RMUL2026最终上场版本
This commit is contained in:
@@ -1,7 +1,12 @@
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# New-Infantry-C-Board-Legacy
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@Peng Ge的全向轮步兵代码，基于C板，使用标准库编写
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编译器使用Keil V5
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编译器使用ARMCC V5
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该代码为RMUL2026 最终上场版本
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该代码已过时，仅用于参考使用，不建议继续维护
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当前待实现目标：
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陀螺仪漂移优化
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@@ -24,6 +24,8 @@ KFP kfp_PITCH={0.02,0,0,0,0.001,0.543};//卡尔曼滤波器结构体
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uint8_t Gimbal_FrictionWheelFlag;//云台小陀螺标志位,云台开摩擦轮标志位
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extern int KP , KI , KD;
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extern float Visual_Yaw,Visual_Pitch;
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extern uint8_t Visual_ReceiveFlag;
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float use_yaw=0;
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@@ -129,18 +131,18 @@ void Gimbal_CleanPID(void)
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*/
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void Gimbal_PitchControl(void)
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{
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float use_pitch=0,lastpitch=0,lastyaw=0;
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float use_pitch=0;
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if(Remote_StartFlag==2)Gimbal_PitchAnglePositionPID.Need_Value=0;//遥控器刚建立连接时,复位Pitch轴角度
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if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1000) && GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position>Pitch_GM6020PositionUpperLinit)
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if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1040) && GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position>Pitch_GM6020PositionUpperLinit)
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{
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Gimbal_PitchAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;//通过遥控器或者鼠标获取俯仰情况
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//if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Angle<=Pitch_GM6020PositionUpperLinit)
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//Gimbal_PitchAnglePositionPID.Need_Value=0;
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}
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else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1050) && GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position<Pitch_GM6020PositionLowerLinit)
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else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1010) && GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position<Pitch_GM6020PositionLowerLinit)
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{
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Gimbal_PitchAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;//通过遥控器或者鼠标获取俯仰情况
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// if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Angle>=Pitch_GM6020PositionLowerLinit)
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@@ -149,18 +151,18 @@ void Gimbal_PitchControl(void)
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if(Remote_RxData.Remote_LS==2 || Remote_RxData.Remote_Mouse_KeyR==1 )//自瞄,补偿角度
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{
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use_pitch=0.5f*Visual_Pitch;
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use_yaw=0.5f*Visual_Yaw;
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use_pitch=1.5f*Visual_Pitch;
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use_yaw=0.5f*-Visual_Yaw;
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//if(Visual_ReceiveFlag==1)UART2_Printf("Y:%f,P:%f\n",Visual_Yaw,Visual_Pitch);//*0.0030518509475997f
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//pitch
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if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position>Pitch_GM6020PositionUpperLinit && Visual_Pitch>0)
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Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)use_pitch-lastpitch;
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if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position<Pitch_GM6020PositionLowerLinit && Visual_Pitch<0)
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if(GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position<Pitch_GM6020PositionLowerLinit && GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Position>Pitch_GM6020PositionUpperLinit && Visual_Pitch!=0)
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Gimbal_PitchAnglePositionPID.Need_Value=AttitudeAlgorithms_DegRoll-(float)use_pitch;
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use_pitch=0;
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Remote_RxData.Remote_Mouse_KeyPushR=0;
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Remote_RxData.Remote_LS=0;
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//UART2_Printf("Y:%f,P:%f\n",Visual_Yaw,Visual_Pitch);
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Visual_Pitch=0;
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Visual_Yaw=0;
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Visual_ReceiveFlag=0;
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}
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@@ -196,14 +198,14 @@ void Gimbal_YawControl(void)
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if(Remote_StartFlag==2)
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Gimbal_YawAnglePositionPID.Need_Value=AttitudeAlgorithms_DegYaw;//遥控器刚建立连接时,复位Yaw轴角度
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if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1050 || use_yaw !=0 )//根据摇杆改变偏航
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if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1028 || use_yaw !=0 )//根据摇杆改变偏航
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{
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if(PC_Spin==0)
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Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((Remote_RxData.Remote_L_RL-1024)/660.0f)+(float)use_yaw;
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else
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Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2)+(float)use_yaw;
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}
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else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1000 || use_yaw !=0)
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else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1022 || use_yaw !=0)
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{
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if(PC_Spin==0)
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Gimbal_YawAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((1024-Remote_RxData.Remote_L_RL)/660.0f)+(float)use_yaw;
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@@ -211,9 +213,9 @@ void Gimbal_YawControl(void)
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Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2)+(float)use_yaw;
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}
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Visual_Yaw=0;
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use_yaw=0;
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//串级PID闭环Yaw角
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PID_PositionCalc(&Gimbal_YawAnglePositionPID,AttitudeAlgorithms_DegYaw);
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Gimbal_YawAngleSpeedPID.Need_Value=Gimbal_YawAnglePositionPID.OUT;
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@@ -16,8 +16,8 @@ uint32_t Visual_Time=0;//视觉数据send时间
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uint32_t Time_Out=0;//超时时间
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uint32_t SystemCoreClock84=84000000; //84M
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int KP , KI , KD;
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int yaw=0 , pitch=0;
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static char dataType; // 存储类型字段（'r'/'b'/'u'）
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int yaw=0 , pitch=0 , roll=0 ,delay=0;
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uint8_t USART_RX_BUF[100];//视觉数据jieshou缓冲区
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extern PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID,Gimbal_PitchAnglePositionPID,Gimbal_PitchAngleSpeedPID;//Pitch轴GM6020电机PID;
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@@ -44,15 +44,16 @@ void Visual_Init(void)
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}
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void Visual_SendData(void)
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{
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/*SendData MCUMessage;
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/*
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SendData MCUMessage;
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MCUMessage.curr_yaw=AttitudeAlgorithms_DegYaw;
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MCUMessage.curr_pitch=AttitudeAlgorithms_DegPitch;
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MCUMessage.state=(uint8_t)('a');
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MCUMessage.mark=(uint8_t)(0);
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MCUMessage.anti_top=(uint8_t)(0);
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MCUMessage.enemy_color=(uint8_t)(1);
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MCUMessage.delta_x=(uint8_t)(1);
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MCUMessage.delta_y=(uint8_t)(1);
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MCUMessage.delta_x=(uint8_t)(0);
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MCUMessage.delta_y=(uint8_t)(0);
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UART2_SendArray((uint8_t *)&MCUMessage, sizeof(MCUMessage));*/
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//UART2_SendArray((uint8_t *)&MCUMessage, sizeof(MCUMessage));
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/*
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@@ -60,24 +61,29 @@ void Visual_SendData(void)
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UART2_SendByte((float)AttitudeAlgorithms_DegRoll);
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//UART2_SendByte((float)AttitudeAlgorithms_DegPitch);
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UART2_SendByte((uint8_t)0);
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//UART2_SendByte((uint8_t)0);
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UART2_SendByte((uint8_t)'a');
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UART2_SendByte((uint8_t)0);
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UART2_SendByte((uint8_t)0);
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UART2_SendByte((uint8_t)1);
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UART2_SendByte((uint8_t)1);
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UART2_SendByte((uint8_t)0);
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UART2_SendByte((uint8_t)0);
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*/
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/*
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UART2_Printf("%lld",GM6020_MotorStatus[GM6020_2-0x205].Position);
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UART2_Printf(",%f",Gimbal_PitchAnglePositionPID.Need_Value);
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UART2_Printf(",%f",Gimbal_PitchAngleSpeedPID.Need_Value);
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UART2_Printf(",%f\n",Gimbal_PitchAngleSpeedPID.OUT);
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//UART2_Printf("%f,%f,%f\n",AttitudeAlgorithms_DegPitch,AttitudeAlgorithms_DegYaw,BMI088_Temperature);
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//UART2_Printf("%f,%f,%f,%f,%f,%f\n",BMI088_Gyro[0],BMI088_Gyro[1],BMI088_GyroZeroOffset[0],BMI088_GyroZeroOffset[1],BMI088_GyroWithoutOffset[0],BMI088_GyroWithoutOffset[1]);
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*/
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UART2_Printf("%f %f %c %d %d %d %d %d\n",AttitudeAlgorithms_DegPitch,AttitudeAlgorithms_DegYaw,'a',0,0,1,0,0);
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//UART2_SendByte((uint8_t)'\n');
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//if(Visual_ReceiveFlag == 1)
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//UART2_Printf("%f %f %f %f \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f
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//UART2_Printf("Y:%f,P:%f\n",Visual_Yaw,Visual_Pitch);//*0.0030518509475997f
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//if(Visual_ReceiveFlag == 1)
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//UART2_Printf("%f %f %f %f\n",Visual_Yaw,Visual_Pitch,AttitudeAlgorithms_DegYaw);//*0.0030518509475997f
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@@ -110,7 +116,132 @@ void USART1_IRQHandler(void)
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USART_ClearITPendingBit(USART1,USART_IT_RXNE);//清除接收中断标志位
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}
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// 全局变量（需在.h文件中声明）
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uint8_t Visual_ReceiveFlag = 0; // 接收完成标志
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// 静态变量（函数内部状态）
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static char Visual_RxBuffer[32]; // 接收缓冲区（足够容纳最长帧）
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static uint8_t RxState = 0; // 状态机：0-等待s，1-接收数据，2-解析
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static uint8_t RxIndex = 0; // 缓冲区索引
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static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒）
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//Visual_Yaw = -(float)yaw;
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//Visual_Pitch = -(float)pitch;
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// 全局变量（需在.h文件中声明）
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char Visual_Type = '\0'; // 存储类型（r/b/u）
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void Visual_Trans(void) {
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// 静态变量（函数内部状态）
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static char Visual_RxBuffer[32]; // 接收缓冲区（足够容纳最长帧）
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static uint8_t RxState = 0; // 状态机：0-等待#，1-接收数据，2-解析
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static uint8_t RxIndex = 0; // 缓冲区索引
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static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒）
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// 每次调用处理一个UART接收字节（UART2_RxData为当前接收的字节）
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uint8_t rx_byte = UART2_RxData;
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// 接收新数据时重置超时计时器
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RxTimeoutTick = 0;
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switch (RxState) {
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case 0: // 等待帧头's'
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if (rx_byte == 's') {
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RxState = 1;
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RxIndex = 0;
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memset(Visual_RxBuffer, 0, sizeof(Visual_RxBuffer)); // 清空缓冲区
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}
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break;
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case 1: // 接收有效数据（直到遇到帧尾'e'）
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if (rx_byte == 'e') {
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RxState = 2;
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} else {
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// 限制缓冲区大小，防止溢出（预留1字节给结束符'\0'）
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if (RxIndex < sizeof(Visual_RxBuffer) - 1) {
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Visual_RxBuffer[RxIndex++] = rx_byte;
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} else {
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// 缓冲区满，强制复位（防止内存溢出）
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RxState = 0;
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RxIndex = 0;
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}
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}
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break;
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case 2: // 解析接收的字符串
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{
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// 有效数据格式："207 -4 0 0"（需包含4个字段）
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char *token = strtok(Visual_RxBuffer, " "); // 按空格分割
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uint8_t field_idx = 0;
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uint8_t parse_ok = 1; // 解析成功标志
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char type = '\0';
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while (token != NULL && field_idx < 4) { // 只处理前4个字段
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switch (field_idx) {
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case 0: // 校验包头's'（ASCII：0x73）
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yaw = atoi(token);
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break;
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case 1: // 提取类型（r/b/u）
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pitch = atoi(token);
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break;
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case 2: // 转换yaw（字符串→int）
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roll = atoi(token);
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break;
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case 3: // 转换pitch（字符串→int）
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delay = atoi(token);
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break;
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}
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token = strtok(NULL, " ");
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field_idx++;
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}
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// 解析成功的条件：字段完整且包头/类型正确
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if (parse_ok && field_idx == 4) {
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Visual_Type = type;
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Visual_GetYaw = yaw;
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Visual_GetPitch = pitch;
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// 角度转换（根据实际需求调整系数）
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Visual_Yaw = (float)yaw * 0.03051850947599f;
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Visual_Pitch = (float)pitch * 0.03051850947599f;
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Visual_ReceiveFlag = 1; // 置位完成标志
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}
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// 解析完成，回到初始状态
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RxState = 0;
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RxIndex = 0;
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}
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break;
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default:
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// 异常状态复位
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RxState = 0;
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RxIndex = 0;
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break;
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}
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}
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/*
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void Visual_Trans(void) {
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// 全局变量（需在.h文件中声明）
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uint8_t Visual_ReceiveFlag = 0; // 接收完成标志
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static char dataType; // 存储类型字段（'r'/'b'/'u'）
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// 静态变量（函数内部状态）
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static char Visual_RxBuffer[32]; // 接收缓冲区（足够容纳最长帧）
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static uint8_t RxState = 0; // 状态机：0-等待s，1-接收数据，2-解析
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static uint8_t RxIndex = 0; // 缓冲区索引
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static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒）
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//Visual_Yaw = -(float)yaw;
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//Visual_Pitch = -(float)pitch;
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@@ -201,8 +332,8 @@ static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒）
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Visual_GetPitch = pitch;
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// 角度转换（根据实际需求调整系数）
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Visual_Yaw = -(float)yaw * 0.03051850947599f;
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Visual_Pitch = -(float)pitch * 0.03051850947599f;
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Visual_Yaw = (float)yaw * 0.03051850947599f;
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Visual_Pitch = (float)pitch * 0.03051850947599f;
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Visual_ReceiveFlag = 1; // 置位完成标志
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}
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@@ -220,13 +351,10 @@ static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒）
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break;
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}
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}
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*/
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/*
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void Visual_Trans(void){
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static int Visual_RxHEXPacket[20];
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//char Message[10];
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@@ -248,7 +376,6 @@ void Visual_Trans(void){
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Visual_RxHEXPacket[pRxHEXState]=UART2_RxData;//接收数据
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if(pRxHEXState==7)//接收数据长度达到3
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{
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RxHEXState=2;//转入模式2
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@@ -261,7 +388,6 @@ void Visual_Trans(void){
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}
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}
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else if(RxHEXState==2)//模式2-等待包尾
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{
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@@ -273,20 +399,19 @@ void Visual_Trans(void){
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Visual_GetPitch=((uint8_t)Visual_RxHEXPacket[2]<<8 | Visual_RxHEXPacket[3]);
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Visual_GetRoll=((uint8_t)Visual_RxHEXPacket[4]<<8 | Visual_RxHEXPacket[5]);
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Visual_GetDelay=((uint8_t)Visual_RxHEXPacket[6]<<8 | Visual_RxHEXPacket[7]);
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Visual_Pitch=Visual_GetPitch*0.003051850947599f+Visual_GetRoll*0.049f/(30.0f*3.1415926535f);
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||||
Visual_Yaw=-Visual_GetYaw*0.003051850947599f;
|
||||
Visual_Pitch=(Visual_GetPitch)*0.0005051850947599f/*+Visual_GetRoll*0.049f/(30.0f*3.1415926535f)*/;
|
||||
// Visual_Yaw=(Visual_GetYaw)*0.0003051850947599f;
|
||||
//UART2_Printf("0x%.2x 0x%.2x\n",Visual_RxHEXPacket[0],Visual_RxHEXPacket[1]);
|
||||
|
||||
//Visual_Yaw=(int16_t)((uint16_t)Visual_RxHEXPacket[0]<<8 | Visual_RxHEXPacket[1])*0.01f;
|
||||
//Visual_Pitch=(int16_t)((uint16_t)Visual_RxHEXPacket[2]<<8 | Visual_RxHEXPacket[3])*0.01f;
|
||||
|
||||
Visual_ReceiveFlag=1;
|
||||
RxHEXState=0;//回到模式0
|
||||
//Visual_ReceiveFlag=1;
|
||||
//RxHEXState=0;//回到模式0
|
||||
//Buzzer_Time(M4,1000);//蜂鸣器发声
|
||||
}
|
||||
//}
|
||||
|
||||
}
|
||||
// }
|
||||
|
||||
|
||||
}
|
||||
*/
|
||||
//}
|
||||
|
||||
@@ -6,8 +6,12 @@ extern uint8_t Visual_ReceiveFlag;//视觉数据接收完成标志位
|
||||
|
||||
|
||||
#define SYSTICK_1MS ((uint32_t)1000)
|
||||
#define ENEMY_BLUE 0
|
||||
#define ENEMY_RED 1
|
||||
|
||||
|
||||
///发送数据
|
||||
#pragma pack(push, 1)
|
||||
typedef struct
|
||||
{
|
||||
float curr_yaw; // 当前云台yaw角度
|
||||
@@ -19,6 +23,7 @@ typedef struct
|
||||
int delta_x; // 能量机关x轴补偿量
|
||||
int delta_y; // 能量机关y轴补偿量
|
||||
}SendData;
|
||||
#pragma pack(pop)
|
||||
|
||||
//接受数据
|
||||
typedef struct
|
||||
|
||||
@@ -10,7 +10,7 @@
|
||||
*/
|
||||
float kalmanFilter(KFP *kfp,float input)
|
||||
{
|
||||
float pDst,pDst1=1.0f;
|
||||
//float pDst,pDst1=1.0f;
|
||||
//预测协方差方程：k时刻系统估算协方差 = k-1时刻的系统协方差 + 过程噪声协方差
|
||||
//arm_add_f32(&kfp->LastP, &kfp->Q, &kfp->Now_P, 1);
|
||||
kfp->Now_P = kfp->LastP + kfp->Q;
|
||||
|
||||
@@ -105,9 +105,9 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void)
|
||||
BMI088_GyroWithoutOffset[1]=BMI088_Gyro[1]+BMI088_GyroZeroOffset[1];
|
||||
BMI088_GyroWithoutOffset[2]=BMI088_Gyro[2];
|
||||
//debug
|
||||
//AHRS_update(AttitudeAlgorithms_q,0.001f,BMI088_Gyro,BMI088_Accel,IST8310_MagneticField);
|
||||
AHRS_update(AttitudeAlgorithms_q,0.001f,BMI088_GyroWithoutOffset,BMI088_Accel,IST8310_MagneticField);
|
||||
|
||||
AHRS_update(AttitudeAlgorithms_q,0.001f,BMI088_GyroWithoutOffset,BMI088_Accel,fake_IST8310);
|
||||
//AHRS_update(AttitudeAlgorithms_q,0.001f,BMI088_GyroWithoutOffset,BMI088_Accel,fake_IST8310);
|
||||
get_angle(AttitudeAlgorithms_q,&AttitudeAlgorithms_RadYaw,&AttitudeAlgorithms_RadPitch,&AttitudeAlgorithms_RadRoll);
|
||||
|
||||
AttitudeAlgorithms_LastDegYaw=AttitudeAlgorithms_ThisDegYaw;
|
||||
|
||||
Binary file not shown.
@@ -17,112 +17,22 @@ Library Manager: ArmAr.exe V5.06 update 7 (build 960)
|
||||
Hex Converter: FromElf.exe V5.06 update 7 (build 960)
|
||||
CPU DLL: SARMCM3.DLL V5.43.0.0
|
||||
Dialog DLL: DCM.DLL V1.17.5.0
|
||||
Target DLL: CMSIS_AGDI.dll V1.33.24.0
|
||||
Target DLL: STLink\ST-LINKIII-KEIL_SWO.dll V3.3.1.0
|
||||
Dialog DLL: TCM.DLL V1.56.6.0
|
||||
|
||||
<h2>Project:</h2>
|
||||
C:\Users\LSMushui\Desktop\RM\test-rope\<5C><>̨\<5C><>̨\Project.uvprojx
|
||||
Project File Date: 11/02/2025
|
||||
C:\Users\LSMushui\Desktop\RM\workspace\Infantry-C-Board-from-PG\<5C><>̨\<5C><>̨\Project.uvprojx
|
||||
Project File Date: 03/24/2026
|
||||
|
||||
<h2>Output:</h2>
|
||||
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin'
|
||||
Rebuild target 'Target 1'
|
||||
assembling startup_stm32f40_41xxx.s...
|
||||
compiling system_stm32f4xx.c...
|
||||
compiling misc.c...
|
||||
compiling stm32f4xx_crc.c...
|
||||
compiling stm32f4xx_cec.c...
|
||||
compiling stm32f4xx_cryp_des.c...
|
||||
compiling stm32f4xx_fmpi2c.c...
|
||||
compiling stm32f4xx_cryp_tdes.c...
|
||||
compiling stm32f4xx_can.c...
|
||||
compiling stm32f4xx_cryp.c...
|
||||
compiling stm32f4xx_exti.c...
|
||||
compiling stm32f4xx_adc.c...
|
||||
compiling stm32f4xx_fsmc.c...
|
||||
compiling stm32f4xx_dbgmcu.c...
|
||||
compiling stm32f4xx_flash_ramfunc.c...
|
||||
compiling stm32f4xx_dfsdm.c...
|
||||
compiling stm32f4xx_dsi.c...
|
||||
compiling stm32f4xx_dac.c...
|
||||
compiling stm32f4xx_gpio.c...
|
||||
compiling stm32f4xx_dma.c...
|
||||
compiling stm32f4xx_dma2d.c...
|
||||
compiling stm32f4xx_flash.c...
|
||||
compiling stm32f4xx_dcmi.c...
|
||||
compiling stm32f4xx_cryp_aes.c...
|
||||
compiling stm32f4xx_hash.c...
|
||||
compiling stm32f4xx_hash_md5.c...
|
||||
compiling stm32f4xx_hash_sha1.c...
|
||||
compiling stm32f4xx_iwdg.c...
|
||||
compiling stm32f4xx_lptim.c...
|
||||
compiling stm32f4xx_i2c.c...
|
||||
compiling stm32f4xx_qspi.c...
|
||||
compiling stm32f4xx_rng.c...
|
||||
compiling stm32f4xx_pwr.c...
|
||||
compiling stm32f4xx_ltdc.c...
|
||||
compiling stm32f4xx_sai.c...
|
||||
compiling stm32f4xx_rcc.c...
|
||||
compiling stm32f4xx_sdio.c...
|
||||
compiling stm32f4xx_spdifrx.c...
|
||||
compiling stm32f4xx_rtc.c...
|
||||
compiling stm32f4xx_syscfg.c...
|
||||
compiling TIM.c...
|
||||
compiling stm32f4xx_spi.c...
|
||||
compiling Delay.c...
|
||||
compiling stm32f4xx_wwdg.c...
|
||||
compiling stm32f4xx_usart.c...
|
||||
compiling AHRS_middleware.c...
|
||||
compiling UART.c...
|
||||
compiling user_lib.c...
|
||||
compiling stm32f4xx_tim.c...
|
||||
compiling MyI2C.c...
|
||||
compiling WaveFiltering_Kalman_Filtering.c...
|
||||
Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst" was declared but never referenced
|
||||
float pDst,pDst1=1.0f;
|
||||
Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst1" was declared but never referenced
|
||||
float pDst,pDst1=1.0f;
|
||||
Control\WaveFiltering_Kalman_Filtering.c: 2 warnings, 0 errors
|
||||
compiling CAN.c...
|
||||
compiling LED.c...
|
||||
compiling Buzzer.c...
|
||||
compiling Remote.c...
|
||||
compiling IST8310.c...
|
||||
compiling Laser.c...
|
||||
compiling BMI088.c...
|
||||
compiling M3508.c...
|
||||
compiling GM6020.c...
|
||||
compiling M2006.c...
|
||||
compiling LinkCheck.c...
|
||||
compiling Warming.c...
|
||||
Build target 'Target 1'
|
||||
compiling CToC.c...
|
||||
compiling CloseLoopControl.c...
|
||||
compiling AttitudeAlgorithms.c...
|
||||
compiling IMUTemperatureControl.c...
|
||||
compiling PID.c...
|
||||
compiling RefereeSystem.c...
|
||||
compiling Keyboard.c...
|
||||
compiling Gimbal.c...
|
||||
CarBody\Gimbal.c(132): warning: #177-D: variable "lastyaw" was declared but never referenced
|
||||
float use_pitch=0,lastpitch=0,lastyaw=0;
|
||||
CarBody\Gimbal.c: 1 warning, 0 errors
|
||||
compiling Visual.c...
|
||||
CarBody\Visual.c(119): warning: #550-D: variable "Visual_Type" was set but never used
|
||||
char Visual_Type = '\0'; // 存储类型（r/b/u<><75>?
|
||||
CarBody\Visual.c(122): warning: #550-D: variable "Visual_ReceiveFlag" was set but never used
|
||||
uint8_t Visual_ReceiveFlag = 0; // 接收完成标志
|
||||
CarBody\Visual.c(128): warning: #550-D: variable "RxTimeoutTick" was set but never used
|
||||
static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒<E6AFAB><E7A792>?
|
||||
CarBody\Visual.c(292): warning: #1-D: last line of file ends without a newline
|
||||
*/
|
||||
CarBody\Visual.c(20): warning: #177-D: variable "dataType" was declared but never referenced
|
||||
static char dataType; // 存储类型字段<E5AD97><E6AEB5>?'r'/'b'/'u'<27><>?
|
||||
CarBody\Visual.c: 5 warnings, 0 errors
|
||||
compiling main.c...
|
||||
compiling stm32f4xx_it.c...
|
||||
linking...
|
||||
Program Size: Code=32376 RO-data=1372 RW-data=604 ZI-data=3372
|
||||
".\Objects\Project.axf" - 0 Error(s), 8 Warning(s).
|
||||
Program Size: Code=32184 RO-data=1372 RW-data=616 ZI-data=3408
|
||||
".\Objects\Project.axf" - 0 Error(s), 0 Warning(s).
|
||||
|
||||
<h2>Software Packages used:</h2>
|
||||
|
||||
@@ -134,7 +44,7 @@ Package Vendor: Keil
|
||||
<h2>Collection of Component include folders:</h2>
|
||||
|
||||
<h2>Collection of Component Files used:</h2>
|
||||
Build Time Elapsed: 00:00:05
|
||||
Build Time Elapsed: 00:00:02
|
||||
</pre>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
<title>Static Call Graph - [.\Objects\Project.axf]</title></head>
|
||||
<body><HR>
|
||||
<H1>Static Call Graph for image .\Objects\Project.axf</H1><HR>
|
||||
<BR><P>#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Tue Mar 10 14:28:10 2026
|
||||
<BR><P>#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Sat Mar 28 17:36:53 2026
|
||||
<BR><P>
|
||||
<H3>Maximum Stack Usage = 280 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
|
||||
Call chain for Maximum Stack Depth:</H3>
|
||||
@@ -121,7 +121,7 @@ Global Symbols
|
||||
<P><STRONG><a name="[5e]"></a>__main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
|
||||
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(.text)
|
||||
</UL>
|
||||
<P><STRONG><a name="[15f]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
|
||||
<P><STRONG><a name="[15e]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
|
||||
|
||||
<P><STRONG><a name="[60]"></a>_main_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
|
||||
<BR><BR>[Calls]<UL><LI><a href="#[61]">>></a> __scatterload
|
||||
@@ -131,17 +131,17 @@ Global Symbols
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[61]">>></a> __scatterload
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[160]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
|
||||
<P><STRONG><a name="[15f]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
|
||||
|
||||
<P><STRONG><a name="[161]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
|
||||
<P><STRONG><a name="[160]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
|
||||
|
||||
<P><STRONG><a name="[162]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
|
||||
<P><STRONG><a name="[161]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
|
||||
|
||||
<P><STRONG><a name="[163]"></a>__rt_lib_shutdown_fini</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry12b.o(.ARM.Collect$$$$0000000E))
|
||||
<P><STRONG><a name="[162]"></a>__rt_lib_shutdown_fini</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry12b.o(.ARM.Collect$$$$0000000E))
|
||||
|
||||
<P><STRONG><a name="[164]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000F))
|
||||
<P><STRONG><a name="[163]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000F))
|
||||
|
||||
<P><STRONG><a name="[165]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$00000011))
|
||||
<P><STRONG><a name="[164]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$00000011))
|
||||
|
||||
<P><STRONG><a name="[0]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
|
||||
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
|
||||
@@ -368,9 +368,9 @@ Global Symbols
|
||||
<LI><a href="#[64]">>></a> __aeabi_memclr
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[166]"></a>__aeabi_memset4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[165]"></a>__aeabi_memset4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[167]"></a>__aeabi_memset8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[166]"></a>__aeabi_memset8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[64]"></a>__aeabi_memclr</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, memseta.o(.text))
|
||||
<BR><BR>[Calls]<UL><LI><a href="#[65]">>></a> __aeabi_memset
|
||||
@@ -382,18 +382,12 @@ Global Symbols
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[8a]">>></a> AHRS_update
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[168]"></a>__aeabi_memclr8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[167]"></a>__aeabi_memclr8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[66]"></a>_memset$wrapper</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, memseta.o(.text), UNUSED)
|
||||
<BR><BR>[Calls]<UL><LI><a href="#[65]">>></a> __aeabi_memset
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14a]"></a>strcmp</STRONG> (Thumb, 28 bytes, Stack size 8 bytes, strcmp.o(.text))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = strcmp
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[13e]">>></a> Visual_Trans
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[149]"></a>strtok</STRONG> (Thumb, 62 bytes, Stack size 16 bytes, strtok.o(.text))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = strtok
|
||||
</UL>
|
||||
@@ -432,10 +426,10 @@ Global Symbols
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[147]">>></a> Visual_SendData
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[169]"></a>__aeabi_uidiv</STRONG> (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[168]"></a>__aeabi_uidiv</STRONG> (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[15a]"></a>__aeabi_uidivmod</STRONG> (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14d]">>></a> _printf_core
|
||||
<P><STRONG><a name="[159]"></a>__aeabi_uidivmod</STRONG> (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14c]">>></a> _printf_core
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[63]"></a>__aeabi_uldivmod</STRONG> (Thumb, 98 bytes, Stack size 40 bytes, uldiv.o(.text))
|
||||
@@ -444,8 +438,8 @@ Global Symbols
|
||||
<BR>[Calls]<UL><LI><a href="#[6e]">>></a> __aeabi_llsr
|
||||
<LI><a href="#[6d]">>></a> __aeabi_llsl
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[14d]">>></a> _printf_core
|
||||
<LI><a href="#[156]">>></a> _fp_digits
|
||||
<BR>[Called By]<UL><LI><a href="#[14c]">>></a> _printf_core
|
||||
<LI><a href="#[155]">>></a> _fp_digits
|
||||
<LI><a href="#[62]">>></a> __aeabi_ldivmod
|
||||
</UL>
|
||||
|
||||
@@ -457,7 +451,7 @@ Global Symbols
|
||||
<LI><a href="#[79]">>></a> __aeabi_d2ulz
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[16a]"></a>_ll_shift_l</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[169]"></a>_ll_shift_l</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[69]"></a>strtol</STRONG> (Thumb, 112 bytes, Stack size 32 bytes, strtol.o(.text))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = strtol ⇒ _strtoul
|
||||
@@ -469,9 +463,9 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[67]">>></a> atoi
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[16b]"></a>__I$use$fp</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[16a]"></a>__I$use$fp</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[16c]"></a>_float_round</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[16b]"></a>_float_round</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[6b]"></a>_float_epilogue</STRONG> (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = _float_epilogue
|
||||
@@ -487,7 +481,7 @@ Global Symbols
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[76]">>></a> __aeabi_drsub
|
||||
<LI><a href="#[75]">>></a> __aeabi_dsub
|
||||
<LI><a href="#[156]">>></a> _fp_digits
|
||||
<LI><a href="#[155]">>></a> _fp_digits
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[75]"></a>__aeabi_dsub</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED)
|
||||
@@ -501,24 +495,24 @@ Global Symbols
|
||||
<P><STRONG><a name="[77]"></a>__aeabi_dmul</STRONG> (Thumb, 228 bytes, Stack size 48 bytes, dmul.o(.text), UNUSED)
|
||||
<BR><BR>[Calls]<UL><LI><a href="#[73]">>></a> _double_epilogue
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[156]">>></a> _fp_digits
|
||||
<BR>[Called By]<UL><LI><a href="#[155]">>></a> _fp_digits
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[78]"></a>__aeabi_ddiv</STRONG> (Thumb, 222 bytes, Stack size 32 bytes, ddiv.o(.text), UNUSED)
|
||||
<BR><BR>[Calls]<UL><LI><a href="#[74]">>></a> _double_round
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[156]">>></a> _fp_digits
|
||||
<BR>[Called By]<UL><LI><a href="#[155]">>></a> _fp_digits
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[79]"></a>__aeabi_d2ulz</STRONG> (Thumb, 48 bytes, Stack size 0 bytes, dfixul.o(.text), UNUSED)
|
||||
<BR><BR>[Calls]<UL><LI><a href="#[6e]">>></a> __aeabi_llsr
|
||||
<LI><a href="#[6d]">>></a> __aeabi_llsl
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[156]">>></a> _fp_digits
|
||||
<BR>[Called By]<UL><LI><a href="#[155]">>></a> _fp_digits
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[157]"></a>__aeabi_cdrcmple</STRONG> (Thumb, 48 bytes, Stack size 0 bytes, cdrcmple.o(.text), UNUSED)
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[156]">>></a> _fp_digits
|
||||
<P><STRONG><a name="[156]"></a>__aeabi_cdrcmple</STRONG> (Thumb, 48 bytes, Stack size 0 bytes, cdrcmple.o(.text), UNUSED)
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[155]">>></a> _fp_digits
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[61]"></a>__scatterload</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
|
||||
@@ -527,7 +521,7 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[60]">>></a> _main_scatterload
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[16d]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[16c]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[6e]"></a>__aeabi_llsr</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[73]">>></a> _double_epilogue
|
||||
@@ -535,13 +529,13 @@ Global Symbols
|
||||
<LI><a href="#[79]">>></a> __aeabi_d2ulz
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[16e]"></a>_ll_ushift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[16d]"></a>_ll_ushift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[72]"></a>__aeabi_lasr</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[71]">>></a> __aeabi_dadd
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[16f]"></a>_ll_sshift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[16e]"></a>_ll_sshift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[6f]"></a>__rt_ctype_table</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, ctype_o.o(.text))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[69]">>></a> strtol
|
||||
@@ -575,9 +569,9 @@ Global Symbols
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[70]">>></a> _strtoul
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[170]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[16f]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[171]"></a>__decompress1</STRONG> (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
|
||||
<P><STRONG><a name="[170]"></a>__decompress1</STRONG> (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[7c]"></a>AHRS_asinf</STRONG> (Thumb, 24 bytes, Stack size 16 bytes, ahrs_middleware.o(i.AHRS_asinf))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = AHRS_asinf ⇒ __hardfp_asinf ⇒ sqrtf
|
||||
@@ -636,7 +630,7 @@ Global Symbols
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[82]">>></a> AHRS_init
|
||||
<LI><a href="#[8e]">>></a> quat_normalization
|
||||
<LI><a href="#[15b]">>></a> accel_update_kp_ki
|
||||
<LI><a href="#[15a]">>></a> accel_update_kp_ki
|
||||
<LI><a href="#[8b]">>></a> accel_comple_filter
|
||||
</UL>
|
||||
|
||||
@@ -808,7 +802,7 @@ Global Symbols
|
||||
<LI><a href="#[91]">>></a> TIM_InternalClockConfig
|
||||
<LI><a href="#[99]">>></a> TIM_Cmd
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[14b]">>></a> Warming_Init
|
||||
<BR>[Called By]<UL><LI><a href="#[14a]">>></a> Warming_Init
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[ba]"></a>Buzzer_ON</STRONG> (Thumb, 50 bytes, Stack size 8 bytes, buzzer.o(i.Buzzer_ON))
|
||||
@@ -1302,8 +1296,8 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[40]">>></a> TIM6_DAC_IRQHandler
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[f2]"></a>Gimbal_PitchControl</STRONG> (Thumb, 444 bytes, Stack size 24 bytes, gimbal.o(i.Gimbal_PitchControl))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = Gimbal_PitchControl
|
||||
<P><STRONG><a name="[f2]"></a>Gimbal_PitchControl</STRONG> (Thumb, 406 bytes, Stack size 16 bytes, gimbal.o(i.Gimbal_PitchControl))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = Gimbal_PitchControl
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[ea]">>></a> PID_PositionCalc
|
||||
</UL>
|
||||
@@ -1319,7 +1313,7 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[f1]">>></a> Gimbal_MoveControl
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[f3]"></a>Gimbal_YawControl</STRONG> (Thumb, 518 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_YawControl))
|
||||
<P><STRONG><a name="[f3]"></a>Gimbal_YawControl</STRONG> (Thumb, 508 bytes, Stack size 8 bytes, gimbal.o(i.Gimbal_YawControl))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = Gimbal_YawControl ⇒ GM6020_CAN2SetLIDVoltage ⇒ CAN_TransmitStatus
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[ea]">>></a> PID_PositionCalc
|
||||
@@ -1407,7 +1401,7 @@ Global Symbols
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[122]">>></a> Remote_Init
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[15e]"></a>IWDG_ReloadCounter</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_ReloadCounter))
|
||||
<P><STRONG><a name="[15d]"></a>IWDG_ReloadCounter</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_iwdg.o(i.IWDG_ReloadCounter))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[5c]">>></a> main
|
||||
</UL>
|
||||
|
||||
@@ -1478,7 +1472,7 @@ Global Symbols
|
||||
<LI><a href="#[a0]">>></a> GPIO_Init
|
||||
<LI><a href="#[9f]">>></a> RCC_AHB1PeriphClockCmd
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[14b]">>></a> Warming_Init
|
||||
<BR>[Called By]<UL><LI><a href="#[14a]">>></a> Warming_Init
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[10c]"></a>LED_ROFF</STRONG> (Thumb, 14 bytes, Stack size 8 bytes, led.o(i.LED_ROFF))
|
||||
@@ -2239,7 +2233,7 @@ Global Symbols
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[2f]"></a>USART1_IRQHandler</STRONG> (Thumb, 46 bytes, Stack size 8 bytes, visual.o(i.USART1_IRQHandler))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 128<LI>Call Chain = USART1_IRQHandler ⇒ Visual_Trans ⇒ atoi ⇒ strtol ⇒ _strtoul
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = USART1_IRQHandler ⇒ Visual_Trans ⇒ atoi ⇒ strtol ⇒ _strtoul
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[13d]">>></a> USART_GetITStatus
|
||||
<LI><a href="#[13f]">>></a> USART_ClearITPendingBit
|
||||
@@ -2342,8 +2336,8 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[5c]">>></a> main
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[147]"></a>Visual_SendData</STRONG> (Thumb, 116 bytes, Stack size 24 bytes, visual.o(i.Visual_SendData))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 176<LI>Call Chain = Visual_SendData ⇒ UART2_Printf ⇒ UART2_SendString ⇒ UART2_SendByte
|
||||
<P><STRONG><a name="[147]"></a>Visual_SendData</STRONG> (Thumb, 72 bytes, Stack size 56 bytes, visual.o(i.Visual_SendData))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 208<LI>Call Chain = Visual_SendData ⇒ UART2_Printf ⇒ UART2_SendString ⇒ UART2_SendByte
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[137]">>></a> UART2_Printf
|
||||
<LI><a href="#[148]">>></a> __aeabi_f2d
|
||||
@@ -2351,12 +2345,11 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[5c]">>></a> main
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[13e]"></a>Visual_Trans</STRONG> (Thumb, 356 bytes, Stack size 32 bytes, visual.o(i.Visual_Trans))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = Visual_Trans ⇒ atoi ⇒ strtol ⇒ _strtoul
|
||||
<P><STRONG><a name="[13e]"></a>Visual_Trans</STRONG> (Thumb, 330 bytes, Stack size 24 bytes, visual.o(i.Visual_Trans))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = Visual_Trans ⇒ atoi ⇒ strtol ⇒ _strtoul
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[67]">>></a> atoi
|
||||
<LI><a href="#[149]">>></a> strtok
|
||||
<LI><a href="#[14a]">>></a> strcmp
|
||||
<LI><a href="#[64]">>></a> __aeabi_memclr
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[5c]">>></a> main
|
||||
@@ -2398,7 +2391,7 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[97]">>></a> IST8310_Init
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14b]"></a>Warming_Init</STRONG> (Thumb, 12 bytes, Stack size 8 bytes, warming.o(i.Warming_Init))
|
||||
<P><STRONG><a name="[14a]"></a>Warming_Init</STRONG> (Thumb, 12 bytes, Stack size 8 bytes, warming.o(i.Warming_Init))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 76<LI>Call Chain = Warming_Init ⇒ Buzzer_Init ⇒ GPIO_PinAFConfig
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[b6]">>></a> Buzzer_Init
|
||||
@@ -2453,20 +2446,20 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[41]">>></a> TIM7_IRQHandler
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[15d]"></a>ZeroOffset_Calibration</STRONG> (Thumb, 110 bytes, Stack size 0 bytes, attitudealgorithms.o(i.ZeroOffset_Calibration))
|
||||
<P><STRONG><a name="[15c]"></a>ZeroOffset_Calibration</STRONG> (Thumb, 110 bytes, Stack size 0 bytes, attitudealgorithms.o(i.ZeroOffset_Calibration))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[5c]">>></a> main
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14c]"></a>__0vsprintf</STRONG> (Thumb, 30 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)
|
||||
<P><STRONG><a name="[14b]"></a>__0vsprintf</STRONG> (Thumb, 30 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)
|
||||
<BR><BR>[Calls]<UL><LI><a href="#[5f]">>></a> _sputc
|
||||
<LI><a href="#[14d]">>></a> _printf_core
|
||||
<LI><a href="#[14c]">>></a> _printf_core
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[172]"></a>__1vsprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)
|
||||
<P><STRONG><a name="[171]"></a>__1vsprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[173]"></a>__2vsprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)
|
||||
<P><STRONG><a name="[172]"></a>__2vsprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[174]"></a>__c89vsprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)
|
||||
<P><STRONG><a name="[173]"></a>__c89vsprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[138]"></a>vsprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = vsprintf
|
||||
@@ -2474,7 +2467,7 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[137]">>></a> UART2_Printf
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14f]"></a>__ARM_fpclassifyf</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, fpclassifyf.o(i.__ARM_fpclassifyf))
|
||||
<P><STRONG><a name="[14e]"></a>__ARM_fpclassifyf</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, fpclassifyf.o(i.__ARM_fpclassifyf))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[89]">>></a> __hardfp_sinf
|
||||
<LI><a href="#[7f]">>></a> __hardfp_atan2f
|
||||
<LI><a href="#[7d]">>></a> __hardfp_asinf
|
||||
@@ -2486,17 +2479,17 @@ Global Symbols
|
||||
<LI><a href="#[67]">>></a> atoi
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[175]"></a>__rt_errno_addr</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, errno.o(i.__aeabi_errno_addr), UNUSED)
|
||||
<P><STRONG><a name="[174]"></a>__rt_errno_addr</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, errno.o(i.__aeabi_errno_addr), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[7d]"></a>__hardfp_asinf</STRONG> (Thumb, 258 bytes, Stack size 16 bytes, asinf.o(i.__hardfp_asinf))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = __hardfp_asinf ⇒ sqrtf
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[152]">>></a> __set_errno
|
||||
<LI><a href="#[150]">>></a> __mathlib_flt_underflow
|
||||
<LI><a href="#[153]">>></a> __mathlib_flt_invalid
|
||||
<LI><a href="#[151]">>></a> __mathlib_flt_infnan
|
||||
<LI><a href="#[14f]">>></a> __ARM_fpclassifyf
|
||||
<LI><a href="#[14e]">>></a> sqrtf
|
||||
<BR>[Calls]<UL><LI><a href="#[151]">>></a> __set_errno
|
||||
<LI><a href="#[14f]">>></a> __mathlib_flt_underflow
|
||||
<LI><a href="#[152]">>></a> __mathlib_flt_invalid
|
||||
<LI><a href="#[150]">>></a> __mathlib_flt_infnan
|
||||
<LI><a href="#[14e]">>></a> __ARM_fpclassifyf
|
||||
<LI><a href="#[14d]">>></a> sqrtf
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[7c]">>></a> AHRS_asinf
|
||||
</UL>
|
||||
@@ -2504,10 +2497,10 @@ Global Symbols
|
||||
<P><STRONG><a name="[7f]"></a>__hardfp_atan2f</STRONG> (Thumb, 594 bytes, Stack size 32 bytes, atan2f.o(i.__hardfp_atan2f))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = __hardfp_atan2f
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[152]">>></a> __set_errno
|
||||
<LI><a href="#[150]">>></a> __mathlib_flt_underflow
|
||||
<LI><a href="#[154]">>></a> __mathlib_flt_infnan2
|
||||
<LI><a href="#[14f]">>></a> __ARM_fpclassifyf
|
||||
<BR>[Calls]<UL><LI><a href="#[151]">>></a> __set_errno
|
||||
<LI><a href="#[14f]">>></a> __mathlib_flt_underflow
|
||||
<LI><a href="#[153]">>></a> __mathlib_flt_infnan2
|
||||
<LI><a href="#[14e]">>></a> __ARM_fpclassifyf
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[7e]">>></a> AHRS_atan2f
|
||||
</UL>
|
||||
@@ -2515,10 +2508,10 @@ Global Symbols
|
||||
<P><STRONG><a name="[81]"></a>__hardfp_cosf</STRONG> (Thumb, 280 bytes, Stack size 8 bytes, cosf.o(i.__hardfp_cosf))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 28<LI>Call Chain = __hardfp_cosf ⇒ __mathlib_rredf2
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[152]">>></a> __set_errno
|
||||
<LI><a href="#[155]">>></a> __mathlib_rredf2
|
||||
<LI><a href="#[153]">>></a> __mathlib_flt_invalid
|
||||
<LI><a href="#[151]">>></a> __mathlib_flt_infnan
|
||||
<BR>[Calls]<UL><LI><a href="#[151]">>></a> __set_errno
|
||||
<LI><a href="#[154]">>></a> __mathlib_rredf2
|
||||
<LI><a href="#[152]">>></a> __mathlib_flt_invalid
|
||||
<LI><a href="#[150]">>></a> __mathlib_flt_infnan
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[80]">>></a> AHRS_cosf
|
||||
</UL>
|
||||
@@ -2526,12 +2519,12 @@ Global Symbols
|
||||
<P><STRONG><a name="[89]"></a>__hardfp_sinf</STRONG> (Thumb, 344 bytes, Stack size 16 bytes, sinf.o(i.__hardfp_sinf))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 36<LI>Call Chain = __hardfp_sinf ⇒ __mathlib_rredf2
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[152]">>></a> __set_errno
|
||||
<LI><a href="#[155]">>></a> __mathlib_rredf2
|
||||
<LI><a href="#[150]">>></a> __mathlib_flt_underflow
|
||||
<LI><a href="#[153]">>></a> __mathlib_flt_invalid
|
||||
<LI><a href="#[151]">>></a> __mathlib_flt_infnan
|
||||
<LI><a href="#[14f]">>></a> __ARM_fpclassifyf
|
||||
<BR>[Calls]<UL><LI><a href="#[151]">>></a> __set_errno
|
||||
<LI><a href="#[154]">>></a> __mathlib_rredf2
|
||||
<LI><a href="#[14f]">>></a> __mathlib_flt_underflow
|
||||
<LI><a href="#[152]">>></a> __mathlib_flt_invalid
|
||||
<LI><a href="#[150]">>></a> __mathlib_flt_infnan
|
||||
<LI><a href="#[14e]">>></a> __ARM_fpclassifyf
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[85]">>></a> AHRS_sinf
|
||||
</UL>
|
||||
@@ -2539,48 +2532,48 @@ Global Symbols
|
||||
<P><STRONG><a name="[88]"></a>__hardfp_sqrtf</STRONG> (Thumb, 58 bytes, Stack size 16 bytes, sqrtf.o(i.__hardfp_sqrtf))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = __hardfp_sqrtf
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[152]">>></a> __set_errno
|
||||
<BR>[Calls]<UL><LI><a href="#[151]">>></a> __set_errno
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[86]">>></a> AHRS_invSqrt
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[151]"></a>__mathlib_flt_infnan</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan))
|
||||
<P><STRONG><a name="[150]"></a>__mathlib_flt_infnan</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[89]">>></a> __hardfp_sinf
|
||||
<LI><a href="#[81]">>></a> __hardfp_cosf
|
||||
<LI><a href="#[7d]">>></a> __hardfp_asinf
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[154]"></a>__mathlib_flt_infnan2</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan2))
|
||||
<P><STRONG><a name="[153]"></a>__mathlib_flt_infnan2</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan2))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[7f]">>></a> __hardfp_atan2f
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[153]"></a>__mathlib_flt_invalid</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_invalid))
|
||||
<P><STRONG><a name="[152]"></a>__mathlib_flt_invalid</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_invalid))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[89]">>></a> __hardfp_sinf
|
||||
<LI><a href="#[81]">>></a> __hardfp_cosf
|
||||
<LI><a href="#[7d]">>></a> __hardfp_asinf
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[150]"></a>__mathlib_flt_underflow</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_underflow))
|
||||
<P><STRONG><a name="[14f]"></a>__mathlib_flt_underflow</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_underflow))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[89]">>></a> __hardfp_sinf
|
||||
<LI><a href="#[7f]">>></a> __hardfp_atan2f
|
||||
<LI><a href="#[7d]">>></a> __hardfp_asinf
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[155]"></a>__mathlib_rredf2</STRONG> (Thumb, 316 bytes, Stack size 20 bytes, rredf.o(i.__mathlib_rredf2))
|
||||
<P><STRONG><a name="[154]"></a>__mathlib_rredf2</STRONG> (Thumb, 316 bytes, Stack size 20 bytes, rredf.o(i.__mathlib_rredf2))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = __mathlib_rredf2
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[89]">>></a> __hardfp_sinf
|
||||
<LI><a href="#[81]">>></a> __hardfp_cosf
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[176]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
|
||||
<P><STRONG><a name="[175]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[177]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
|
||||
<P><STRONG><a name="[176]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[178]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
|
||||
<P><STRONG><a name="[177]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
|
||||
|
||||
<P><STRONG><a name="[152]"></a>__set_errno</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14e]">>></a> sqrtf
|
||||
<P><STRONG><a name="[151]"></a>__set_errno</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14d]">>></a> sqrtf
|
||||
<LI><a href="#[88]">>></a> __hardfp_sqrtf
|
||||
<LI><a href="#[89]">>></a> __hardfp_sinf
|
||||
<LI><a href="#[81]">>></a> __hardfp_cosf
|
||||
@@ -2597,26 +2590,26 @@ Global Symbols
|
||||
<BR>[Called By]<UL><LI><a href="#[24]">>></a> TIM1_TRG_COM_TIM11_IRQHandler
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[132]"></a>kalmanFilter</STRONG> (Thumb, 106 bytes, Stack size 0 bytes, wavefiltering_kalman_filtering.o(i.kalmanFilter))
|
||||
<P><STRONG><a name="[132]"></a>kalmanFilter</STRONG> (Thumb, 98 bytes, Stack size 0 bytes, wavefiltering_kalman_filtering.o(i.kalmanFilter))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[24]">>></a> TIM1_TRG_COM_TIM11_IRQHandler
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[5c]"></a>main</STRONG> (Thumb, 142 bytes, Stack size 0 bytes, main.o(i.main))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 204<LI>Call Chain = main ⇒ AttitudeAlgorithms_Init ⇒ AHRS_init ⇒ angle_to_quat ⇒ AHRS_sinf ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
|
||||
<P><STRONG><a name="[5c]"></a>main</STRONG> (Thumb, 92 bytes, Stack size 0 bytes, main.o(i.main))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 208<LI>Call Chain = main ⇒ Visual_SendData ⇒ UART2_Printf ⇒ UART2_SendString ⇒ UART2_SendByte
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[15e]">>></a> IWDG_ReloadCounter
|
||||
<BR>[Calls]<UL><LI><a href="#[15d]">>></a> IWDG_ReloadCounter
|
||||
<LI><a href="#[122]">>></a> Remote_Init
|
||||
<LI><a href="#[107]">>></a> LED_BON
|
||||
<LI><a href="#[137]">>></a> UART2_Printf
|
||||
<LI><a href="#[df]">>></a> Delay_us
|
||||
<LI><a href="#[e0]">>></a> Delay_s
|
||||
<LI><a href="#[11b]">>></a> RefereeSystem_Init
|
||||
<LI><a href="#[15d]">>></a> ZeroOffset_Calibration
|
||||
<LI><a href="#[15c]">>></a> ZeroOffset_Calibration
|
||||
<LI><a href="#[8f]">>></a> AttitudeAlgorithms_Init
|
||||
<LI><a href="#[d7]">>></a> CloseLoopControl_Init
|
||||
<LI><a href="#[d6]">>></a> CToC_MasterSendData
|
||||
<LI><a href="#[d3]">>></a> CToC_MasterSendControl
|
||||
<LI><a href="#[14b]">>></a> Warming_Init
|
||||
<LI><a href="#[14a]">>></a> Warming_Init
|
||||
<LI><a href="#[10e]">>></a> LinkCheck_Init
|
||||
<LI><a href="#[13e]">>></a> Visual_Trans
|
||||
<LI><a href="#[147]">>></a> Visual_SendData
|
||||
@@ -2624,10 +2617,10 @@ Global Symbols
|
||||
</UL>
|
||||
<BR>[Address Reference Count : 1]<UL><LI> entry9a.o(.ARM.Collect$$$$0000000B)
|
||||
</UL>
|
||||
<P><STRONG><a name="[14e]"></a>sqrtf</STRONG> (Thumb, 62 bytes, Stack size 16 bytes, sqrtf.o(i.sqrtf))
|
||||
<P><STRONG><a name="[14d]"></a>sqrtf</STRONG> (Thumb, 62 bytes, Stack size 16 bytes, sqrtf.o(i.sqrtf))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = sqrtf
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[152]">>></a> __set_errno
|
||||
<BR>[Calls]<UL><LI><a href="#[151]">>></a> __set_errno
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[7d]">>></a> __hardfp_asinf
|
||||
</UL>
|
||||
@@ -2645,24 +2638,24 @@ Local Symbols
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[bd]">>></a> CAN_GetITStatus
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[15c]"></a>AHRS_fabs</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, ahrs.o(i.AHRS_fabs))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[15b]">>></a> accel_update_kp_ki
|
||||
<P><STRONG><a name="[15b]"></a>AHRS_fabs</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, ahrs.o(i.AHRS_fabs))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[15a]">>></a> accel_update_kp_ki
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[8b]"></a>accel_comple_filter</STRONG> (Thumb, 454 bytes, Stack size 64 bytes, ahrs.o(i.accel_comple_filter))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 136<LI>Call Chain = accel_comple_filter ⇒ accel_update_kp_ki ⇒ AHRS_invSqrt ⇒ __hardfp_sqrtf
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[86]">>></a> AHRS_invSqrt
|
||||
<LI><a href="#[15b]">>></a> accel_update_kp_ki
|
||||
<LI><a href="#[15a]">>></a> accel_update_kp_ki
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[8a]">>></a> AHRS_update
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[15b]"></a>accel_update_kp_ki</STRONG> (Thumb, 370 bytes, Stack size 40 bytes, ahrs.o(i.accel_update_kp_ki))
|
||||
<P><STRONG><a name="[15a]"></a>accel_update_kp_ki</STRONG> (Thumb, 370 bytes, Stack size 40 bytes, ahrs.o(i.accel_update_kp_ki))
|
||||
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = accel_update_kp_ki ⇒ AHRS_invSqrt ⇒ __hardfp_sqrtf
|
||||
</UL>
|
||||
<BR>[Calls]<UL><LI><a href="#[86]">>></a> AHRS_invSqrt
|
||||
<LI><a href="#[15c]">>></a> AHRS_fabs
|
||||
<LI><a href="#[15b]">>></a> AHRS_fabs
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[8b]">>></a> accel_comple_filter
|
||||
</UL>
|
||||
@@ -2688,37 +2681,37 @@ Local Symbols
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[8a]">>></a> AHRS_update
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[156]"></a>_fp_digits</STRONG> (Thumb, 366 bytes, Stack size 64 bytes, printfa.o(i._fp_digits), UNUSED)
|
||||
<P><STRONG><a name="[155]"></a>_fp_digits</STRONG> (Thumb, 366 bytes, Stack size 64 bytes, printfa.o(i._fp_digits), UNUSED)
|
||||
<BR><BR>[Calls]<UL><LI><a href="#[63]">>></a> __aeabi_uldivmod
|
||||
<LI><a href="#[77]">>></a> __aeabi_dmul
|
||||
<LI><a href="#[78]">>></a> __aeabi_ddiv
|
||||
<LI><a href="#[71]">>></a> __aeabi_dadd
|
||||
<LI><a href="#[79]">>></a> __aeabi_d2ulz
|
||||
<LI><a href="#[157]">>></a> __aeabi_cdrcmple
|
||||
<LI><a href="#[156]">>></a> __aeabi_cdrcmple
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[14d]">>></a> _printf_core
|
||||
<BR>[Called By]<UL><LI><a href="#[14c]">>></a> _printf_core
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[14d]"></a>_printf_core</STRONG> (Thumb, 1704 bytes, Stack size 136 bytes, printfa.o(i._printf_core), UNUSED)
|
||||
<P><STRONG><a name="[14c]"></a>_printf_core</STRONG> (Thumb, 1704 bytes, Stack size 136 bytes, printfa.o(i._printf_core), UNUSED)
|
||||
<BR><BR>[Calls]<UL><LI><a href="#[63]">>></a> __aeabi_uldivmod
|
||||
<LI><a href="#[15a]">>></a> __aeabi_uidivmod
|
||||
<LI><a href="#[158]">>></a> _printf_pre_padding
|
||||
<LI><a href="#[159]">>></a> _printf_post_padding
|
||||
<LI><a href="#[156]">>></a> _fp_digits
|
||||
<LI><a href="#[159]">>></a> __aeabi_uidivmod
|
||||
<LI><a href="#[157]">>></a> _printf_pre_padding
|
||||
<LI><a href="#[158]">>></a> _printf_post_padding
|
||||
<LI><a href="#[155]">>></a> _fp_digits
|
||||
</UL>
|
||||
<BR>[Called By]<UL><LI><a href="#[14c]">>></a> __0vsprintf
|
||||
<BR>[Called By]<UL><LI><a href="#[14b]">>></a> __0vsprintf
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[159]"></a>_printf_post_padding</STRONG> (Thumb, 36 bytes, Stack size 24 bytes, printfa.o(i._printf_post_padding), UNUSED)
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14d]">>></a> _printf_core
|
||||
<P><STRONG><a name="[158]"></a>_printf_post_padding</STRONG> (Thumb, 36 bytes, Stack size 24 bytes, printfa.o(i._printf_post_padding), UNUSED)
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14c]">>></a> _printf_core
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[158]"></a>_printf_pre_padding</STRONG> (Thumb, 46 bytes, Stack size 24 bytes, printfa.o(i._printf_pre_padding), UNUSED)
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14d]">>></a> _printf_core
|
||||
<P><STRONG><a name="[157]"></a>_printf_pre_padding</STRONG> (Thumb, 46 bytes, Stack size 24 bytes, printfa.o(i._printf_pre_padding), UNUSED)
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14c]">>></a> _printf_core
|
||||
</UL>
|
||||
|
||||
<P><STRONG><a name="[5f]"></a>_sputc</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, printfa.o(i._sputc))
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14c]">>></a> __0vsprintf
|
||||
<BR><BR>[Called By]<UL><LI><a href="#[14b]">>></a> __0vsprintf
|
||||
</UL>
|
||||
<BR>[Address Reference Count : 1]<UL><LI> printfa.o(i.__0vsprintf)
|
||||
</UL><P>
|
||||
|
||||
@@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
|
||||
@@ -2316,9 +2316,9 @@ I (Function\IMUTemperatureControl.h)(0x65C36CAE)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
|
||||
@@ -2437,12 +2437,12 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
|
||||
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
|
||||
I (.\Start\core_cmInstr.h)(0x64D03162)
|
||||
I (.\Start\core_cmFunc.h)(0x64D03162)
|
||||
I (.\Start\core_cmSimd.h)(0x64D03162)
|
||||
I (.\Start\core_cmSimd.h)(0x64D03162)
|
||||
I (.\Start\system_stm32f4xx.h)(0x64D03132)
|
||||
I (.\User\stm32f4xx_conf.h)(0x64D03180)
|
||||
I (.\Library\stm32f4xx_adc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_crc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dma.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
|
||||
@@ -2477,7 +2477,7 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164)
|
||||
|
||||
-o .\objects\m2006.o --omf_browse .\objects\m2006.crf --depend .\objects\m2006.d)
|
||||
I (.\Start\stm32f4xx.h)(0x66256792)
|
||||
I (.\Start\core_cm4.h)(0x64D03162)
|
||||
I (.\Start\core_cm4.h)(0x64D03162)
|
||||
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
|
||||
I (.\Start\core_cmInstr.h)(0x64D03162)
|
||||
I (.\Start\core_cmFunc.h)(0x64D03162)
|
||||
@@ -2486,7 +2486,7 @@ I (.\Motor\M2006.h)(0x669D1190)
|
||||
I (.\User\stm32f4xx_conf.h)(0x64D03180)
|
||||
I (.\Library\stm32f4xx_adc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_crc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dma.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
|
||||
@@ -2531,7 +2531,7 @@ I (.\Function\Warming.h)(0x66A19ADE)
|
||||
I (.\Library\stm32f4xx_crc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dma.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
|
||||
@@ -2566,7 +2566,7 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164)
|
||||
|
||||
-o .\objects\warming.o --omf_browse .\objects\warming.crf --depend .\objects\warming.d)
|
||||
I (.\Start\stm32f4xx.h)(0x66256792)
|
||||
I (.\Start\core_cm4.h)(0x64D03162)
|
||||
I (.\Start\core_cm4.h)(0x64D03162)
|
||||
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
|
||||
I (.\Start\core_cmInstr.h)(0x64D03162)
|
||||
I (.\Start\core_cmFunc.h)(0x64D03162)
|
||||
@@ -2577,7 +2577,7 @@ I (.\Control\PID.h)(0x68BF8A63)
|
||||
I (.\Library\stm32f4xx_crc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dma.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
|
||||
@@ -2616,7 +2616,7 @@ I (.\Library\stm32f4xx_fsmc.h)(0x64D03164)
|
||||
|
||||
-o .\objects\ctoc.o --omf_browse .\objects\ctoc.crf --depend .\objects\ctoc.d)
|
||||
I (.\Start\stm32f4xx.h)(0x66256792)
|
||||
I (.\Start\core_cm4.h)(0x64D03162)
|
||||
I (.\Start\core_cm4.h)(0x64D03162)
|
||||
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
|
||||
I (.\Start\core_cmInstr.h)(0x64D03162)
|
||||
I (.\Start\core_cmFunc.h)(0x64D03162)
|
||||
@@ -2674,13 +2674,13 @@ I (.\Function\CToC.h)(0x669D31F6)
|
||||
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_dma.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_spi.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -4,16 +4,16 @@
|
||||
/*=============================================结构参数=============================================*/
|
||||
#define Yaw_GM6020PositionValue 4000//Yaw轴编码器值4050
|
||||
#define Pitch_GM6020PositionValue 3245//Pitch轴编码器值
|
||||
#define Pitch_GM6020PositionLowerLinit 3990//Pitch轴编码器值下限
|
||||
#define Pitch_GM6020PositionUpperLinit 2220//Pitch轴编码器值上限
|
||||
#define Pitch_GM6020PositionLowerLinit 3890//Pitch轴编码器值下限
|
||||
#define Pitch_GM6020PositionUpperLinit 2320//Pitch轴编码器值上限
|
||||
#define Pitch_GM6020AngleLowerLinit 20.0f//Pitch轴编码器值下限
|
||||
#define Pitch_GM6020AngleUpperLinit -10.0f//Pitch轴编码器值上限
|
||||
|
||||
/*=============================================云台参数=============================================*/
|
||||
#define Gimbal_FrictionWheelSpeed 5500//摩擦轮转速,弹速限制30m/s
|
||||
#define Gimbal_RammerSpeed -5400//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限
|
||||
#define Gimbal_FrictionWheelSpeed 5850//摩擦轮转速,弹速限制25m/s
|
||||
#define Gimbal_RammerSpeed -6700//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限
|
||||
|
||||
#define Gimbal_LeverSpeedMapRate 2.0f//云台俯仰拨杆速度映射比例
|
||||
#define Gimbal_LeverSpeedMapRate 4.0f//云台俯仰拨杆速度映射比例
|
||||
#define Gimbal_YawPitchSpeedRate 3.0f//云台偏航俯仰速度比
|
||||
|
||||
/*=============================================操作手参数=============================================*/
|
||||
@@ -24,8 +24,8 @@
|
||||
|
||||
#define PC_Spin (Remote_RxData.Remote_Mouse_RL)//视角水平移动
|
||||
#define PC_Pitch (Remote_RxData.Remote_Mouse_DU)//视角垂直移动
|
||||
#define PC_Mouse_RLSensitivity 3.0f//鼠标左右灵敏度
|
||||
#define PC_Mouse_DUSensitivity 8.0f//鼠标上下灵敏度
|
||||
#define PC_Mouse_RLSensitivity 1.0f//鼠标左右灵敏度
|
||||
#define PC_Mouse_DUSensitivity 2.7f//鼠标上下灵敏度
|
||||
|
||||
#define PC_FrictionWheel (Remote_RxData.Remote_KeyPush_Q)//摩擦轮
|
||||
#define PC_Fire (Remote_RxData.Remote_Mouse_KeyL)//发射
|
||||
|
||||
@@ -7,7 +7,7 @@
|
||||
#include "visual.h"
|
||||
#include "UART.h"
|
||||
|
||||
#define DELAY_TIME 5 //D1定时的计数值
|
||||
#define DELAY_TIME 1 //D1定时的计数值
|
||||
|
||||
|
||||
unsigned int Delay_Count; //D1的延时初始值
|
||||
@@ -44,7 +44,8 @@ int main(void)
|
||||
|
||||
Visual_SendData();
|
||||
|
||||
|
||||
Visual_Trans();//视觉数据传输
|
||||
/*
|
||||
if(Delay_Count) //每次大循环只执行一次
|
||||
{
|
||||
Delay_Count --; //只对计数值减一次1，就跳出if
|
||||
@@ -62,7 +63,7 @@ int main(void)
|
||||
}
|
||||
|
||||
|
||||
|
||||
*/
|
||||
|
||||
Delay_us(1500);//CToC周期1.5ms
|
||||
}
|
||||
|
||||
@@ -54,7 +54,7 @@ void Mecanum_Init(void)
|
||||
PID_PositionSetOUTRange(&Mecanum_SpeedPID[3],-15000,15000);
|
||||
|
||||
PID_PositionStructureInit(&Mecanum_TrackPID,Yaw_GM6020PositionValue);//底盘跟随
|
||||
PID_PositionSetParameter(&Mecanum_TrackPID,0.007,0,0.8);
|
||||
PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,0.8);
|
||||
PID_PositionSetEkRange(&Mecanum_TrackPID,-1,1);
|
||||
PID_PositionSetOUTRange(&Mecanum_TrackPID,-4,4);
|
||||
}
|
||||
|
||||
Binary file not shown.
@@ -17,83 +17,83 @@ Library Manager: ArmAr.exe V5.06 update 7 (build 960)
|
||||
Hex Converter: FromElf.exe V5.06 update 7 (build 960)
|
||||
CPU DLL: SARMCM3.DLL V5.43.0.0
|
||||
Dialog DLL: DCM.DLL V1.17.5.0
|
||||
Target DLL: CMSIS_AGDI.dll V1.33.24.0
|
||||
Target DLL: UL2CM3.DLL V1.164.16.0
|
||||
Dialog DLL: TCM.DLL V1.56.6.0
|
||||
|
||||
<h2>Project:</h2>
|
||||
C:\Users\LSMushui\Desktop\RM\New-Infantry-C-Board-Legacy\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
|
||||
Project File Date: 11/02/2025
|
||||
C:\Users\LSMushui\Desktop\RM\workspace\Infantry-C-Board-from-PG\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
|
||||
Project File Date: 03/28/2026
|
||||
|
||||
<h2>Output:</h2>
|
||||
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin'
|
||||
Rebuild target 'Target 1'
|
||||
assembling startup_stm32f40_41xxx.s...
|
||||
compiling system_stm32f4xx.c...
|
||||
compiling stm32f4xx_cec.c...
|
||||
compiling misc.c...
|
||||
compiling stm32f4xx_adc.c...
|
||||
compiling stm32f4xx_can.c...
|
||||
compiling stm32f4xx_flash.c...
|
||||
compiling stm32f4xx_dcmi.c...
|
||||
compiling stm32f4xx_dac.c...
|
||||
compiling stm32f4xx_fsmc.c...
|
||||
compiling stm32f4xx_crc.c...
|
||||
compiling system_stm32f4xx.c...
|
||||
compiling stm32f4xx_cryp_tdes.c...
|
||||
compiling stm32f4xx_cryp.c...
|
||||
compiling stm32f4xx_flash_ramfunc.c...
|
||||
compiling stm32f4xx_cec.c...
|
||||
compiling stm32f4xx_fmpi2c.c...
|
||||
compiling stm32f4xx_dsi.c...
|
||||
compiling stm32f4xx_dbgmcu.c...
|
||||
compiling stm32f4xx_exti.c...
|
||||
compiling stm32f4xx_dfsdm.c...
|
||||
compiling stm32f4xx_cryp_des.c...
|
||||
compiling stm32f4xx_dma2d.c...
|
||||
compiling stm32f4xx_gpio.c...
|
||||
compiling stm32f4xx_dma.c...
|
||||
compiling stm32f4xx_cryp_aes.c...
|
||||
compiling stm32f4xx_dac.c...
|
||||
compiling stm32f4xx_dfsdm.c...
|
||||
compiling stm32f4xx_crc.c...
|
||||
compiling stm32f4xx_dma2d.c...
|
||||
compiling stm32f4xx_dbgmcu.c...
|
||||
compiling stm32f4xx_fmpi2c.c...
|
||||
compiling stm32f4xx_dma.c...
|
||||
compiling stm32f4xx_cryp_des.c...
|
||||
compiling stm32f4xx_dsi.c...
|
||||
compiling stm32f4xx_cryp_tdes.c...
|
||||
compiling stm32f4xx_gpio.c...
|
||||
compiling stm32f4xx_exti.c...
|
||||
compiling stm32f4xx_dcmi.c...
|
||||
compiling stm32f4xx_fsmc.c...
|
||||
compiling stm32f4xx_cryp.c...
|
||||
compiling stm32f4xx_flash.c...
|
||||
compiling stm32f4xx_hash.c...
|
||||
compiling stm32f4xx_hash_sha1.c...
|
||||
compiling stm32f4xx_hash_md5.c...
|
||||
compiling stm32f4xx_i2c.c...
|
||||
compiling stm32f4xx_hash_sha1.c...
|
||||
compiling stm32f4xx_iwdg.c...
|
||||
compiling stm32f4xx_i2c.c...
|
||||
compiling stm32f4xx_lptim.c...
|
||||
compiling stm32f4xx_pwr.c...
|
||||
compiling stm32f4xx_qspi.c...
|
||||
compiling stm32f4xx_ltdc.c...
|
||||
compiling stm32f4xx_rcc.c...
|
||||
compiling stm32f4xx_rng.c...
|
||||
compiling stm32f4xx_spdifrx.c...
|
||||
compiling stm32f4xx_syscfg.c...
|
||||
compiling stm32f4xx_sdio.c...
|
||||
compiling stm32f4xx_sai.c...
|
||||
compiling stm32f4xx_wwdg.c...
|
||||
compiling stm32f4xx_spi.c...
|
||||
compiling stm32f4xx_syscfg.c...
|
||||
compiling TIM.c...
|
||||
compiling stm32f4xx_spi.c...
|
||||
compiling stm32f4xx_wwdg.c...
|
||||
compiling Delay.c...
|
||||
compiling stm32f4xx_rcc.c...
|
||||
compiling stm32f4xx_sdio.c...
|
||||
compiling stm32f4xx_usart.c...
|
||||
compiling UART.c...
|
||||
compiling stm32f4xx_rtc.c...
|
||||
compiling stm32f4xx_tim.c...
|
||||
compiling UART.c...
|
||||
compiling CAN.c...
|
||||
compiling LED.c...
|
||||
compiling Buzzer.c...
|
||||
compiling CAN.c...
|
||||
compiling Remote.c...
|
||||
compiling M3508.c...
|
||||
compiling GM6020.c...
|
||||
compiling Warming.c...
|
||||
compiling M3508.c...
|
||||
compiling LinkCheck.c...
|
||||
compiling CloseLoopControl.c...
|
||||
compiling Warming.c...
|
||||
compiling CToC.c...
|
||||
compiling PID.c...
|
||||
compiling RefereeSystem.c...
|
||||
compiling CloseLoopControl.c...
|
||||
compiling RefereeSystem_CRCTable.c...
|
||||
compiling Ultra_CAP.c...
|
||||
compiling Mecanum.c...
|
||||
compiling RefereeSystem.c...
|
||||
compiling UI.c...
|
||||
compiling stm32f4xx_it.c...
|
||||
compiling Ultra_CAP.c...
|
||||
compiling UI_Library.c...
|
||||
compiling UI_Base.c...
|
||||
compiling main.c...
|
||||
compiling UI_Library.c...
|
||||
linking...
|
||||
Program Size: Code=18636 RO-data=1224 RW-data=408 ZI-data=2496
|
||||
".\Objects\Project.axf" - 0 Error(s), 0 Warning(s).
|
||||
@@ -108,7 +108,7 @@ Package Vendor: Keil
|
||||
<h2>Collection of Component include folders:</h2>
|
||||
|
||||
<h2>Collection of Component Files used:</h2>
|
||||
Build Time Elapsed: 00:00:05
|
||||
Build Time Elapsed: 00:00:04
|
||||
</pre>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
<title>Static Call Graph - [.\Objects\Project.axf]</title></head>
|
||||
<body><HR>
|
||||
<H1>Static Call Graph for image .\Objects\Project.axf</H1><HR>
|
||||
<BR><P>#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Wed Jan 21 18:47:23 2026
|
||||
<BR><P>#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Thu Apr 09 17:08:04 2026
|
||||
<BR><P>
|
||||
<H3>Maximum Stack Usage = 232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
|
||||
Call chain for Maximum Stack Depth:</H3>
|
||||
|
||||
@@ -2132,7 +2132,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
|
||||
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
|
||||
I (.\Start\core_cmInstr.h)(0x64D03162)
|
||||
I (.\Start\core_cmFunc.h)(0x64D03162)
|
||||
I (.\Start\core_cmSimd.h)(0x64D03162)
|
||||
I (.\Start\core_cmSimd.h)(0x64D03162)
|
||||
I (.\Start\system_stm32f4xx.h)(0x64D03132)
|
||||
I (.\User\stm32f4xx_conf.h)(0x64D03180)
|
||||
I (.\Library\stm32f4xx_adc.h)(0x64D03164)
|
||||
@@ -2172,7 +2172,7 @@ I (.\Motor\M3508.h)(0x669D0F64)
|
||||
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
|
||||
|
||||
-o .\objects\m3508.o --omf_browse .\objects\m3508.crf --depend .\objects\m3508.d)
|
||||
I (.\Start\stm32f4xx.h)(0x64F48C00)
|
||||
I (.\Start\stm32f4xx.h)(0x64F48C00)
|
||||
I (.\Start\core_cm4.h)(0x64D03162)
|
||||
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
|
||||
I (.\Start\core_cmInstr.h)(0x64D03162)
|
||||
@@ -2458,14 +2458,14 @@ I (.\Function\LinkCheck.h)(0x65F5DCF4)
|
||||
I (.\Library\stm32f4xx_dma.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_spi.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_spi.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_tim.h)(0x64D03164)
|
||||
I (.\Library\stm32f4xx_usart.h)(0x64D03164)
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -12,7 +12,7 @@
|
||||
<lExt>*.lib</lExt>
|
||||
<tExt>*.txt; *.h; *.inc; *.md</tExt>
|
||||
<pExt>*.plm</pExt>
|
||||
<CppX>*.cpp</CppX>
|
||||
<CppX>*.cpp; *.cc; *.cxx</CppX>
|
||||
<nMigrate>0</nMigrate>
|
||||
</Extensions>
|
||||
|
||||
@@ -28,7 +28,7 @@
|
||||
<TargetOption>
|
||||
<CLKADS>12000000</CLKADS>
|
||||
<OPTTT>
|
||||
<gFlags>1</gFlags>
|
||||
<gFlags>0</gFlags>
|
||||
<BeepAtEnd>1</BeepAtEnd>
|
||||
<RunSim>0</RunSim>
|
||||
<RunTarget>1</RunTarget>
|
||||
@@ -73,11 +73,11 @@
|
||||
<LExpSel>0</LExpSel>
|
||||
</OPTXL>
|
||||
<OPTFL>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<IsCurrentTarget>1</IsCurrentTarget>
|
||||
</OPTFL>
|
||||
<CpuCode>18</CpuCode>
|
||||
<CpuCode>0</CpuCode>
|
||||
<DebugOpt>
|
||||
<uSim>0</uSim>
|
||||
<uTrg>1</uTrg>
|
||||
@@ -103,7 +103,7 @@
|
||||
<bEvRecOn>1</bEvRecOn>
|
||||
<bSchkAxf>0</bSchkAxf>
|
||||
<bTchkAxf>0</bTchkAxf>
|
||||
<nTsel>3</nTsel>
|
||||
<nTsel>0</nTsel>
|
||||
<sDll></sDll>
|
||||
<sDllPa></sDllPa>
|
||||
<sDlgDll></sDlgDll>
|
||||
@@ -114,39 +114,9 @@
|
||||
<tDlgDll></tDlgDll>
|
||||
<tDlgPa></tDlgPa>
|
||||
<tIfile></tIfile>
|
||||
<pMon>BIN\CMSIS_AGDI.dll</pMon>
|
||||
<pMon>BIN\UL2CM3.DLL</pMon>
|
||||
</DebugOpt>
|
||||
<TargetDriverDllRegistry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>CMSIS_AGDI</Key>
|
||||
<Name>-X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>ARMRTXEVENTFLAGS</Key>
|
||||
<Name>-L70 -Z18 -C0 -M0 -T1</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>DLGTARM</Key>
|
||||
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>ARMDBGFLAGS</Key>
|
||||
<Name></Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>DLGUARM</Key>
|
||||
<Name></Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>ST-LINKIII-KEIL_SWO</Key>
|
||||
<Name>-U00650059572D430C4E4C3054 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
|
||||
</SetRegEntry>
|
||||
<SetRegEntry>
|
||||
<Number>0</Number>
|
||||
<Key>UL2CM3</Key>
|
||||
@@ -154,165 +124,18 @@
|
||||
</SetRegEntry>
|
||||
</TargetDriverDllRegistry>
|
||||
<Breakpoint/>
|
||||
<WatchWindow1>
|
||||
<Ww>
|
||||
<count>0</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>IST8310_MagneticField</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>1</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>IST8310_Temperature</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>2</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>BMI088_Accel</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>3</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>BMI088_Gyro</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>4</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>BMI088_Temperature</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>5</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>ui_default_Ungroup_0</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>6</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>RefereeSystem_Power</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>7</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>RefereeSystem_Buffer</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>8</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>RefereeSystem_Ref</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>9</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>RefereeSystem_RobotID</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>10</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>RefereeSystem_RxData</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>11</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>RefereeSystem_RxHEXPacket</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>12</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>Remote_RxData</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>13</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>M3508_MotorStatus</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>14</count>
|
||||
<WinNumber>1</WinNumber>
|
||||
<ItemText>Odometer_dx</ItemText>
|
||||
</Ww>
|
||||
</WatchWindow1>
|
||||
<WatchWindow2>
|
||||
<Ww>
|
||||
<count>0</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>AttitudeAlgorithms_RadYaw</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>1</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>AttitudeAlgorithms_RadPitch</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>2</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>AttitudeAlgorithms_RadRoll</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>3</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>AttitudeAlgorithms_DegYaw</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>4</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>AttitudeAlgorithms_DegPitch</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>5</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>AttitudeAlgorithms_DegRoll</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>6</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>halfex</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>7</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>halfey</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>8</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>halfez</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>9</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>Gyro_</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>10</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>BMI088_Gyro</ItemText>
|
||||
</Ww>
|
||||
<Ww>
|
||||
<count>11</count>
|
||||
<WinNumber>2</WinNumber>
|
||||
<ItemText>AttitudeAlgorithms_q</ItemText>
|
||||
</Ww>
|
||||
</WatchWindow2>
|
||||
<MemoryWindow1>
|
||||
<Mm>
|
||||
<WinNumber>1</WinNumber>
|
||||
<SubType>0</SubType>
|
||||
<ItemText>0x2000093C</ItemText>
|
||||
<AccSizeX>0</AccSizeX>
|
||||
</Mm>
|
||||
</MemoryWindow1>
|
||||
<Tracepoint>
|
||||
<THDelay>0</THDelay>
|
||||
</Tracepoint>
|
||||
<DebugFlag>
|
||||
<trace>0</trace>
|
||||
<periodic>1</periodic>
|
||||
<aLwin>1</aLwin>
|
||||
<periodic>0</periodic>
|
||||
<aLwin>0</aLwin>
|
||||
<aCover>0</aCover>
|
||||
<aSer1>0</aSer1>
|
||||
<aSer2>0</aSer2>
|
||||
<aPa>0</aPa>
|
||||
<viewmode>1</viewmode>
|
||||
<viewmode>0</viewmode>
|
||||
<vrSel>0</vrSel>
|
||||
<aSym>0</aSym>
|
||||
<aTbox>0</aTbox>
|
||||
@@ -345,7 +168,7 @@
|
||||
<pMultCmdsp></pMultCmdsp>
|
||||
<DebugDescription>
|
||||
<Enable>1</Enable>
|
||||
<EnableFlashSeq>0</EnableFlashSeq>
|
||||
<EnableFlashSeq>1</EnableFlashSeq>
|
||||
<EnableLog>0</EnableLog>
|
||||
<Protocol>2</Protocol>
|
||||
<DbgClock>10000000</DbgClock>
|
||||
@@ -1415,7 +1238,7 @@
|
||||
|
||||
<Group>
|
||||
<GroupName>System</GroupName>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
@@ -1519,7 +1342,7 @@
|
||||
|
||||
<Group>
|
||||
<GroupName>Algorithm</GroupName>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
@@ -1767,7 +1590,7 @@
|
||||
|
||||
<Group>
|
||||
<GroupName>Control</GroupName>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
@@ -1799,7 +1622,7 @@
|
||||
|
||||
<Group>
|
||||
<GroupName>CarBody</GroupName>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
@@ -1975,7 +1798,7 @@
|
||||
|
||||
<Group>
|
||||
<GroupName>User</GroupName>
|
||||
<tvExp>1</tvExp>
|
||||
<tvExp>0</tvExp>
|
||||
<tvExpOptDlg>0</tvExpOptDlg>
|
||||
<cbSel>0</cbSel>
|
||||
<RteFlg>0</RteFlg>
|
||||
|
||||
@@ -11,7 +11,7 @@
|
||||
#define Mecanum_ry 18.75f//底盘中心到轮子中心的距离的y轴分量(单位cm)
|
||||
|
||||
#define Mecanum_LeverSpeedMapRate (1.2f/660.0f)//拨杆速度映射比例
|
||||
#define Mecanum_GyroScopeAngularVelocity 7.0f//小陀螺角速度
|
||||
#define Mecanum_NormalSpeedRate 1.5f//底盘正常速度和超功率速度的比值
|
||||
#define Mecanum_GyroScopeAngularVelocity 10.0f//小陀螺角速度
|
||||
#define Mecanum_NormalSpeedRate 1.1f//底盘正常速度和超功率速度的比值
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user