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echo
2025-11-27 20:08:38 +08:00
parent 5d4099938c
commit edc427c423
1675 changed files with 1068907 additions and 2830 deletions
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24
Mecanum Wheel moving project 1/.mxproject
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33
Mecanum Wheel moving project 1/Core/Inc/CToC.h Normal file
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#ifndef __CToC_H
#define __CToC_H
#include "main.h"
#include "M3508.h"
#define CToC_MasterID1 0x019//ID1
#define CToC_SlaveID1 0x149//ID1
#define CToC_SlaveID2 0x189//ID2
//<2F>жϻص<CFBB><D8B5><EFBFBD><EFBFBD><EFBFBD>
//<2F>жϽ<D0B6><CFBD>ܶ<EFBFBD><DCB6><EFBFBD><EFBFBD><EFBFBD>ID-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><><EFBFBD>ɽ<EFBFBD><C9BD><EFBFBD>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
//motor_chassis<69><73>motor_measure_t <20><><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD>飬<EFBFBD><E9A3AC><EFBFBD><EFBFBD>װ<EFBFBD>е<EFBFBD><D0B5><EFBFBD>ת<EFBFBD>ӽǶȣ<C7B6><C8A3><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>ת<EFBFBD>٣<EFBFBD><D9A3><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD>庯<EFBFBD><E5BAAF>
#define get_motor_measure(ptr, data) \
{ \
(ptr)->last_ecd = (ptr)->ecd; \
(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
(ptr)->temperate = (data)[6]; \
}
extern uint8_t CToC_SlaveSendRefereeSystemData(void);
extern void can_filter_init(void);
extern void CToC_CANDataProcess(uint32_t ID,uint8_t *Data);
extern void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure);
extern void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
#endif

42
Mecanum Wheel moving project 1/Core/Inc/M3508.h Normal file
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#ifndef __M3508_H
#define __M3508_H
#include "main.h"
#include "PID.h"
// <20><><EFBFBD>̲<EFBFBD><CCB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>ʻ<EFBFBD>е<EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define WHEEL_RADIUS 0.075f// <20><><EFBFBD>Ӱ뾶 (<28><>)
#define WHEELBASE_WIDTH 0.21f // <20>־<EFBFBD><D6BE><EFBFBD><EFBFBD><EFBFBD>/2 (<28><>)
#define WHEELBASE_LENGTH 0.17f // <20>־೤<D6BE><E0B3A4>/2 (<28><>)
typedef struct
{
uint16_t ecd;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ -16384--+16384
int16_t speed_rpm;//ת<><D7AA> תÿ<D7AA><C3BF><EFBFBD><EFBFBD>
int16_t given_current;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
uint8_t temperate;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int16_t last_ecd;//<2F>ϴα<CFB4><CEB1><EFBFBD><EFBFBD><EFBFBD>ֵ
} motor_measure_t;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽṹ<C6BD><E1B9B9>
typedef struct {
motor_measure_t measure; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ٶȵ<D9B6>λ<EFBFBD><CEBB>RPM<50><4D>
PID_Controller_t speed_pid; // <20>ٶȻ<D9B6>PID
float target_speed; // Ŀ<><C4BF><EFBFBD>ٶ<EFBFBD> (rad/s)
} Motor_Controller_t;
extern motor_measure_t motor_chassis[4];
extern Motor_Controller_t motor_controller[4];
extern int16_t motor_commands[4];
extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4);
extern float RPM_To_RadPerSec(int16_t rpm);
extern int16_t RadPerSec_To_RPM(float rad_per_sec);
extern void Set_Motor_Target_Speed(uint8_t motor_id, float target_speed_rad_s);
extern void Motor_Speed_Control_Task(float dt);
extern void Drive_Motor(float vx, float vy, float vz);
extern float Map_Remote_to_Speed(int16_t input, float max_speed);
extern void Process_Remote_Control(void);
#endif

9
Mecanum Wheel moving project 1/Core/Inc/RefreeSystem.h Normal file
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#ifndef __RefreeSystem_H
#define __RefreeSystem_H
#include "main.h"
extern uint8_t RefereeSystem_Status;
extern uint8_t RefereeSystem_ShooterStatus;
#endif

39
Mecanum Wheel moving project 1/Core/Inc/Remote.h Normal file
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@@ -0,0 +1,39 @@
#ifndef __Remote_H
#define __Remote_H
#include "main.h"
typedef struct
{
uint16_t Remote_R_RL;
uint16_t Remote_R_UD;
uint16_t Remote_L_RL;
uint16_t Remote_L_UD;
uint8_t Remote_LS;
uint8_t Remote_RS;
int16_t Remote_Mouse_RL;
int16_t Remote_Mouse_DU;
int16_t Remote_Mouse_Wheel;
uint8_t Remote_Mouse_KeyL;
uint8_t Remote_Mouse_KeyR;
uint8_t Remote_Key_W;
uint8_t Remote_Key_S;
uint8_t Remote_Key_A;
uint8_t Remote_Key_D;
uint8_t Remote_Key_Q;
uint8_t Remote_Key_E;
uint8_t Remote_Key_Shift;
uint8_t Remote_Key_Ctrl;
uint8_t Remote_KeyPush_Ctrl;
uint8_t Remote_KeyPush_Shift;
int16_t Remote_ThumbWheel;
}Remote_Data;
extern Remote_Data Remote_RxData;
extern uint8_t Remote_Status;
extern uint8_t Remote_StartFlag;
#endif

3
Mecanum Wheel moving project 1/Core/Inc/can.h
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@@ -34,11 +34,14 @@ extern "C" {
extern CAN_HandleTypeDef hcan1; extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */ /* USER CODE END Private defines */
void MX_CAN1_Init(void); void MX_CAN1_Init(void);
void MX_CAN2_Init(void);
/* USER CODE BEGIN Prototypes */ /* USER CODE BEGIN Prototypes */

27
Mecanum Wheel moving project 1/Core/Inc/main.h
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@@ -60,33 +60,8 @@ void Error_Handler(void);
/* Private defines -----------------------------------------------------------*/ /* Private defines -----------------------------------------------------------*/
/* USER CODE BEGIN Private defines */ /* USER CODE BEGIN Private defines */
#define DBUS_MAX_LEN (50)
#define DBUS_BUFLEN (18)
#define DBUS_HUART huart3
typedef __packed struct
{
int16_t ch0;
int16_t ch1;
int16_t ch2;
int16_t ch3;
int16_t roll;
uint8_t sw1;
uint8_t sw2;
} rc_info_t;
#define rc_Init \
{ \
0, \
0, \
0, \
0, \
0, \
0, \
0, \
}
void uart_receive_handler(UART_HandleTypeDef *huart);
void dbus_uart_init(void);
void rc_callback_handler(rc_info_t *rc, uint8_t *buff);
/* USER CODE END Private defines */ /* USER CODE END Private defines */

22
Mecanum Wheel moving project 1/Core/Inc/pid.h Normal file
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#ifndef __PID_H
#define __PID_H
#include "main.h"
typedef struct {
float kp; // ????
float ki; // ????
float kd; // ????
float integral; // ???
float prev_error; // ?????
float output; // ???
float integral_limit; // ????
float output_limit; // ????
} PID_Controller_t;
extern void PID_Init(PID_Controller_t* pid, float kp, float ki, float kd, float integral_limit, float output_limit);
extern float PID_Calculate(PID_Controller_t* pid, float error, float dt);
extern void Motor_PID_Init();
extern void PID_PositionClean(PID_Controller_t* pid);
#endif

2
Mecanum Wheel moving project 1/Core/Inc/stm32f4xx_hal_conf.h
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@@ -64,7 +64,7 @@
/* #define HAL_MMC_MODULE_ENABLED */ /* #define HAL_MMC_MODULE_ENABLED */
/* #define HAL_SPI_MODULE_ENABLED */ /* #define HAL_SPI_MODULE_ENABLED */
/* #define HAL_TIM_MODULE_ENABLED */ /* #define HAL_TIM_MODULE_ENABLED */
#define HAL_UART_MODULE_ENABLED /* #define HAL_UART_MODULE_ENABLED */
/* #define HAL_USART_MODULE_ENABLED */ /* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */ /* #define HAL_IRDA_MODULE_ENABLED */
/* #define HAL_SMARTCARD_MODULE_ENABLED */ /* #define HAL_SMARTCARD_MODULE_ENABLED */

3
Mecanum Wheel moving project 1/Core/Inc/stm32f4xx_it.h
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@@ -55,9 +55,8 @@ void SVC_Handler(void);
void DebugMon_Handler(void); void DebugMon_Handler(void);
void PendSV_Handler(void); void PendSV_Handler(void);
void SysTick_Handler(void); void SysTick_Handler(void);
void DMA1_Stream1_IRQHandler(void);
void CAN1_RX0_IRQHandler(void); void CAN1_RX0_IRQHandler(void);
void USART3_IRQHandler(void); void CAN2_RX0_IRQHandler(void);
/* USER CODE BEGIN EFP */ /* USER CODE BEGIN EFP */
/* USER CODE END EFP */ /* USER CODE END EFP */

149
Mecanum Wheel moving project 1/Core/Src/CToC.c Normal file
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@@ -0,0 +1,149 @@
#include "main.h"
#include "can.h"
#include "gpio.h"
#include "CToC.h"
#include "RefreeSystem.h"
#include "Remote.h"
#include "M3508.h"
static CAN_TxHeaderTypeDef TxMessage;
static uint8_t DATE_CAIPAN[8];
uint8_t CToC_SlaveSendRefereeSystemData(void)
{
uint32_t send_mail_box;
TxMessage.StdId=CToC_MasterID1;
TxMessage.IDE = CAN_ID_STD;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.DLC=0x08;
DATE_CAIPAN[0]=RefereeSystem_ShooterStatus;
DATE_CAIPAN[1]=0;
DATE_CAIPAN[2]=0;
DATE_CAIPAN[3]=0;
DATE_CAIPAN[4]=0;
DATE_CAIPAN[5]=0;
DATE_CAIPAN[6]=0;
DATE_CAIPAN[7]=0;
HAL_StatusTypeDef status = HAL_CAN_AddTxMessage(&hcan2, &TxMessage,DATE_CAIPAN, &send_mail_box);
if (status != HAL_OK) {
return 0;
}
uint16_t i = 0;
while ((HAL_CAN_IsTxMessagePending(&hcan2, send_mail_box)) && (i < 0xFFF)) {
i++;
}
if (i >= 0xFFF) {
return 0;
}
return 1;
}
void can_filter_init(void)
{
CAN_FilterTypeDef can_filter_st;
// ==================== CAN1 ?? ====================
// CAN1??ID
can_filter_st.FilterActivation = ENABLE;
can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter_st.FilterIdHigh = 0x0000; // ??ID
can_filter_st.FilterIdLow = 0x0000;
can_filter_st.FilterMaskIdHigh = 0x0000;
can_filter_st.FilterMaskIdLow = 0x0007; // ??ID
can_filter_st.FilterBank = 0;
can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
can_filter_st.SlaveStartFilterBank = 14; // CAN2??14???
HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
// ==================== CAN2 ?? ====================
// CAN2??ID 0x200-0x207???
can_filter_st.FilterIdHigh = 0; // ?????ID
can_filter_st.FilterIdLow = 0; // ?????ID
can_filter_st.FilterMaskIdHigh = 0; // ???????ID
can_filter_st.FilterMaskIdLow = 0; // ???????ID
can_filter_st.FilterBank = 14; // CAN2??????14
can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
HAL_CAN_Start(&hcan2);
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
}
Remote_Data Remote_RxData;
void CToC_CANDataProcess(uint32_t ID,uint8_t *Data)
{
if(ID==CToC_SlaveID1)//?????????
{
Remote_RxData.Remote_R_RL=(uint16_t)((uint16_t)Data[0]<<8 | Data[1]);//?????
Remote_RxData.Remote_R_UD=(uint16_t)((uint16_t)Data[2]<<8 | Data[3]);//?????
Remote_RxData.Remote_L_RL=(uint16_t)((uint16_t)Data[4]<<8 | Data[5]);//?????
Remote_RxData.Remote_L_UD=(uint16_t)((uint16_t)Data[6]<<8 | Data[7]);//?????
}
else if(ID==CToC_SlaveID2)//?????????
{
Remote_Status=Data[0];//???????
Remote_RxData.Remote_RS=Data[1];//?????????
Remote_RxData.Remote_KeyPush_Ctrl=Data[2];//??Ctrl??
Remote_RxData.Remote_KeyPush_Shift=Data[3];//??Shift??
Remote_StartFlag=Data[4];//????????
Remote_RxData.Remote_LS=Data[5];//?????????
}
}
/**
* @brief <20><><EFBFBD>µ<EFBFBD><C2B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><DDB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param motor_id: <20><><EFBFBD><EFBFBD>ID (0-3)
* @param measure: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
*/
void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure)
{
if (motor_id < 4) {
// ֱ<>ӽṹ<D3BD>帳ֵ<E5B8B3><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ࣩ
motor_controller[motor_id].measure = *measure;
}
}
//can<61><6E><EFBFBD>ز<EFBFBD><D8B2><EFBFBD><EFBFBD>ṹ<EFBFBD>嶨<EFBFBD><E5B6A8>
// CAN2<4E><32><EFBFBD>ջص<D5BB><D8B5><EFBFBD><EFBFBD><EFBFBD>
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
// <20>ж<EFBFBD><D0B6><EFBFBD>CAN1<4E><31><EFBFBD><EFBFBD>CAN2
if (hcan->Instance == CAN1) {
// CAN1<4E><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (ID 1-4)
switch (rx_header.StdId) {
case 1: case 2: case 3: case 4: {
static uint8_t i = 0;
i = rx_header.StdId - 1;
get_motor_measure(&motor_chassis[i], rx_data);
Update_Motor_Measure(i, &motor_chassis[i]);
break;
}
default:
break;
}
}
else if (hcan->Instance == CAN2) {
// CAN2<4E><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CToC_CANDataProcess(rx_header.StdId, rx_data);
}
}
//HAL<41><4C><EFBFBD><EFBFBD><EFBFBD>պ<EFBFBD><D5BA><EFBFBD>HAL_CAN_GetRxMessage
HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[]);

170
Mecanum Wheel moving project 1/Core/Src/M3508.c Normal file
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@@ -0,0 +1,170 @@
#include "main.h"
#include "M3508.h"
#include "can.h"
#include "gpio.h"
#include <string.h>
#include <stdlib.h>
#include <math.h> // <20><><EFBFBD><EFBFBD>isnan<61><6E>isinf<6E><66><EFBFBD><EFBFBD>
#include "PID.h"
#include "Remote.h"
#include "CToC.h"
// <20>ĸ<EFBFBD><C4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD>
Motor_Controller_t motor_controller[4] = {0};
// <20>洢<EFBFBD>ĸ<EFBFBD><C4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int16_t motor_commands[4] = {0};
motor_measure_t motor_chassis[4] = {0};
static CAN_TxHeaderTypeDef chassis_tx_message;
static uint8_t chassis_can_send_data[8];
void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4)
{
uint32_t send_mail_box;
chassis_tx_message.StdId = 0x200;
chassis_tx_message.IDE = CAN_ID_STD;
chassis_tx_message.RTR = CAN_RTR_DATA;
chassis_tx_message.DLC = 0x08;
chassis_can_send_data[0] = motor1 >> 8;
chassis_can_send_data[1] = motor1;
chassis_can_send_data[2] = motor2 >> 8;
chassis_can_send_data[3] = motor2;
chassis_can_send_data[4] = motor3 >> 8;
chassis_can_send_data[5] = motor3;
chassis_can_send_data[6] = motor4 >> 8;
chassis_can_send_data[7] = motor4;
HAL_CAN_AddTxMessage(&hcan1, &chassis_tx_message,
chassis_can_send_data, &send_mail_box);
}
/**
* @brief <20><>RPMת<4D><D7AA>Ϊrad/s
*/
float RPM_To_RadPerSec(int16_t rpm)
{
return (float)rpm * 2.0f * 3.1415926535f / 60.0f;
}
/**
* @brief <20><>rad/sת<73><D7AA>ΪRPM
*/
int16_t RadPerSec_To_RPM(float rad_per_sec)
{
return (int16_t)(rad_per_sec * 60.0f / (2.0f * 3.1415926535f));
}
/**
* @brief <20><><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD>ٶ<EFBFBD>
* @param motor_id: <20><><EFBFBD><EFBFBD>ID (0-3)
* @param target_speed_rad_s: Ŀ<><C4BF><EFBFBD>ٶ<EFBFBD> (rad/s)
*/
void Set_Motor_Target_Speed(uint8_t motor_id, float target_speed_rad_s)
{
if (motor_id < 4) {
motor_controller[motor_id].target_speed = target_speed_rad_s;
}
}
/**
* @brief <20><><EFBFBD><EFBFBD><EFBFBD>ٶȿ<D9B6><C8BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񣨴<EFBFBD><F1A3A8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4>
*/
void Motor_Speed_Control_Task(float dt)
{
for (int i = 0; i < 4; i++) {
// <20><>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (isnan(motor_controller[i].measure.speed_rpm) ||
motor_controller[i].measure.speed_rpm > 10000 ||
motor_controller[i].measure.speed_rpm < -10000) {
// <20><><EFBFBD><EFBFBD><EFBFBD>쳣<EFBFBD><ECB3A3>ʹ<EFBFBD><CAB9>Ĭ<EFBFBD><C4AC>ֵ
motor_controller[i].measure.speed_rpm = 0;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>RPMת<4D><D7AA>Ϊrad/s
float actual_speed_rads = RPM_To_RadPerSec(motor_controller[i].measure.speed_rpm);
// <20><>֤ת<D6A4><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (isnan(actual_speed_rads) || isinf(actual_speed_rads)) {
actual_speed_rads = 0.0f;
}
// <20><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>
float speed_error = motor_controller[i].target_speed - actual_speed_rads;
// <20><>֤<EFBFBD><D6A4><EFBFBD><EFBFBD>ֵ
if (isnan(speed_error) || isinf(speed_error)) {
speed_error = 0.0f;
}
// PID<49><44><EFBFBD><EFBFBD>
float pid_output = PID_Calculate(&motor_controller[i].speed_pid, speed_error, dt);
// <20><>֤PID<49><44><EFBFBD><EFBFBD>
if (isnan(pid_output) || isinf(pid_output)) {
pid_output = 0.0f;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>PID״̬
PID_PositionClean(&motor_controller[i].speed_pid);
}
// <20>洢<EFBFBD><E6B4A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
motor_commands[i] = (int16_t)pid_output;
}
}
/**
* @brief <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD>ٶȽ<D9B6><C8BD>㺯<EFBFBD><E3BAAF>
* @param vx: X<><58><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> (m/s) - <20><><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param vy: Y<><59><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD> (m/s) - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD><C6A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param vz: <20><>ת<EFBFBD><D7AA><EFBFBD>ٶ<EFBFBD> (rad/s) - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>룬<EFBFBD><EBA3AC><EFBFBD><EFBFBD>˳ʱ<CBB3><CAB1>
*/
void Drive_Motor(float vx, float vy, float vz)
{
float A = WHEELBASE_WIDTH + WHEELBASE_LENGTH;
// <20><>׼<EFBFBD><D7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD>˶<EFBFBD>ѧ<EFBFBD><D1A7><EFBFBD><EFBFBD><EFBFBD>㹫ʽ
// <20><><EFBFBD>ӱ<EFBFBD><D3B1>ţ<EFBFBD>0-<2D><><EFBFBD><EFBFBD>, 1-<2D><><EFBFBD><EFBFBD>, 2-<2D><><EFBFBD><EFBFBD>, 3-<2D><><EFBFBD><EFBFBD>
// <20><>׼<EFBFBD><D7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD>˶<EFBFBD>ѧ<EFBFBD><D1A7><EFBFBD><EFBFBD><EFBFBD>㹫ʽ
float wheel1_speed = ( vx +vy + vz * A ) / WHEEL_RADIUS; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float wheel2_speed = ( vx - vy + vz * A ) / WHEEL_RADIUS; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float wheel3_speed = (-vx -vy + vz * A ) / WHEEL_RADIUS; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float wheel4_speed = (-vx +vy +vz * A ) / WHEEL_RADIUS; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Set_Motor_Target_Speed(0, wheel1_speed); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Set_Motor_Target_Speed(1, wheel2_speed); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Set_Motor_Target_Speed(2, wheel3_speed); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Set_Motor_Target_Speed(3, wheel4_speed); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
float Map_Remote_to_Speed(int16_t input, float max_speed)
{
if (input > 660) input = 660;
if (input < -660) input = -660;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>ӷ<EFBFBD><D3B7><EFBFBD>0
if (abs(input) < 50) {
return 0.0f;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><DAA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
return (input / 660.0f) * max_speed;
}
/**
* @brief <20><><EFBFBD><EFBFBD>ң<EFBFBD><D2A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD>ٶ<EFBFBD>
*/
void Process_Remote_Control(void)
{
// ӳ<><D3B3>ң<EFBFBD><D2A3><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ٶ<EFBFBD> (m/s)
float vx = Map_Remote_to_Speed(Remote_RxData.Remote_L_UD,2.0f); // ǰ<><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2m/s
float vy = Map_Remote_to_Speed(Remote_RxData.Remote_L_RL, 2.0f); // <20><><EFBFBD>ҷ<EFBFBD><D2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2m/s
float vz = Map_Remote_to_Speed(Remote_RxData.Remote_R_RL, 3.0f); // <20><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3rad/s
// <20><><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>ѧ<EFBFBD><D1A7><EFBFBD><EFBFBD>
Drive_Motor(vx, vy, vz);
}

119
Mecanum Wheel moving project 1/Core/Src/PID.c Normal file
View File

@@ -0,0 +1,119 @@
#include "PID.h"
#include "main.h"
#include "M3508.h"
#include <math.h> // <20><><EFBFBD><EFBFBD>isnan<61><6E>isinf<6E><66><EFBFBD><EFBFBD>
#include "Remote.h"
#include "CToC.h"
/**
* @brief PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
*/
void PID_Init(PID_Controller_t* pid, float kp, float ki, float kd, float integral_limit, float output_limit)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->integral = 0.0f;
pid->prev_error = 0.0f;
pid->output = 0.0f;
pid->integral_limit = integral_limit;
pid->output_limit = output_limit;
}
/**
* @brief PID<49><44><EFBFBD>㺯<EFBFBD><E3BAAF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*/
float PID_Calculate(PID_Controller_t* pid, float error, float dt)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>
if (dt <= 0.0f || dt > 1.0f) {
dt = 0.01f; // ʹ<><CAB9>Ĭ<EFBFBD><C4AC>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
// <20><><EFBFBD><EFBFBD>error<6F>Ƿ<EFBFBD>ΪNaN<61><4E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if (isnan(error) || isinf(error)) {
error = 0.0f;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float proportional = pid->kp * error;
// <20><><EFBFBD><EFBFBD>proportional<61>Ƿ<EFBFBD>ΪNaN
if (isnan(proportional) || isinf(proportional)) {
proportional = 0.0f;
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EEA3A8><EFBFBD>޷<EFBFBD><DEB7><EFBFBD>
pid->integral += error * dt;
if (pid->integral > pid->integral_limit) {
pid->integral = pid->integral_limit;
} else if (pid->integral < -pid->integral_limit) {
pid->integral = -pid->integral_limit;
}
float integral = pid->ki * pid->integral;
// <20><><EFBFBD><EFBFBD>integral<61>Ƿ<EFBFBD>ΪNaN
if (isnan(integral) || isinf(integral)) {
integral = 0.0f;
pid->integral = 0.0f;
}
// ΢<><CEA2><EFBFBD><EFBFBD><EEA3A8><EFBFBD><EFBFBD>dt<64><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
float derivative = 0.0f;
if (dt > 0.001f) { // ȷ<><C8B7>dt<64>㹻<EFBFBD>󣬱<EFBFBD><F3A3ACB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ժ<EFBFBD>С<EFBFBD><D0A1><EFBFBD><EFBFBD>
derivative = pid->kd * (error - pid->prev_error) / dt;
}
// <20><><EFBFBD><EFBFBD>derivative<76>Ƿ<EFBFBD>ΪNaN
if (isnan(derivative) || isinf(derivative)) {
derivative = 0.0f;
}
pid->prev_error = error;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
pid->output = proportional + integral + derivative;
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>ΪNaN
if (isnan(pid->output) || isinf(pid->output)) {
pid->output = 0.0f;
// <20><><EFBFBD><EFBFBD>PID״̬
pid->integral = 0.0f;
pid->prev_error = 0.0f;
}
// <20><><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD>
if (pid->output > pid->output_limit) {
pid->output = pid->output_limit;
} else if (pid->output < -pid->output_limit) {
pid->output = -pid->output_limit;
}
return pid->output;
}
/**
* @brief <20><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD>PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*/
void Motor_PID_Init(void)
{
// PID<49><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>ʵ<EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD>
float speed_kp = 400.0f; // <20>ٶȻ<D9B6><C8BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
float speed_ki = 0.05f; // <20>ٶȻ<D9B6><C8BB><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>
float speed_kd = 300.0f; // <20>ٶȻ<D9B6>΢<EFBFBD><CEA2>ϵ<EFBFBD><CFB5>
for (int i = 0; i < 4; i++) {
PID_Init(&motor_controller[i].speed_pid, speed_kp, speed_ki, speed_kd, 3000.0f, 3000.0f);
}
}
/*
*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:λ<><CEBB>ʽPID<49><44><EFBFBD><EFBFBD>
*<2A><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5>:λ<><CEBB>ʽPID<49><44><EFBFBD><EFBFBD><EFBFBD>ṹ<EFBFBD><E1B9B9>
*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:<3A><>
*<2A><>ע:<3A><><EFBFBD><EFBFBD>PID<49>ڲ<EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3>л<EFBFBD><D0BB><EFBFBD><EFBFBD>쳣<EFBFBD><ECB3A3><EFBFBD><EFBFBD>
*/
void PID_PositionClean(PID_Controller_t* pid)
{
pid->integral = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EEA3AC>ֹ<EFBFBD><D6B9><EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>
pid->prev_error = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EEA3AC>ֹ΢<D6B9>ֳ<EFBFBD><D6B3><EFBFBD>
pid->output = 0.0f; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
}

5
Mecanum Wheel moving project 1/Core/Src/RefreeSystem.c Normal file
View File

@@ -0,0 +1,5 @@
#include "RefreeSystem.h"
#include "main.h"
uint8_t RefereeSystem_Status =0;
uint8_t RefereeSystem_ShooterStatus=1;

4
Mecanum Wheel moving project 1/Core/Src/Remote.c Normal file
View File

@@ -0,0 +1,4 @@
#include "main.h"
#include "Remote.h"
uint8_t Remote_Status;
uint8_t Remote_StartFlag=1;

96
Mecanum Wheel moving project 1/Core/Src/can.c
View File

@@ -25,6 +25,7 @@
/* USER CODE END 0 */ /* USER CODE END 0 */
CAN_HandleTypeDef hcan1; CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;
/* CAN1 init function */ /* CAN1 init function */
void MX_CAN1_Init(void) void MX_CAN1_Init(void)
@@ -58,6 +59,40 @@ void MX_CAN1_Init(void)
/* USER CODE END CAN1_Init 2 */ /* USER CODE END CAN1_Init 2 */
} }
/* CAN2 init function */
void MX_CAN2_Init(void)
{
/* USER CODE BEGIN CAN2_Init 0 */
/* USER CODE END CAN2_Init 0 */
/* USER CODE BEGIN CAN2_Init 1 */
/* USER CODE END CAN2_Init 1 */
hcan2.Instance = CAN2;
hcan2.Init.Prescaler = 3;
hcan2.Init.Mode = CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = DISABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN2_Init 2 */
/* USER CODE END CAN2_Init 2 */
}
static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{ {
@@ -69,7 +104,10 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
/* USER CODE END CAN1_MspInit 0 */ /* USER CODE END CAN1_MspInit 0 */
/* CAN1 clock enable */ /* CAN1 clock enable */
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE(); __HAL_RCC_CAN1_CLK_ENABLE();
}
__HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE();
/**CAN1 GPIO Configuration /**CAN1 GPIO Configuration
@@ -90,6 +128,37 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
/* USER CODE END CAN1_MspInit 1 */ /* USER CODE END CAN1_MspInit 1 */
} }
else if(canHandle->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */
/* USER CODE END CAN2_MspInit 0 */
/* CAN2 clock enable */
__HAL_RCC_CAN2_CLK_ENABLE();
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**CAN2 GPIO Configuration
PB5 ------> CAN2_RX
PB6 ------> CAN2_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* CAN2 interrupt Init */
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
/* USER CODE BEGIN CAN2_MspInit 1 */
/* USER CODE END CAN2_MspInit 1 */
}
} }
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
@@ -101,7 +170,10 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
/* USER CODE END CAN1_MspDeInit 0 */ /* USER CODE END CAN1_MspDeInit 0 */
/* Peripheral clock disable */ /* Peripheral clock disable */
HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE(); __HAL_RCC_CAN1_CLK_DISABLE();
}
/**CAN1 GPIO Configuration /**CAN1 GPIO Configuration
PD0 ------> CAN1_RX PD0 ------> CAN1_RX
@@ -115,6 +187,30 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
/* USER CODE END CAN1_MspDeInit 1 */ /* USER CODE END CAN1_MspDeInit 1 */
} }
else if(canHandle->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspDeInit 0 */
/* USER CODE END CAN2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_CAN2_CLK_DISABLE();
HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE();
}
/**CAN2 GPIO Configuration
PB5 ------> CAN2_RX
PB6 ------> CAN2_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
/* CAN2 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
/* USER CODE BEGIN CAN2_MspDeInit 1 */
/* USER CODE END CAN2_MspDeInit 1 */
}
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */

2
Mecanum Wheel moving project 1/Core/Src/gpio.c
View File

@@ -45,9 +45,9 @@ void MX_GPIO_Init(void)
GPIO_InitTypeDef GPIO_InitStruct = {0}; GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */ /* GPIO Ports Clock Enable */
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE(); __HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE();
/*Configure GPIO pin Output Level */ /*Configure GPIO pin Output Level */

508
Mecanum Wheel moving project 1/Core/Src/main.c
View File

@@ -19,15 +19,16 @@
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "main.h" #include "main.h"
#include "can.h" #include "can.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h" #include "gpio.h"
#include "CToC.h"
#include "RefreeSystem.h"
#include "Remote.h"
#include "M3508.h"
#include "PID.h"
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include <string.h>
#include <stdlib.h>
#include <math.h> // 用于isnan、isinf函数
/* USER CODE END Includes */ /* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/ /* Private typedef -----------------------------------------------------------*/
@@ -48,9 +49,7 @@
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
uint8_t dbus_buf[DBUS_BUFLEN];
rc_info_t rc = rc_Init;
extern UART_HandleTypeDef huart3;//遥控器
/* USER CODE END PV */ /* USER CODE END PV */
@@ -62,494 +61,6 @@ void SystemClock_Config(void);
/* Private user code ---------------------------------------------------------*/ /* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */ /* USER CODE BEGIN 0 */
static int uart_receive_dma_no_it(UART_HandleTypeDef* huart, uint8_t* pData, uint32_t Size)
{
uint32_t tmp1 = 0;
tmp1 = huart->RxState;
if (tmp1 == HAL_UART_STATE_READY)
{
if ((pData == NULL) || (Size == 0))
{
return HAL_ERROR;
}
huart->pRxBuffPtr = pData;
huart->RxXferSize = Size;
huart->ErrorCode = HAL_UART_ERROR_NONE;
HAL_DMA_Start(huart->hdmarx, (uint32_t)&huart->Instance->DR, (uint32_t)pData, Size);
SET_BIT(huart->Instance->CR3, USART_CR3_DMAR);
return HAL_OK;
}
else
{
return HAL_BUSY;
}
}
void dbus_uart_init(void)
{
__HAL_UART_CLEAR_IDLEFLAG(&DBUS_HUART);
__HAL_UART_ENABLE_IT(&DBUS_HUART, UART_IT_IDLE);
uart_receive_dma_no_it(&DBUS_HUART, dbus_buf, DBUS_MAX_LEN);
}
void rc_callback_handler(rc_info_t *rc, uint8_t *buff)
{
rc->ch0 = (buff[0] | buff[1] << 8) & 0x07FF;
rc->ch0 -= 1024;
rc->ch1 = (buff[1] >> 3 | buff[2] << 5) & 0x07FF;
rc->ch1 -= 1024;
rc->ch2 = (buff[2] >> 6 | buff[3] << 2 | buff[4] << 10) & 0x07FF;
rc->ch2 -= 1024;
rc->ch3 = (buff[4] >> 1 | buff[5] << 7) & 0x07FF;
rc->ch3 -= 1024;
rc->roll = (buff[16] | (buff[17] << 8)) & 0x07FF;
rc->roll -= 1024;
rc->sw1 = ((buff[5] >> 4) & 0x000C) >> 2;
rc->sw2 = (buff[5] >> 4) & 0x0003;
// if ((abs(rc->ch0) > 660) || \
// (abs(rc->ch1) > 660) || \
// (abs(rc->ch2) > 660) || \
// (abs(rc->ch3) > 660))
//
// {
// memset(rc, 0, sizeof(rc_info_t));
// }
}
uint16_t dma_current_data_counter(DMA_Stream_TypeDef *dma_stream)
{
return ((uint16_t)(dma_stream->NDTR));
}
static void uart_rx_idle_callback(UART_HandleTypeDef* huart)
{
__HAL_UART_CLEAR_IDLEFLAG(huart);
if (huart == &DBUS_HUART)
{
__HAL_DMA_DISABLE(huart->hdmarx);
if ((DBUS_MAX_LEN - dma_current_data_counter(huart->hdmarx->Instance)) == DBUS_BUFLEN)
{
rc_callback_handler(&rc, dbus_buf);
}
__HAL_DMA_SET_COUNTER(huart->hdmarx, DBUS_MAX_LEN);
__HAL_DMA_ENABLE(huart->hdmarx);
}
}
void uart_receive_handler(UART_HandleTypeDef *huart)
{
if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE) &&
__HAL_UART_GET_IT_SOURCE(huart, UART_IT_IDLE))
{
uart_rx_idle_callback(huart);
}
}//遥控器
typedef struct
{
uint16_t ecd;//编码器值 -16384--+16384
int16_t speed_rpm;//转速 转每分钟
int16_t given_current;//输出电流值
uint8_t temperate;//电机温度
int16_t last_ecd;//上次编码器值
} motor_measure_t;
motor_measure_t motor_chassis[4] = {0};
/**
* @brief 更新电机测量数据到控制器
* @param motor_id: 电机ID (0-3)
* @param measure: 电机测量数据指针
*/
static CAN_TxHeaderTypeDef chassis_tx_message;
static uint8_t chassis_can_send_data[8];
void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4)
//can总线数据发送函数
//motor1-右上 motor2-左上 motor3-左下 motor4-右下
//以c板的正方向为基准
{
uint32_t send_mail_box;
chassis_tx_message.StdId = 0x200;
chassis_tx_message.IDE = CAN_ID_STD;
chassis_tx_message.RTR = CAN_RTR_DATA;
chassis_tx_message.DLC = 0x08;
chassis_can_send_data[0] = motor1 >> 8;
chassis_can_send_data[1] = motor1;
chassis_can_send_data[2] = motor2 >> 8;
chassis_can_send_data[3] = motor2;
chassis_can_send_data[4] = motor3 >> 8;
chassis_can_send_data[5] = motor3;
chassis_can_send_data[6] = motor4 >> 8;
chassis_can_send_data[7] = motor4;
HAL_CAN_AddTxMessage(&hcan1, &chassis_tx_message,
chassis_can_send_data, &send_mail_box);
}
//滤波器 只接受 ID 1-4 的电机
//此段后续可优化为列表模式
void can_filter_init(void)
{
CAN_FilterTypeDef can_filter_st;
can_filter_st.FilterActivation = ENABLE;
can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter_st.FilterIdHigh = 0x0000;//高八位
can_filter_st.FilterIdLow = 0x0000;//低八位
can_filter_st.FilterMaskIdHigh = 0x0000;
can_filter_st.FilterMaskIdLow = 0x0007;
can_filter_st.FilterBank = 0;
can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
can_filter_st.SlaveStartFilterBank = 14;
can_filter_st.FilterBank = 14;
HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
}
//过滤器笔记
//SlaveStartFilterBank参数只有在双CAN模式（CAN1和CAN2）下才需要，如果只有CAN1，可以不用设置
// PID控制器结构体
typedef struct {
float kp; // 比例系数
float ki; // 积分系数
float kd; // 微分系数
float integral; // 积分项
float prev_error; // 上一次误差
float output; // 输出值
float integral_limit; // 积分限幅
float output_limit; // 输出限幅
} PID_Controller_t;
// 电机控制结构体
typedef struct {
motor_measure_t measure; // 电机测量值（速度单位：RPM）
PID_Controller_t speed_pid; // 速度环PID
float target_speed; // 目标速度 (rad/s)
} Motor_Controller_t;
// 四个电机的控制器
Motor_Controller_t motor_controller[4] = {0};
// 存储四个电机的控制命令
int16_t motor_commands[4] = {0};
// 底盘参数（根据实际机械结构调整）
#define WHEEL_RADIUS 0.075f// 轮子半径 (米)
#define WHEELBASE_WIDTH 0.21f // 轮距宽度/2 (米)
#define WHEELBASE_LENGTH 0.17f // 轮距长度/2 (米)
/**
* @brief 更新电机测量数据到控制器
* @param motor_id: 电机ID (0-3)
* @param measure: 电机测量数据指针
*/
void Update_Motor_Measure(uint8_t motor_id, motor_measure_t* measure)
{
if (motor_id < 4) {
// 直接结构体赋值（更简洁）
motor_controller[motor_id].measure = *measure;
}
}
//中断回调函数
//判断接受对象的ID-符合条件-完成解码-发送数据包
//motor_chassis：motor_measure_t 类型的数组，其中装有电机转子角度，电机转子转速，控制电流，温度
//定义函数
#define get_motor_measure(ptr, data) \
{ \
(ptr)->last_ecd = (ptr)->ecd; \
(ptr)->ecd = (uint16_t)((data)[0] << 8 | (data)[1]); \
(ptr)->speed_rpm = (uint16_t)((data)[2] << 8 | (data)[3]); \
(ptr)->given_current = (uint16_t)((data)[4] << 8 | (data)[5]); \
(ptr)->temperate = (data)[6]; \
}
//can传回参数结构体定义
//回调函数
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
switch (rx_header.StdId)
{
case 1:
case 2:
case 3:
case 4:
{
static uint8_t i = 0;
//读取电机ID
i = rx_header.StdId - 1;
get_motor_measure(&motor_chassis[i], rx_data);
Update_Motor_Measure(i, &motor_chassis[i]);
break;
}
default:
{
break;
}
}
}
//HAL库接收函数HAL_CAN_GetRxMessage
HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[]);
/**
* @brief 将RPM转换为rad/s
*/
float RPM_To_RadPerSec(int16_t rpm)
{
return (float)rpm * 2.0f * 3.1415926535f / 60.0f;
}
/**
* @brief 将rad/s转换为RPM
*/
int16_t RadPerSec_To_RPM(float rad_per_sec)
{
return (int16_t)(rad_per_sec * 60.0f / (2.0f * 3.1415926535f));
}
/**
* @brief PID控制器初始化
*/
void PID_Init(PID_Controller_t* pid, float kp, float ki, float kd, float integral_limit, float output_limit)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->integral = 0.0f;
pid->prev_error = 0.0f;
pid->output = 0.0f;
pid->integral_limit = integral_limit;
pid->output_limit = output_limit;
}
/**
* @brief PID计算函数（带保护）
*/
float PID_Calculate(PID_Controller_t* pid, float error, float dt)
{
// 检查输入参数有效性
if (dt <= 0.0f || dt > 1.0f) {
dt = 0.01f; // 使用默认时间间隔
}
// 检查error是否为NaN或无穷大
if (isnan(error) || isinf(error)) {
error = 0.0f;
}
// 比例项
float proportional = pid->kp * error;
// 检查proportional是否为NaN
if (isnan(proportional) || isinf(proportional)) {
proportional = 0.0f;
}
// 积分项（带限幅）
pid->integral += error * dt;
if (pid->integral > pid->integral_limit) {
pid->integral = pid->integral_limit;
} else if (pid->integral < -pid->integral_limit) {
pid->integral = -pid->integral_limit;
}
float integral = pid->ki * pid->integral;
// 检查integral是否为NaN
if (isnan(integral) || isinf(integral)) {
integral = 0.0f;
pid->integral = 0.0f;
}
// 微分项（添加dt保护）
float derivative = 0.0f;
if (dt > 0.001f) { // 确保dt足够大，避免除以很小的数
derivative = pid->kd * (error - pid->prev_error) / dt;
}
// 检查derivative是否为NaN
if (isnan(derivative) || isinf(derivative)) {
derivative = 0.0f;
}
pid->prev_error = error;
// 计算总输出
pid->output = proportional + integral + derivative;
// 检查总输出是否为NaN
if (isnan(pid->output) || isinf(pid->output)) {
pid->output = 0.0f;
// 重置PID状态
pid->integral = 0.0f;
pid->prev_error = 0.0f;
}
// 输出限幅
if (pid->output > pid->output_limit) {
pid->output = pid->output_limit;
} else if (pid->output < -pid->output_limit) {
pid->output = -pid->output_limit;
}
return pid->output;
}
/**
* @brief 初始化所有电机的PID控制器
*/
void Motor_PID_Init(void)
{
// PID参数（需要根据实际电机调试）
float speed_kp = 400.0f; // 速度环比例系数
float speed_ki = 0.05f; // 速度环积分系数
float speed_kd = 300.0f; // 速度环微分系数
for (int i = 0; i < 4; i++) {
PID_Init(&motor_controller[i].speed_pid, speed_kp, speed_ki, speed_kd, 3000.0f, 3000.0f);
}
}
/*
*函数简介:位置式PID清理
*参数说明:位置式PID参数结构体
*返回类型:无
*备注:重置PID内部状态，用于模式切换或异常情况
*/
void PID_PositionClean(PID_Controller_t* pid)
{
pid->integral = 0.0f; // 清理积分项，防止积分饱和
pid->prev_error = 0.0f; // 清理上一次误差，防止微分冲击
pid->output = 0.0f; // 清理输出值
}
/**
* @brief 设置单个电机的目标速度
* @param motor_id: 电机ID (0-3)
* @param target_speed_rad_s: 目标速度 (rad/s)
*/
void Set_Motor_Target_Speed(uint8_t motor_id, float target_speed_rad_s)
{
if (motor_id < 4) {
motor_controller[motor_id].target_speed = target_speed_rad_s;
}
}
/**
* @brief 电机速度控制任务（带数据验证）
*/
void Motor_Speed_Control_Task(float dt)
{
for (int i = 0; i < 4; i++) {
// 验证电机反馈数据
if (isnan(motor_controller[i].measure.speed_rpm) ||
motor_controller[i].measure.speed_rpm > 10000 ||
motor_controller[i].measure.speed_rpm < -10000) {
// 数据异常，使用默认值
motor_controller[i].measure.speed_rpm = 0;
}
// 将电机反馈的RPM转换为rad/s
float actual_speed_rads = RPM_To_RadPerSec(motor_controller[i].measure.speed_rpm);
// 验证转换结果
if (isnan(actual_speed_rads) || isinf(actual_speed_rads)) {
actual_speed_rads = 0.0f;
}
// 计算速度误差
float speed_error = motor_controller[i].target_speed - actual_speed_rads;
// 验证误差值
if (isnan(speed_error) || isinf(speed_error)) {
speed_error = 0.0f;
}
// PID计算
float pid_output = PID_Calculate(&motor_controller[i].speed_pid, speed_error, dt);
// 验证PID输出
if (isnan(pid_output) || isinf(pid_output)) {
pid_output = 0.0f;
// 重置这个电机的PID状态
PID_PositionClean(&motor_controller[i].speed_pid);
}
// 存储控制命令
motor_commands[i] = (int16_t)pid_output;
}
}
/**
* @brief 麦克纳姆轮速度解算函数
* @param vx: X方向速度 (m/s) - 正数前进，负数后退
* @param vy: Y方向速度 (m/s) - 正数右移，负数左移
* @param vz: 旋转角速度 (rad/s) - 正数逆时针，负数顺时针
*/
void Drive_Motor(float vx, float vy, float vz)
{
float A = WHEELBASE_WIDTH + WHEELBASE_LENGTH;
// 标准麦克纳姆轮运动学逆解算公式
// 轮子编号：0-右上, 1-左上, 2-左下, 3-右下
// 标准麦克纳姆轮运动学逆解算公式
float wheel1_speed = ( vx +vy + vz * A ) / WHEEL_RADIUS; // 右上轮
float wheel2_speed = ( vx - vy + vz * A ) / WHEEL_RADIUS; // 左上轮
float wheel3_speed = (-vx -vy + vz * A ) / WHEEL_RADIUS; // 左下轮
float wheel4_speed = (-vx +vy +vz * A ) / WHEEL_RADIUS; // 右下轮
Set_Motor_Target_Speed(0, wheel1_speed); // 右上轮
Set_Motor_Target_Speed(1, wheel2_speed); // 左上轮
Set_Motor_Target_Speed(2, wheel3_speed); // 左下轮
Set_Motor_Target_Speed(3, wheel4_speed); // 右下轮
}
float Map_Remote_to_Speed(int16_t input, float max_speed)
{
if (input > 660) input = 660;
if (input < -660) input = -660;
// 死区内直接返回0
if (abs(input) < 50) {
return 0.0f;
}
// 不在死区内，正常计算速度
return (input / 660.0f) * max_speed;
}
/**
* @brief 处理遥控器数据并设置底盘速度
*/
void Process_Remote_Control(void)
{
// 映射遥控器值到速度 (m/s)
float vx = Map_Remote_to_Speed(rc.ch2,2.0f); // 前后方向，最大2m/s
float vy = Map_Remote_to_Speed(-rc.ch3, 2.0f); // 左右方向，最大2m/s
float vz = Map_Remote_to_Speed(rc.ch0, 3.0f); // 旋转方向，最大3rad/s
// 调用运动学解算
Drive_Motor(vx, vy, vz);
}
/* USER CODE END 0 */ /* USER CODE END 0 */
@@ -582,12 +93,9 @@ int main(void)
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_DMA_Init();
MX_CAN1_Init(); MX_CAN1_Init();
MX_USART3_UART_Init(); MX_CAN2_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
dbus_uart_init();
HAL_CAN_Start(&hcan1);
Motor_PID_Init(); Motor_PID_Init();
can_filter_init(); can_filter_init();
uint32_t last_control_time = 0; uint32_t last_control_time = 0;

33
Mecanum Wheel moving project 1/Core/Src/stm32f4xx_it.c
View File

@@ -56,8 +56,7 @@
/* External variables --------------------------------------------------------*/ /* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan1; extern CAN_HandleTypeDef hcan1;
extern DMA_HandleTypeDef hdma_usart3_rx; extern CAN_HandleTypeDef hcan2;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN EV */ /* USER CODE BEGIN EV */
/* USER CODE END EV */ /* USER CODE END EV */
@@ -200,20 +199,6 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32f4xx.s). */ /* please refer to the startup file (startup_stm32f4xx.s). */
/******************************************************************************/ /******************************************************************************/
/**
* @brief This function handles DMA1 stream1 global interrupt.
*/
void DMA1_Stream1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
/* USER CODE END DMA1_Stream1_IRQn 0 */
HAL_DMA_IRQHandler(&hdma_usart3_rx);
/* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
/* USER CODE END DMA1_Stream1_IRQn 1 */
}
/** /**
* @brief This function handles CAN1 RX0 interrupts. * @brief This function handles CAN1 RX0 interrupts.
*/ */
@@ -229,17 +214,17 @@ void CAN1_RX0_IRQHandler(void)
} }
/** /**
* @brief This function handles USART3 global interrupt. * @brief This function handles CAN2 RX0 interrupts.
*/ */
void USART3_IRQHandler(void) void CAN2_RX0_IRQHandler(void)
{ {
/* USER CODE BEGIN USART3_IRQn 0 */ /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
uart_receive_handler(&huart3);
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */
/* USER CODE END USART3_IRQn 1 */ /* USER CODE END CAN2_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX0_IRQn 1 */
/* USER CODE END CAN2_RX0_IRQn 1 */
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */

231
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1.uvguix.JXF
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File diff suppressed because one or more lines are too long

193
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1.uvoptx
View File

@@ -235,6 +235,11 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>debug_vz</ItemText> <ItemText>debug_vz</ItemText>
</Ww> </Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>Remote_RxData</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
@@ -357,30 +362,6 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>../Core/Src/dma.c</PathWithFileName>
<FilenameWithoutPath>dma.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
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<PathWithFileName>../Core/Src/stm32f4xx_it.c</PathWithFileName> <PathWithFileName>../Core/Src/stm32f4xx_it.c</PathWithFileName>
<FilenameWithoutPath>stm32f4xx_it.c</FilenameWithoutPath> <FilenameWithoutPath>stm32f4xx_it.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@@ -388,7 +369,7 @@
</File> </File>
<File> <File>
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<tvExp>0</tvExp> <tvExp>0</tvExp>
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@@ -398,6 +379,126 @@
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<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
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<PathWithFileName>..\Core\Inc\CToC.h</PathWithFileName>
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</Group> </Group>
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@@ -408,7 +509,7 @@
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@@ -420,7 +521,7 @@
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@@ -432,7 +533,7 @@
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@@ -444,7 +545,7 @@
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@@ -456,7 +557,7 @@
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<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -468,7 +569,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>14</FileNumber> <FileNumber>22</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -480,7 +581,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>15</FileNumber> <FileNumber>23</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -492,7 +593,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>16</FileNumber> <FileNumber>24</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -504,7 +605,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>17</FileNumber> <FileNumber>25</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -516,7 +617,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>18</FileNumber> <FileNumber>26</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -528,7 +629,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>19</FileNumber> <FileNumber>27</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -540,7 +641,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>20</FileNumber> <FileNumber>28</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -552,7 +653,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>21</FileNumber> <FileNumber>29</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -564,7 +665,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>22</FileNumber> <FileNumber>30</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@@ -574,18 +675,6 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File>
<GroupNumber>3</GroupNumber>
<FileNumber>23</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</PathWithFileName>
<FilenameWithoutPath>stm32f4xx_hal_uart.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group> </Group>
<Group> <Group>
@@ -596,7 +685,7 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>4</GroupNumber> <GroupNumber>4</GroupNumber>
<FileNumber>24</FileNumber> <FileNumber>31</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>

65
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1.uvprojx
View File

@@ -409,16 +409,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Core/Src/can.c</FilePath> <FilePath>../Core/Src/can.c</FilePath>
</File> </File>
<File>
<FileName>dma.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/dma.c</FilePath>
</File>
<File>
<FileName>usart.c</FileName>
<FileType>1</FileType>
<FilePath>../Core/Src/usart.c</FilePath>
</File>
<File> <File>
<FileName>stm32f4xx_it.c</FileName> <FileName>stm32f4xx_it.c</FileName>
<FileType>1</FileType> <FileType>1</FileType>
@@ -429,6 +419,56 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Core/Src/stm32f4xx_hal_msp.c</FilePath> <FilePath>../Core/Src/stm32f4xx_hal_msp.c</FilePath>
</File> </File>
<File>
<FileName>CToC.c</FileName>
<FileType>1</FileType>
<FilePath>..\Core\Src\CToC.c</FilePath>
</File>
<File>
<FileName>CToC.h</FileName>
<FileType>5</FileType>
<FilePath>..\Core\Inc\CToC.h</FilePath>
</File>
<File>
<FileName>RefreeSystem.c</FileName>
<FileType>1</FileType>
<FilePath>..\Core\Src\RefreeSystem.c</FilePath>
</File>
<File>
<FileName>RefreeSystem.h</FileName>
<FileType>5</FileType>
<FilePath>..\Core\Inc\RefreeSystem.h</FilePath>
</File>
<File>
<FileName>Remote.c</FileName>
<FileType>1</FileType>
<FilePath>..\Core\Src\Remote.c</FilePath>
</File>
<File>
<FileName>Remote.h</FileName>
<FileType>5</FileType>
<FilePath>..\Core\Inc\Remote.h</FilePath>
</File>
<File>
<FileName>M3508.c</FileName>
<FileType>1</FileType>
<FilePath>..\Core\Src\M3508.c</FilePath>
</File>
<File>
<FileName>M3508.h</FileName>
<FileType>5</FileType>
<FilePath>..\Core\Inc\M3508.h</FilePath>
</File>
<File>
<FileName>PID.c</FileName>
<FileType>1</FileType>
<FilePath>..\Core\Src\PID.c</FilePath>
</File>
<File>
<FileName>pid.h</FileName>
<FileType>5</FileType>
<FilePath>..\Core\Inc\pid.h</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>
@@ -504,11 +544,6 @@
<FileType>1</FileType> <FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath> <FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c</FilePath>
</File> </File>
<File>
<FileName>stm32f4xx_hal_uart.c</FileName>
<FileType>1</FileType>
<FilePath>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>

BIN
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/Mecanum Wheel moving project 1.axf
View File

Binary file not shown.

10
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/Mecanum Wheel moving project 1.build_log.htm
View File

@@ -21,16 +21,12 @@ Target DLL: CMSIS_AGDI.dll V1.33.16.0
Dialog DLL: TCM.DLL V1.56.4.0 Dialog DLL: TCM.DLL V1.56.4.0
<h2>Project:</h2> <h2>Project:</h2>
D:\robomaster\Mecanum Wheel moving project 1\Mecanum Wheel moving project 1\MDK-ARM\Mecanum Wheel moving project 1.uvprojx D:\robomaster\Mecanum Wheel moving project 1\MDK-ARM\Mecanum Wheel moving project 1.uvprojx
Project File Date: 11/07/2025 Project File Date: 11/27/2025
<h2>Output:</h2> <h2>Output:</h2>
*** Using Compiler 'V5.06 update 5 (build 528)', folder: 'D:\useless\ARM\ARMCC\Bin' *** Using Compiler 'V5.06 update 5 (build 528)', folder: 'D:\useless\ARM\ARMCC\Bin'
Build target 'Mecanum Wheel moving project 1' Build target 'Mecanum Wheel moving project 1'
compiling main.c...
linking...
Program Size: Code=9724 RO-data=456 RW-data=36 ZI-data=2132
FromELF: creating hex file...
"Mecanum Wheel moving project 1\Mecanum Wheel moving project 1.axf" - 0 Error(s), 0 Warning(s). "Mecanum Wheel moving project 1\Mecanum Wheel moving project 1.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2> <h2>Software Packages used:</h2>
@@ -54,7 +50,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE@5.6.0 * Component: ARM::CMSIS:CORE@5.6.0
Include file: CMSIS/Core/Include/tz_context.h Include file: CMSIS/Core/Include/tz_context.h
Build Time Elapsed: 00:00:03 Build Time Elapsed: 00:00:00
</pre> </pre>
</body> </body>
</html> </html>

1010
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/Mecanum Wheel moving project 1.hex
View File

File diff suppressed because it is too large Load Diff

868
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/Mecanum Wheel moving project 1.htm
View File

File diff suppressed because it is too large Load Diff

8
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/Mecanum Wheel moving project 1.lnp
View File

@@ -3,10 +3,13 @@
"mecanum wheel moving project 1\main.o" "mecanum wheel moving project 1\main.o"
"mecanum wheel moving project 1\gpio.o" "mecanum wheel moving project 1\gpio.o"
"mecanum wheel moving project 1\can.o" "mecanum wheel moving project 1\can.o"
"mecanum wheel moving project 1\dma.o"
"mecanum wheel moving project 1\usart.o"
"mecanum wheel moving project 1\stm32f4xx_it.o" "mecanum wheel moving project 1\stm32f4xx_it.o"
"mecanum wheel moving project 1\stm32f4xx_hal_msp.o" "mecanum wheel moving project 1\stm32f4xx_hal_msp.o"
"mecanum wheel moving project 1\ctoc.o"
"mecanum wheel moving project 1\refreesystem.o"
"mecanum wheel moving project 1\remote.o"
"mecanum wheel moving project 1\m3508.o"
"mecanum wheel moving project 1\pid.o"
"mecanum wheel moving project 1\stm32f4xx_hal_can.o" "mecanum wheel moving project 1\stm32f4xx_hal_can.o"
"mecanum wheel moving project 1\stm32f4xx_hal_rcc.o" "mecanum wheel moving project 1\stm32f4xx_hal_rcc.o"
"mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o" "mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o"
@@ -21,7 +24,6 @@
"mecanum wheel moving project 1\stm32f4xx_hal_cortex.o" "mecanum wheel moving project 1\stm32f4xx_hal_cortex.o"
"mecanum wheel moving project 1\stm32f4xx_hal.o" "mecanum wheel moving project 1\stm32f4xx_hal.o"
"mecanum wheel moving project 1\stm32f4xx_hal_exti.o" "mecanum wheel moving project 1\stm32f4xx_hal_exti.o"
"mecanum wheel moving project 1\stm32f4xx_hal_uart.o"
"mecanum wheel moving project 1\system_stm32f4xx.o" "mecanum wheel moving project 1\system_stm32f4xx.o"
--strict --scatter "Mecanum Wheel moving project 1\Mecanum Wheel moving project 1.sct" --strict --scatter "Mecanum Wheel moving project 1\Mecanum Wheel moving project 1.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols

1193
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/Mecanum Wheel moving project 1.map
View File

File diff suppressed because it is too large Load Diff

532
Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/Mecanum Wheel moving project 1_Mecanum Wheel moving project 1.dep
View File

@@ -1,10 +1,10 @@
Dependencies for Project 'Mecanum Wheel moving project 1', Target 'Mecanum Wheel moving project 1': (DO NOT MODIFY !) Dependencies for Project 'Mecanum Wheel moving project 1', Target 'Mecanum Wheel moving project 1': (DO NOT MODIFY !)
CompilerVersion: 5060528::V5.06 update 5 (build 528)::ARMCC CompilerVersion: 5060528::V5.06 update 5 (build 528)::ARMCC
F (startup_stm32f407xx.s)(0x690B4370)(--cpu Cortex-M4.fp.sp -g --apcs=interwork F (startup_stm32f407xx.s)(0x69257E8D)(--cpu Cortex-M4.fp.sp -g --apcs=interwork
-I.\RTE\_Mecanum_Wheel_moving_project_1 -I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
--pd "__UVISION_VERSION SETA 539" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --pd "_RTE_ SETA 1" --pd "__UVISION_VERSION SETA 539" --pd "_RTE_ SETA 1" --pd "STM32F407xx SETA 1" --pd "_RTE_ SETA 1"
@@ -31,19 +31,283 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344) I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Core/Inc/can.h)(0x69257E8A)
I (../Core/Inc/gpio.h)(0x6908ACBA)
I (../Core/Inc/CToC.h)(0x69283CF2)
I (../Core/Inc/M3508.h)(0x69283CF2)
I (../Core/Inc/PID.h)(0x69283CF2)
I (../Core/Inc/RefreeSystem.h)(0x69283CF2)
I (../Core/Inc/Remote.h)(0x69283CF2)
F (../Core/Src/gpio.c)(0x69257E8A)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\gpio.o" --omf_browse "mecanum wheel moving project 1\gpio.crf" --depend "mecanum wheel moving project 1\gpio.d")
I (../Core/Inc/gpio.h)(0x6908ACBA)
I (../Core/Inc/main.h)(0x69283CF2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
F (../Core/Src/can.c)(0x69257E8A)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\can.o" --omf_browse "mecanum wheel moving project 1\can.crf" --depend "mecanum wheel moving project 1\can.d")
I (../Core/Inc/can.h)(0x69257E8A)
I (../Core/Inc/main.h)(0x69283CF2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
F (../Core/Src/stm32f4xx_it.c)(0x69257E8A)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\stm32f4xx_it.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_it.crf" --depend "mecanum wheel moving project 1\stm32f4xx_it.d")
I (../Core/Inc/main.h)(0x69283CF2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_it.h)(0x69257E8B)
F (../Core/Src/stm32f4xx_hal_msp.c)(0x6908ACBC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\stm32f4xx_hal_msp.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_hal_msp.crf" --depend "mecanum wheel moving project 1\stm32f4xx_hal_msp.d")
I (../Core/Inc/main.h)(0x69283CF2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
F (..\Core\Src\CToC.c)(0x69283CF2)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\ctoc.o" --omf_browse "mecanum wheel moving project 1\ctoc.crf" --depend "mecanum wheel moving project 1\ctoc.d")
I (../Core/Inc/main.h)(0x69283CF2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Core/Inc/can.h)(0x69257E8A)
I (../Core/Inc/gpio.h)(0x6908ACBA)
I (../Core/Inc/CToC.h)(0x69283CF2)
I (../Core/Inc/M3508.h)(0x69283CF2)
I (../Core/Inc/PID.h)(0x69283CF2)
I (../Core/Inc/RefreeSystem.h)(0x69283CF2)
I (../Core/Inc/Remote.h)(0x69283CF2)
F (..\Core\Inc\CToC.h)(0x69283CF2)()
F (..\Core\Src\RefreeSystem.c)(0x69283CF2)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\refreesystem.o" --omf_browse "mecanum wheel moving project 1\refreesystem.crf" --depend "mecanum wheel moving project 1\refreesystem.d")
I (../Core/Inc/RefreeSystem.h)(0x69283CF2)
I (../Core/Inc/main.h)(0x69283CF2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
F (..\Core\Inc\RefreeSystem.h)(0x69283CF2)()
F (..\Core\Src\Remote.c)(0x69283CF2)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1 -I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4) -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-o "mecanum wheel moving project 1\remote.o" --omf_browse "mecanum wheel moving project 1\remote.crf" --depend "mecanum wheel moving project 1\remote.d")
I (../Core/Inc/main.h)(0x69283CF2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09) I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
@@ -70,169 +334,14 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Core/Inc/Remote.h)(0x69283CF2) I (../Core/Inc/Remote.h)(0x69283CF2)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4) F (..\Core\Inc\Remote.h)(0x69283CF2)()
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4) F (..\Core\Src\M3508.c)(0x69283CF2)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344) -I.\RTE\_Mecanum_Wheel_moving_project_1
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
F (../Core/Src/can.c)(0x690B436C)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\can.o" --omf_browse "mecanum wheel moving project 1\can.crf" --depend "mecanum wheel moving project 1\can.d")
I (../Core/Inc/can.h)(0x6908ACBC)
I (../Core/Inc/main.h)(0x69108671)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
F (../Core/Src/dma.c)(0x6908ACBC)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\dma.o" --omf_browse "mecanum wheel moving project 1\dma.crf" --depend "mecanum wheel moving project 1\dma.d")
I (../Core/Inc/dma.h)(0x6908ACBC)
I (../Core/Inc/main.h)(0x69108671)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
F (../Core/Src/usart.c)(0x690B1648)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\usart.o" --omf_browse "mecanum wheel moving project 1\usart.crf" --depend "mecanum wheel moving project 1\usart.d")
I (../Core/Inc/usart.h)(0x6908ACBC)
I (../Core/Inc/main.h)(0x69108671)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
F (../Core/Src/stm32f4xx_it.c)(0x690B41D9)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\stm32f4xx_it.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_it.crf" --depend "mecanum wheel moving project 1\stm32f4xx_it.d")
I (../Core/Inc/main.h)(0x69108671)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344) -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\m3508.o" --omf_browse "mecanum wheel moving project 1\m3508.crf" --depend "mecanum wheel moving project 1\m3508.d") -o "mecanum wheel moving project 1\m3508.o" --omf_browse "mecanum wheel moving project 1\m3508.crf" --depend "mecanum wheel moving project 1\m3508.d")
I (../Core/Inc/main.h)(0x69283CF2) I (../Core/Inc/main.h)(0x69283CF2)
@@ -259,10 +368,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Core/Inc/M3508.h)(0x69283CF2) I (../Core/Inc/M3508.h)(0x69283CF2)
@@ -289,10 +397,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09) I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344) I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
@@ -319,10 +426,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\math.h)(0x588B8344) I (D:\useless\ARM\ARMCC\include\math.h)(0x588B8344)
I (../Core/Inc/Remote.h)(0x69283CF2) I (../Core/Inc/Remote.h)(0x69283CF2)
I (../Core/Inc/CToC.h)(0x69283CF2) I (../Core/Inc/CToC.h)(0x69283CF2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
F (..\Core\Inc\pid.h)(0x69283CF2)() F (..\Core\Inc\pid.h)(0x69283CF2)()
F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
-I.\RTE\_Mecanum_Wheel_moving_project_1 -I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
@@ -349,10 +455,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
@@ -379,10 +484,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344) I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
@@ -409,10 +513,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09) I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344) I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
@@ -439,10 +542,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
-I.\RTE\_Mecanum_Wheel_moving_project_1 -I.\RTE\_Mecanum_Wheel_moving_project_1
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4) -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\stm32f4xx_hal_flash.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_hal_flash.crf" --depend "mecanum wheel moving project 1\stm32f4xx_hal_flash.d") -o "mecanum wheel moving project 1\stm32f4xx_hal_flash.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_hal_flash.crf" --depend "mecanum wheel moving project 1\stm32f4xx_hal_flash.d")
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
@@ -469,10 +571,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
@@ -499,10 +600,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344) I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
@@ -529,10 +629,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344) I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x6908ACBD) I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
@@ -559,10 +658,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o "mecanum wheel moving project 1\stm32f4xx_hal_gpio.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_hal_gpio.crf" --depend "mecanum wheel moving project 1\stm32f4xx_hal_gpio.d") -o "mecanum wheel moving project 1\stm32f4xx_hal_gpio.o" --omf_browse "mecanum wheel moving project 1\stm32f4xx_hal_gpio.crf" --depend "mecanum wheel moving project 1\stm32f4xx_hal_gpio.d")
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h)(0x68CFEBC4)
I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09) I (../Core/Inc/stm32f4xx_hal_conf.h)(0x69257E09)
-I.\RTE\_Mecanum_Wheel_moving_project_1 I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
@@ -589,10 +687,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
-I.\RTE\_Mecanum_Wheel_moving_project_1 -I.\RTE\_Mecanum_Wheel_moving_project_1
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include -ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
@@ -619,10 +716,9 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
@@ -649,38 +745,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5) I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/core_cm4.h)(0x68CFEBC5)
I (D:\useless\ARM\ARMCC\include\stdint.h)(0x588B8344)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_compiler.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Include/mpu_armv7.h)(0x68CFEBC5)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h)(0x68CFEBC4)
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h)(0x68CFEBC4)
F (../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c)(0x68CFEBC4)(--c99 -c --cpu Cortex-M4.fp.sp -g -O3 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include
-I.\RTE\_Mecanum_Wheel_moving_project_1
-ID:\useless\ARM\PACK\ARM\CMSIS\5.9.0\CMSIS\Core\Include
-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344) I (D:\useless\ARM\ARMCC\include\stddef.h)(0x588B8344)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h)(0x68CFEBC4)
@@ -691,7 +756,7 @@ I (../Drivers/CMSIS/Include/cmsis_armcc.h)(0x68CFEBC5)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Include/cmsis_version.h)(0x68CFEBC5) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h)(0x68CFEBC4)
@@ -709,4 +774,3 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4) I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h)(0x68CFEBC4)
I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4) I (../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h)(0x68CFEBC4)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h)(0x68CFEBC4)

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@@ -30,4 +30,3 @@ mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f
mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/ctoc.d Normal file
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@@ -0,0 +1,38 @@
mecanum wheel moving project 1\ctoc.o: ..\Core\Src\CToC.c
mecanum wheel moving project 1\ctoc.o: ../Core/Inc/main.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\ctoc.o: ../Core/Inc/stm32f4xx_hal_conf.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/core_cm4.h
mecanum wheel moving project 1\ctoc.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/cmsis_version.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Include/mpu_armv7.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
mecanum wheel moving project 1\ctoc.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\ctoc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\ctoc.o: ../Core/Inc/can.h
mecanum wheel moving project 1\ctoc.o: ../Core/Inc/gpio.h
mecanum wheel moving project 1\ctoc.o: ../Core/Inc/CToC.h
mecanum wheel moving project 1\ctoc.o: ../Core/Inc/M3508.h
mecanum wheel moving project 1\ctoc.o: ../Core/Inc/PID.h
mecanum wheel moving project 1\ctoc.o: ../Core/Inc/RefreeSystem.h
mecanum wheel moving project 1\ctoc.o: ../Core/Inc/Remote.h

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@@ -30,4 +30,3 @@ mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32
mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -0,0 +1,40 @@
mecanum wheel moving project 1\m3508.o: ..\Core\Src\M3508.c
mecanum wheel moving project 1\m3508.o: ../Core/Inc/main.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\m3508.o: ../Core/Inc/stm32f4xx_hal_conf.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/core_cm4.h
mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/cmsis_version.h
mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Include/mpu_armv7.h
mecanum wheel moving project 1\m3508.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\m3508.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\m3508.o: ../Core/Inc/M3508.h
mecanum wheel moving project 1\m3508.o: ../Core/Inc/PID.h
mecanum wheel moving project 1\m3508.o: ../Core/Inc/can.h
mecanum wheel moving project 1\m3508.o: ../Core/Inc/gpio.h
mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\string.h
mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\stdlib.h
mecanum wheel moving project 1\m3508.o: D:\useless\ARM\ARMCC\Bin\..\include\math.h
mecanum wheel moving project 1\m3508.o: ../Core/Inc/Remote.h
mecanum wheel moving project 1\m3508.o: ../Core/Inc/CToC.h

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@@ -29,11 +29,10 @@ mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32
mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
mecanum wheel moving project 1\main.o: ../Core/Inc/can.h mecanum wheel moving project 1\main.o: ../Core/Inc/can.h
mecanum wheel moving project 1\main.o: ../Core/Inc/dma.h
mecanum wheel moving project 1\main.o: ../Core/Inc/usart.h
mecanum wheel moving project 1\main.o: ../Core/Inc/gpio.h mecanum wheel moving project 1\main.o: ../Core/Inc/gpio.h
mecanum wheel moving project 1\main.o: D:\useless\ARM\ARMCC\Bin\..\include\string.h mecanum wheel moving project 1\main.o: ../Core/Inc/CToC.h
mecanum wheel moving project 1\main.o: D:\useless\ARM\ARMCC\Bin\..\include\stdlib.h mecanum wheel moving project 1\main.o: ../Core/Inc/M3508.h
mecanum wheel moving project 1\main.o: D:\useless\ARM\ARMCC\Bin\..\include\math.h mecanum wheel moving project 1\main.o: ../Core/Inc/PID.h
mecanum wheel moving project 1\main.o: ../Core/Inc/RefreeSystem.h
mecanum wheel moving project 1\main.o: ../Core/Inc/Remote.h

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mecanum wheel moving project 1\pid.o: ..\Core\Src\PID.c
mecanum wheel moving project 1\pid.o: ../Core/Inc/PID.h
mecanum wheel moving project 1\pid.o: ../Core/Inc/main.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\pid.o: ../Core/Inc/stm32f4xx_hal_conf.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/core_cm4.h
mecanum wheel moving project 1\pid.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/cmsis_version.h
mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Include/mpu_armv7.h
mecanum wheel moving project 1\pid.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
mecanum wheel moving project 1\pid.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\pid.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\pid.o: ../Core/Inc/M3508.h
mecanum wheel moving project 1\pid.o: D:\useless\ARM\ARMCC\Bin\..\include\math.h
mecanum wheel moving project 1\pid.o: ../Core/Inc/Remote.h
mecanum wheel moving project 1\pid.o: ../Core/Inc/CToC.h

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mecanum wheel moving project 1\refreesystem.o: ..\Core\Src\RefreeSystem.c
mecanum wheel moving project 1\refreesystem.o: ../Core/Inc/RefreeSystem.h
mecanum wheel moving project 1\refreesystem.o: ../Core/Inc/main.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\refreesystem.o: ../Core/Inc/stm32f4xx_hal_conf.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/core_cm4.h
mecanum wheel moving project 1\refreesystem.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/cmsis_version.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Include/mpu_armv7.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
mecanum wheel moving project 1\refreesystem.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\refreesystem.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h

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mecanum wheel moving project 1\remote.o: ..\Core\Src\Remote.c
mecanum wheel moving project 1\remote.o: ../Core/Inc/main.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\remote.o: ../Core/Inc/stm32f4xx_hal_conf.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/core_cm4.h
mecanum wheel moving project 1\remote.o: D:\useless\ARM\ARMCC\Bin\..\include\stdint.h
mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/cmsis_version.h
mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Include/mpu_armv7.h
mecanum wheel moving project 1\remote.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
mecanum wheel moving project 1\remote.o: D:\useless\ARM\ARMCC\Bin\..\include\stddef.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\remote.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\remote.o: ../Core/Inc/Remote.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/
mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Dri
mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_
mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_cortex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Dri
mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_dma.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_
mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_dma_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Dr
mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_exti.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_D
mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_flash.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HA
mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_flash_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_flash_ramfunc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/stm32f4xx_hal_gpio.d
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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Dr
mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/stm32f4xx_hal_msp.d
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@@ -29,4 +29,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Dri
mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_msp.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/stm32f4xx_hal_pwr.d
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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Dri
mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_pwr.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_
mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_pwr_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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Mecanum Wheel moving project 1/MDK-ARM/Mecanum Wheel moving project 1/stm32f4xx_hal_rcc.d
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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Dri
mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_rcc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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@@ -28,4 +28,3 @@ mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_
mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
mecanum wheel moving project 1\stm32f4xx_hal_rcc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

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