 20.0f
/* µ×ÅÌ¿ØÖÆģʽ */
typedef enum {
CHASSIS_MODE_RELAX, /* ·ÅËÉģʽ,µç»ú²»Êä³ö¡£Ò»°ãÇé¿öµ×Å̳õʼ»¯Ö®ºóµÄģʽ */
CHASSIS_MODE_BREAK, /* ɲ³µÄ£Ê½£¬µç»ú±Õ»·¿ØÖƾ²Ö¹¡£ÓÃÓÚ»úÆ÷ÈËֹͣ״̬ */
CHASSIS_MODE_FOLLOW_GIMBAL, /* ͨ¹ý±Õ»·¿ØÖÆʹ³µÍ··½Ïò¸úËæÔÆ̨ */
CHASSIS_MODE_FOLLOW_GIMBAL_35, /* ͨ¹ý±Õ»·¿ØÖÆʹ³µÍ··½Ïò35¡ã¸úËæÔÆ̨ */
CHASSIS_MODE_ROTOR, /* СÍÓÂÝģʽ£¬Í¨¹ý±Õ»·¿ØÖÆʹµ×Å̲»Í£Ðýת */
CHASSIS_MODE_INDEPENDENT, /*¶ÀÁ¢Ä£Ê½¡£µ×ÅÌÔËÐв»ÊÜÔÆ̨ӰÏì */
CHASSIS_MODE_OPEN, /* ¿ª»·Ä£Ê½¡£µ×ÅÌÔËÐв»ÊÜPID¿ØÖÆ£¬Ö±½ÓÊä³öµ½µç»ú */
} Chassis_Mode_t;
/* СÍÓÂÝת¶¯Ä£Ê½ */
typedef enum {
ROTOR_MODE_CW, /* ˳ʱÕëת¶¯ */
ROTOR_MODE_CCW, /* ÄæʱÕëת¶¯ */
ROTOR_MODE_RAND, /* Ëæ»úת¶¯ */
} Chassis_RotorMode_t;
/* µ×ÅÌ¿ØÖÆÃüÁî */
typedef struct {
Chassis_Mode_t mode; /* µ×ÅÌÔËÐÐģʽ */
Chassis_RotorMode_t mode_rotor; /* СÍÓÂÝת¶¯Ä£Ê½ */
MoveVector_t ctrl_vec; /* µ×ÅÌ¿ØÖÆÏòÁ¿ */
} Chassis_CMD_t;
/* ÏÞλ */
typedef struct {
float max;
float min;
} Chassis_Limit_t;
/* µ×ÅÌÀàÐÍ£¨µ×Å̵ÄÎïÀíÉè¼Æ£© */
typedef enum {
CHASSIS_TYPE_MECANUM, /* Âó¿ËÄÉÄ·ÂÖ */
CHASSIS_TYPE_PARLFIX4, /* ƽÐаڷŵÄËĸöÇý¶¯ÂÖ */
CHASSIS_TYPE_PARLFIX2, /* ƽÐаڷŵÄÁ½¸öÇý¶¯ÂÖ */
CHASSIS_TYPE_OMNI_CROSS, /* ²æÐͰڷŵÄËĸöÈ«ÏòÂÖ */
CHASSIS_TYPE_OMNI_PLUS, /* Ê®×ÖÐÍ°ÚÉèµÄËĸöÈ«ÏòÂÖ */
CHASSIS_TYPE_DRONE, /* ÎÞÈË»úµ×ÅÌ */
CHASSIS_TYPE_SINGLE, /* µ¥¸öĦ²ÁÂÖ */
} Chassis_Type_t;
/* µ×Å̲ÎÊý½á¹¹Ìå,ALL³õʼ»¯²ÎÊý */
typedef struct {
MOTOR_RM_Param_t motor_param[4];
struct {
KPID_Params_t motor_pid_param; /* µ×Å̵ç»úPID²ÎÊý */
KPID_Params_t follow_pid_param; /* ¸úËæÔÆ̨PID²ÎÊý */
} pid;
Chassis_Type_t type; /* µ×ÅÌÀàÐÍ£¬µ×Å̵ĻúеÉè¼ÆºÍÂÖ×ÓÑ¡ÐÍ */
/* µÍͨÂ˲¨Æ÷½ØÖÁƵÂÊ*/
struct {
float in; /* ÊäÈë */
float out; /* Êä³ö */
} low_pass_cutoff_freq;
/* µç»ú·´×°£¬Ó¦¸ÃºÍÔÆ̨ÉèÖÃÏàͬ*/
struct {
bool yaw;
} reverse;
struct {
float max_vx, max_vy, max_wz;
float max_current;
} limit;
} Chassis_Params_t;
typedef struct {
AHRS_Gyro_t gyro;
AHRS_Eulr_t eulr;
} Chassis_IMU_t;
typedef struct {
MOTOR_Feedback_t motor[4]; // Ëĸö 3508µç»ú ·´À¡
float encoder_gimbalYawMotor;
} Chassis_Feedback_t;
/* µ×ÅÌÊä³ö½á¹¹Ìå*/
typedef struct {
float motor[4];
} Chassis_Output_t;
/*
* ÔËÐеÄÖ÷½á¹¹Ìå£þ
* °üº¬³õʼ»¯²ÎÊý,Öмä±äÁ¿,Êä³ö±äÁ¿
*/
typedef struct {
uint64_t last_wakeup;
float dt;
Chassis_Params_t *param; /* µ×Å̲ÎÊý,ÓÃChassis_InitÉ趨 */
/* Ä£¿éͨÓà */
Chassis_Mode_t mode; /* µ×ÅÌģʽ */
/* µ×ÅÌÉè¼Æ */
int8_t num_wheel; /* µ×ÅÌÂÖ×ÓÊýÁ¿ */
Mixer_t mixer; /* »ìºÏÆ÷,Òƶ¯ÏòÁ¿->µç»úÄ¿±êÖµ */
MoveVector_t move_vec; /* µ×ÅÌʵ¼ÊµÄÔ˶¯ÏòÁ¿ */
MOTOR_RM_t *motors[4];/*Ö¸Ïòµ×ÅÌÿ¸öµç»ú²ÎÊý*/
float mech_zero;
float wz_multi; /* СÍÓÂÝÐýתģʽ */
/* PID¼ÆËãÄ¿±êÖµ */
struct {
float motor_rpm[4]; /* µç»úתËٵĶ¯Ì¬Êý×é,µ¥Î»:RPM */
} setpoint;
/* ·´À¡¿ØÖÆÓõÄPID */
struct {
KPID_t motor[4]; /* ¿ØÖÆÂÖ×Óµç»úÓõÄPIDµÄ¶¯Ì¬Êý×é */
KPID_t follow; /* ¸úËæÔÆ̨ÓõÄPID */
} pid;
struct {
Chassis_Limit_t vx, vy, wz;
} limit;
/* Â˲¨Æ÷ */
struct {
LowPassFilter2p_t in[4]; /* ·´À¡ÖµÂ˲¨Æ÷ */
LowPassFilter2p_t out[4]; /* Êä³öÖµÂ˲¨Æ÷ */
} filter;
Chassis_Output_t out; /* µç»úÊä³ö */
Chassis_Feedback_t feedback;
//float out_motor[4];
} Chassis_t;
/* Exported functions prototypes -------------------------------------------- */
/**
* \brief µ×Å̳õʼ»¯
*
* \param c °üº¬µ×ÅÌÊý¾ÝµÄ½á¹¹Ìå
* \param param °üº¬µ×Å̲ÎÊýµÄ½á¹¹ÌåÖ¸Õë
* \param target_freq ÈÎÎñÔ¤ÆÚµÄÔËÐÐƵÂÊ
*
* \return ÔËÐнá¹û
*/
int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
float target_freq);
/**
* \brief ¸üе×ÅÌ·´À¡ÐÅÏ¢
*
* \param c °üº¬µ×ÅÌÊý¾ÝµÄ½á¹¹Ìå
* \param can CANÉ豸½á¹¹Ìå
*
* \return ÔËÐнá¹û
*/
int8_t Chassis_UpdateFeedback(Chassis_t *c);
/**
* \brief ÔËÐе×ÅÌ¿ØÖÆÂß¼­
*
* \param c °üº¬µ×ÅÌÊý¾ÝµÄ½á¹¹Ìå
* \param c_cmd µ×ÅÌ¿ØÖÆÖ¸Áî
* \param dt_sec Á½´Îµ÷ÓõÄʱ¼ä¼ä¸ô
*
* \return ÔËÐнá¹û
*/
int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd,
uint32_t now);
/**
* \brief ¸´ÖƵ×ÅÌÊä³öÖµ
*
* \param s °üº¬µ×ÅÌÊý¾ÝµÄ½á¹¹Ìå
* \param out CANÉ豸µ×ÅÌÊä³ö½á¹¹Ìå
*/
void Chassis_Output(Chassis_t *c);
/**
* \brief Çå¿ÕChassisÊä³öÊý¾Ý
*
* \param out CANÉ豸µ×ÅÌÊä³ö½á¹¹Ìå
*/
void Chassis_ResetOutput(Chassis_t *c);
/**
* @brief µ×Å̹¦ÂÊÏÞÖÆ
*
* @param c µ×ÅÌÊý¾Ý
* @param cap µçÈÝÊý¾Ý
* @param ref ²ÃÅÐϵͳÊý¾Ý
* @return º¯ÊýÔËÐнá¹û
*/
//»¹Ã»ÓмÓÈ룬waiting¡£¡£¡£¡£¡£¡£int8_t Chassis_PowerLimit(Chassis_t *c, const CAN_Capacitor_t *cap,
// const Referee_ForChassis_t *ref);
/**
* @brief µ¼³öµ×ÅÌÊý¾Ý
*
* @param chassis µ×ÅÌÊý¾Ý½á¹¹Ìå
* @param ui UIÊý¾Ý½á¹¹Ìå
*/
//void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui);
#ifdef __cplusplus
}
#endif

217
User/module/config.c
View File

@ -17,53 +17,139 @@
// 机器人参数配置
Config_RobotParam_t robot_config = {
.gimbal_param = {
.chassis_param = {
/* DJI3508µç»ú*/
.motor_param = {
{
.can = BSP_CAN_1,
.id = 0x201,
.module = MOTOR_M3508,
.reverse = false,
.gear = true
},
{
.can = BSP_CAN_1,
.id = 0x202,
.module = MOTOR_M3508,
.reverse = false,
.gear = true
},
{
.can = BSP_CAN_1,
.id = 0x203,
.module = MOTOR_M3508,
.reverse = false,
.gear = true
},
{
.can = BSP_CAN_1,
.id = 0x204,
.module = MOTOR_M3508,
.reverse = false,
.gear = true
},
},
.type = CHASSIS_TYPE_MECANUM,
/* PID */
.pid = {
/* µ×Å̵ç»ú PID */
.motor_pid_param = {
.k = 0.001f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
/* ¸úËæ */
.follow_pid_param = {
.k = 0.5f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
},
.low_pass_cutoff_freq = {
.in = 50.0f,
.out = 50.0f,
},
.reverse = {
.yaw = true,
},
.limit = {
.max_vx = 3.0f,
.max_vy = 3.0f,
.max_wz = 2.0f,
.max_current = 16000.0f
},
},
.gimbal_param = {
/*欧拉角限位和电机角度限位*/
.Limit_t= {
.pit_max=0.69,
.pit_min=-0.47,
.yaw_max= 1.0,//yaw的
.Set_Limit_t= {
.pit_max=0.25,
.pit_min=-0.53,
.yaw_max= 1.0,//yaw的限位作用于小yaw
.yaw_min=-1.0,
.pit_ecd_max=0,
.pit_ecd_min=0,
.yaw_ecd_max=0,
.yaw_ecd_min=0,
},
.feedforward={
.imu = {
.yaw=false,
.pit=false,
.coefficient_yaw=0,
.coefficient_pit=0,
},
},
/*零点参数*/
.zero={
.pit_encoder=0,
.yaw_encoder=0,
},
// .mech_zero = {
// .yaw = 0.0f,
// .pit = -0.69f,
// },
/*是否启动限位,1启动，-1不启动
小yaw默认限位
一般pit统一限位*/
.travel = {
.yaw = -1.0f,
.pit = 1.0f,
.ecd_yaw=-1.0f,
.ecd_pit=1.0f,
},
.motor={
/*按自己需求选择电机*/
.pit=DM,
.yaw=RM,
/*是否开启限位*/
.limit_yaw=false,
.limit_pit=true,
.pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,false,false},
.yaw_rm_motor={BSP_CAN_1,0x205,MOTOR_GM6020,false,false},
.yaw=DM,
// .pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,false,false},
// .yaw_rm_motor={BSP_CAN_1,0x205,MOTOR_GM6020,false,false},
/*达妙电机参数自己配*/
.pit_dm_motor={},
.yaw_dm_motor={},
.pit_dm_motor={
.can = BSP_CAN_1,
.can_id = 0x2,
.master_id = 0x12,
.module = MOTOR_DM_J4310,
.reverse = false,
},
.yaw_dm_motor={
.can = BSP_CAN_1,
.can_id = 0x50,
.master_id = 0x60,
.module = MOTOR_DM_J4310,
.reverse = false,
},
},
.dm_Params_t={
.yaw_dm={.kd=0.3,},
.yaw_dm_Reduction_ratio=8.0f,//减速比
.pit_dm={.kd=1.0,},
.pit_dm_Reduction_ratio=5.0f,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
.gyro = 1000.0f,
@ -72,18 +158,59 @@ Config_RobotParam_t robot_config = {
.pid = {
/*欧拉角控制参数*/
.yaw_omega = {
.k = 0.45f,
.p = 1.0f,
.i = 6.0f,
.d = 0.0008f,//0
.k = 1.0f,
.p = 0.1f,
.i = 0.2f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.yaw_angle = {
.k = 10.0f,
.p = 2.0f ,
.k = 8.0f,
.p = 4.0f,
.i = 0.0f,
.d = 0.2f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.pit_omega = {
.k = 0.4f,
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.pit_angle = {
.k = 8.0f,
.p = 5.0f,
.i = 2.5f,
.d = 0.2f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
/*电机控制参数*/
.yaw_velocity = {
.k = 1.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.000f,//0
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.yaw_ecd_angle = {
.k = 1.0f,
.p = 1.0f ,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
@ -91,26 +218,26 @@ Config_RobotParam_t robot_config = {
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.pit_omega = {
.k = 0.25f,
.p = 1.0f,
.pit_velocity = {
.k = 0.0f,
.p = 0.0f,
.i = 0.0f,
.d = 0.001901f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.pit_angle = {
.k = 12.0f,
.p = 2.1,
.pit_ecd_angle = {
.k = 1.0f,
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.range = M_2PI,
},
}
},
};

4
User/module/config.h
View File

@ -13,12 +13,14 @@ extern "C" {
#include "device/motor_lz.h"
#include "device/motor_lk.h"
#include "gimbal.h"
#include "chassis.h"
//#include "module/balance_chassis.h"
typedef struct {
Gimbal_Params_t gimbal_param;
Chassis_Params_t chassis_param;
} Config_RobotParam_t;
/* Exported functions prototypes -------------------------------------------- */

156
User/module/gimbal.c
View File

@ -33,26 +33,6 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
/**
* \brief 计算角度偏差
*
* \param
* \param
*
* \return 函数运行结果
*/
static float motor_imu_offset(float* motor, float* imu){
float motor_imu_offset = motor - imu;
/* 处理跨越±π的情况 */
if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
return motor_imu_offset;
}
/**
* \brief 设置云台模式
@ -81,7 +61,8 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
g->setpoint.eulr.pit = g->feedback.imu.eulr.pit;
g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
g->setpoint.ecd.pit=g->feedback.motor.pit.rotor_abs_angle;
g->setpoint.ecd.yaw=g->feedback.motor.yaw.rotor_abs_angle;
g->mode = mode;
return 0;
@ -125,16 +106,28 @@ int8_t Gimbal_Init(Gimbal_t *g,Gimbal_Params_t *param,
PID_Init(&(g->pid.pit_velocity), KPID_MODE_CALC_D, target_freq,
&(g->param->pid.pit_velocity));
g->limit.yaw.max = g->param->Limit_t.yaw_max;
g->limit.yaw.min = g->param->Limit_t.yaw_min;
LowPassFilter2p_Init(&g->filter_out.yaw, target_freq,
g->param->low_pass_cutoff_freq.out);
LowPassFilter2p_Init(&g->filter_out.pit, target_freq,
g->param->low_pass_cutoff_freq.out);
// g->limit.yaw.max = g->param->mech_zero.yaw + g->param->travel.yaw;
// g->limit.yaw.min = g->param->mech_zero.yaw;
// g->limit.pit.max = g->param->mech_zero.pit + g->param->travel.pit;
// g->limit.pit.min = g->param->mech_zero.pit;
/*输出限位*/
g->limit.set_pit.max=g->param->Set_Limit_t.pit_max;
g->limit.set_pit.min=g->param->Set_Limit_t.pit_min;
g->limit.set_yaw.max=g->param->Set_Limit_t.yaw_max;
g->limit.set_yaw.min=g->param->Set_Limit_t.yaw_min;
g->limit.set_ecd_pit.max=g->param->Set_Limit_t.pit_ecd_max;
g->limit.set_ecd_pit.min=g->param->Set_Limit_t.pit_ecd_min;
g->limit.set_ecd_yaw.max=g->param->Set_Limit_t.yaw_ecd_max;
g->limit.set_ecd_yaw.min=g->param->Set_Limit_t.yaw_ecd_min;
BSP_CAN_Init();
/*大疆电机注册*/
@ -237,8 +230,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
float yaw_omega_set_point, pit_omega_set_point;
/* 电机角度控制相关逻辑 */
float yaw_velocity_set_point, pit_velocity_set_point;
float small_yaw_omega_setpoint;
float delta_ecd_yaw = g_cmd->delta_yaw*g->dt;
float delta_ecd_pit = g_cmd->delta_pit*g->dt;
@ -248,14 +241,15 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
float yaw_motor_imu_offset=motor_imu_offset(&g->feedback.motor.yaw.rotor_abs_angle,
&g->feedback.imu.eulr.yaw);
float delta_max = CircleError(g->limit.yaw.max,
(g->setpoint.eulr.yaw + yaw_motor_imu_offset + delta_yaw), M_2PI);
float delta_min = CircleError(g->limit.yaw.min,
(g->setpoint.eulr.yaw + yaw_motor_imu_offset + delta_yaw), M_2PI);
float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
/* 处理跨越±π的情况 */
if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
/* 计算到限位边界的距离 （这个限位给双yaw）*/
float delta_max = CircleError(g->limit.set_yaw.max,
(g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
float delta_min = CircleError(g->limit.set_yaw.min,
(g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
switch (g->mode) {
case GIMBAL_MODE_RELAX:/*放松模式*/
@ -265,18 +259,20 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
case GIMBAL_MODE_ABSOLUTE:/*绝对模式*/
g->setpoint.eulr.yaw+=delta_yaw;
if (g->param->motor.limit_yaw==true)
if (g->param->travel.yaw > 0)
Clip(&(g->setpoint.eulr.yaw),delta_min,delta_max);
else{
CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
/*限制在-3.14~3.14*/
if (g->setpoint.eulr.yaw > M_PI) g->setpoint.eulr.yaw -= M_2PI;
}
/* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
g->setpoint.eulr.pit+=delta_pit;
/* 限制pit控制命令 */
if (g->param->motor.limit_pit == true)
Clip(&(g->setpoint.eulr.pit),g->param->Limit_t.pit_min,g->param->Limit_t.pit_max);
if (g->param->travel.pit > 0)
/* 限制pit控制命令 */
Clip(&(g->setpoint.eulr.pit),g->limit.set_pit.min,g->limit.set_pit.max);
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
@ -287,67 +283,44 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
g->feedback.imu.eulr.pit, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->feedback.imu.gyro.x, 0.f, g->dt);
/*前馈添加*/
if(g->param->feedforward.imu.yaw==true)
g->out.yaw+=g->param->feedforward.imu.coefficient_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z);
if(g->param->feedforward.imu.pit==true)
g->out.pit+=g->param->feedforward.imu.coefficient_pit*(pit_omega_set_point - g->feedback.imu.gyro.x);
break;
case GIMBAL_MODE_RELATIVE:
/*计算零点*/
g->zero.travel.yaw=motor_imu_offset(&g->feedback.motor.yaw.rotor_abs_angle,&g->feedback.imu.eulr.yaw);
g->zero.travel.pit=motor_imu_offset(&g->feedback.motor.pit.rotor_abs_angle,&g->feedback.imu.eulr.pit);
g->zero.yaw = g->param->zero.yaw_encoder - g->zero.travel.yaw;
g->zero.pit = g->param->zero.pit_encoder - g->zero.travel.pit;
/*基于零点的设定角度*/
/*加的相对角度应该限制在3.14~-3.14*/
CircleAdd(&(g->relative_angle.yaw),delta_yaw,M_2PI);
if((g->relative_angle.yaw)>=M_2PI)g->relative_angle.yaw-=M_2PI;
/*限制pit的累加角度*/
g->relative_angle.pit=+delta_pit;
Clip(&(g->relative_angle.pit),(g->param->Limit_t.pit_min+g->zero.pit),
(g->param->Limit_t.pit_max-g->zero.pit));
g->setpoint.eulr.yaw=g->zero.yaw + g->relative_angle.yaw;
g->setpoint.eulr.pit=g->zero.pit + g->relative_angle.pit;
/*跟据电机角度控制,遥控器不给值不会动*/
g->setpoint.ecd.yaw+=delta_ecd_yaw;
/*yaw的限位*/
if (g->param->motor.limit_yaw==true)
Clip(&(g->setpoint.eulr.yaw),delta_min,delta_max);
else{
/*限制在-3.14~3.14*/
if(g->setpoint.eulr.yaw > M_PI) g->setpoint.eulr.yaw -= M_2PI;
}
/* pit限制控制命令 */
if (g->param->motor.limit_pit==true)
Clip(&(g->setpoint.eulr.pit),g->param->Limit_t.pit_min,g->param->Limit_t.pit_max);
if(g->param->travel.yaw > 0)
Clip(&(g->setpoint.ecd.yaw),g->limit.set_ecd_yaw.min,g->limit.set_ecd_yaw.max);
else{
/*限制yaw在0~6.28*/
CircleAdd(&(g->setpoint.ecd.yaw), delta_ecd_yaw, M_2PI);
}
/* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
g->setpoint.ecd.pit+=delta_ecd_pit;
/* 限制控制命令 */
if (g->param->travel.pit > 0)
Clip(&(g->setpoint.ecd.pit),g->limit.set_ecd_pit.min,g->limit.set_ecd_pit.max);
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
g->feedback.imu.gyro.z, 0.f, g->dt);
yaw_velocity_set_point = PID_Calc(&(g->pid.yaw_ecd_angle), g->setpoint.ecd.yaw,
g->feedback.motor.yaw.rotor_abs_angle, 0.0f, g->dt);
g->out.yaw = PID_Calc(&(g->pid.yaw_velocity), yaw_velocity_set_point,
g->feedback.motor.yaw.rotor_speed, 0.f, g->dt);
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
g->feedback.imu.eulr.pit, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->feedback.imu.gyro.x, 0.f, g->dt);
/*前馈添加*/
if(g->param->feedforward.imu.yaw==true)
g->out.yaw+=g->param->feedforward.imu.coefficient_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z);
if(g->param->feedforward.imu.pit==true)
g->out.pit+=g->param->feedforward.imu.coefficient_pit*(pit_omega_set_point - g->feedback.imu.gyro.x);
pit_velocity_set_point = PID_Calc(&(g->pid.pit_ecd_angle), g->setpoint.ecd.pit,
g->feedback.motor.pit.rotor_abs_angle, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_velocity), pit_velocity_set_point,
g->feedback.motor.pit.rotor_speed, 0.f, g->dt);
break;
}
/* 输出滤波 */
/* 输出滤波 */
g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
}
return 0;
}
@ -392,4 +365,3 @@ void Gimbal_Output(Gimbal_t *g){
}
}

63
User/module/gimbal.h
View File

@ -47,19 +47,9 @@ typedef struct {
float min;
} Gimbal_Limit_t;
typedef struct{
struct{
float yaw; /* 零点行程 */
float pit;
}travel;
float pit; /*零点*/
float yaw;
} Gimbal_zero_t;
typedef struct {
bool limit_yaw;/*是否开启限位*/
bool limit_pit;
Gimbal_MOTOR pit;
Gimbal_MOTOR yaw;
MOTOR_DM_Param_t pit_dm_motor; /* pitch轴电机参数 */
@ -67,8 +57,7 @@ typedef struct {
MOTOR_RM_Param_t pit_rm_motor; /* pitch轴电机参数 */
MOTOR_RM_Param_t yaw_rm_motor; /* yaw轴电机参数 */
}Gimbal_MOTOR_Param_t;
} Gimbal_MOTOR_Param_t;
/* 云台参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
typedef struct {
@ -88,36 +77,35 @@ typedef struct {
KPID_Params_t pit_ecd_angle; /* pitch轴电机位置环PID参数 */
} pid;
struct {
float pit_encoder; /*零点*/
float yaw_encoder;
}zero;
/* 前馈系数 */
struct {
struct{
bool yaw;
bool pit;
float coefficient_yaw;
float coefficient_pit;
}imu;
}feedforward;
/* 低通滤波器截止频率 */
struct {
float out; /* 电机输出 */
float gyro; /* 陀螺仪数据 */
} low_pass_cutoff_freq;
struct {
float yaw; /* yaw轴机械限位 */
float pit; /* pitch轴机械限位 */
} mech_zero;
struct {
float yaw; /* yaw轴机械限位行程 -1表示无限位 */
float pit; /* pitch轴机械限位行程 -1表示无限位*/
float ecd_yaw; /* yaw轴机械限位行程 -1表示无限位 */
float ecd_pit; /* pitch轴机械限位行程 -1表示无限位*/
} travel;
struct {
float pit_max; /*pit的限位*/
float pit_min;
float yaw_max; /*yaw的限位*/
float yaw_min;
}Limit_t;
float pit_ecd_max; /*pit的限位*/
float pit_ecd_min;
float yaw_ecd_max; /*yaw的限位*/
float yaw_ecd_min;
}Set_Limit_t;
struct {
MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/
@ -162,7 +150,6 @@ typedef struct {
/* 模块通用 */
Gimbal_Mode_t mode; /* 云台模式 */
Gimbal_MOTOR MOTOR;
Gimbal_zero_t zero;
/* PID计算的目标值 */
struct {
AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
@ -183,14 +170,16 @@ typedef struct {
} pid;
struct {
Gimbal_Limit_t yaw;
Gimbal_Limit_t yaw;
Gimbal_Limit_t pit;
Gimbal_Limit_t set_yaw;
Gimbal_Limit_t set_pit;
Gimbal_Limit_t set_ecd_yaw;
Gimbal_Limit_t set_ecd_pit;
} limit;
struct {
float yaw;
float pit;
} relative_angle;
struct {
LowPassFilter2p_t yaw;

57
User/task/chassis_ctrl.c Normal file
View File

@ -0,0 +1,57 @@
/*
chassis_ctrl Task
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "cmsis_os2.h"
#include "module/chassis.h"
#include "module/config.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
Chassis_t chassis;
Chassis_CMD_t chassis_cmd; // 控制命令
Chassis_IMU_t chassis_imu;
static AHRS_Eulr_t mech_zero = {0}; // 机械零位（初始 yaw）
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_chassis_ctrl(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
/* 计算任务运行到指定频率需要等待的tick数 */
const uint32_t delay_tick = osKernelGetTickFreq() / CHASSIS_CTRL_FREQ;
osDelay(CHASSIS_CTRL_INIT_DELAY); /* 延时一段时间再开启任务 */
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
/* === 初始化底盘 === */
Config_RobotParam_t *cfg = Config_GetRobotParam();
Chassis_Init(&chassis, &cfg->chassis_param, (float)CHASSIS_CTRL_FREQ);
chassis.mech_zero=4.13f;
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.encoder_gimbalYawMotor, NULL, 0);//从yaw电机反馈得到值
osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0);//遥控器
/* 3) 更新反馈 → 控制 → 输出 */
Chassis_UpdateFeedback(&chassis);
Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
Chassis_Output(&chassis);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

7
User/task/config.yaml
View File

@ -19,3 +19,10 @@
function: Task_remote
name: remote
stack: 256
- delay: 0
description: ''
freq_control: true
frequency: 500.0
function: Task_chassis_ctrl
name: chassis_ctrl
stack: 256

11
User/task/gimbal_ctrl.c
View File

@ -18,6 +18,7 @@
Gimbal_t gimbal;
Gimbal_IMU_t gimbal_imu;
Gimbal_CMD_t gimbal_cmd;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -39,12 +40,16 @@ void Task_gimbal_ctrl(void *argument) {
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK){
Gimbal_UpdateIMU(&gimbal, &gimbal_imu);}
if(osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0)==osOK)
if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK)
Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
Gimbal_UpdateFeedback(&gimbal);
Gimbal_Control(&gimbal,&gimbal_cmd);
Gimbal_Output(&gimbal);
osMessageQueueReset(task_runtime.msgq.chassis.yaw);
osMessageQueuePut(task_runtime.msgq.chassis.yaw,&gimbal.feedback.motor.yaw.rotor_abs_angle, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

4
User/task/init.c
View File

@ -8,6 +8,7 @@
/* USER INCLUDE BEGIN */
#include "module/gimbal.h"
#include "module/chassis.h"
#include "remote_control.h"
/* USER INCLUDE END */
@ -34,6 +35,7 @@ void Task_Init(void *argument) {
task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
task_runtime.thread.gimbal_ctrl = osThreadNew(Task_gimbal_ctrl, NULL, &attr_gimbal_ctrl);
task_runtime.thread.remote = osThreadNew(Task_remote, NULL, &attr_remote);
task_runtime.thread.chassis_ctrl = osThreadNew(Task_chassis_ctrl, NULL, &attr_chassis_ctrl);
// 创建消息队列
/* USER MESSAGE BEGIN */
@ -41,6 +43,8 @@ void Task_Init(void *argument) {
task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
task_runtime.msgq.gimbal.remote= osMessageQueueNew(2u, sizeof(RC_ctrl_t), NULL);
task_runtime.msgq.chassis.cmd= osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
task_runtime.msgq.chassis.yaw= osMessageQueueNew(2u, sizeof(float), NULL);
/* USER MESSAGE END */
osKernelUnlock(); // 解锁内核

11
User/task/remote.c
View File

@ -8,6 +8,7 @@
/* USER INCLUDE BEGIN */
#include "remote_control.h"
#include "ai.h"
#include "chassis.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -17,7 +18,7 @@
/* USER STRUCT BEGIN */
extern RC_ctrl_t rc_ctrl;
Gimbal_CMD_t remote_cmd;
Gimbal_IMU_t imu;
Chassis_CMD_t c_cmd;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -43,10 +44,14 @@ void Task_remote(void *argument) {
// osMessageQueueGet(task_runtime.msgq.gimbal.imu, &imu, NULL, 0);
remote_ParseHost(&remote_cmd,&rc_ctrl,&imu);
// remote_ParseHost(&remote_cmd,&rc_ctrl);
remote_chassis_ParseHost(&c_cmd,&remote_cmd,&rc_ctrl);
osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
osMessageQueuePut(task_runtime.msgq.gimbal.cmd,&remote_cmd, 0, 0);
osMessageQueueReset(task_runtime.msgq.chassis.cmd);
osMessageQueuePut(task_runtime.msgq.chassis.cmd,&c_cmd, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

5
User/task/user_task.c
View File

@ -23,4 +23,9 @@ const osThreadAttr_t attr_remote = {
.name = "remote",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
};
const osThreadAttr_t attr_chassis_ctrl = {
.name = "chassis_ctrl",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
};

15
User/task/user_task.h
View File

@ -16,12 +16,14 @@ extern "C" {
#define ATTI_ESTI_FREQ (500.0)
#define GIMBAL_CTRL_FREQ (500.0)
#define REMOTE_FREQ (500.0)
#define CHASSIS_CTRL_FREQ (500.0)
/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)
#define ATTI_ESTI_INIT_DELAY (0)
#define GIMBAL_CTRL_INIT_DELAY (0)
#define REMOTE_INIT_DELAY (0)
#define CHASSIS_CTRL_INIT_DELAY (0)
/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
@ -34,6 +36,7 @@ typedef struct {
osThreadId_t atti_esti;
osThreadId_t gimbal_ctrl;
osThreadId_t remote;
osThreadId_t chassis_ctrl;
} thread;
/* USER MESSAGE BEGIN */
@ -46,7 +49,14 @@ typedef struct {
osMessageQueueId_t imu;
osMessageQueueId_t cmd;
osMessageQueueId_t remote;
osMessageQueueId_t feedback;
}gimbal;
struct {
osMessageQueueId_t imu;
osMessageQueueId_t cmd;
osMessageQueueId_t yaw;
}chassis;
} msgq;
/* USER MESSAGE END */
@ -66,6 +76,7 @@ typedef struct {
UBaseType_t atti_esti;
UBaseType_t gimbal_ctrl;
UBaseType_t remote;
UBaseType_t chassis_ctrl;
} stack_water_mark;
/* 各任务运行频率 */
@ -73,6 +84,7 @@ typedef struct {
float atti_esti;
float gimbal_ctrl;
float remote;
float chassis_ctrl;
} freq;
/* 任务最近运行时间 */
@ -80,6 +92,7 @@ typedef struct {
float atti_esti;
float gimbal_ctrl;
float remote;
float chassis_ctrl;
} last_up_time;
} Task_Runtime_t;
@ -92,12 +105,14 @@ extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_atti_esti;
extern const osThreadAttr_t attr_gimbal_ctrl;
extern const osThreadAttr_t attr_remote;
extern const osThreadAttr_t attr_chassis_ctrl;
/* 任务函数声明 */
void Task_Init(void *argument);
void Task_atti_esti(void *argument);
void Task_gimbal_ctrl(void *argument);
void Task_remote(void *argument);
void Task_chassis_ctrl(void *argument);
#ifdef __cplusplus
}