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No commits in common. "019b4d07d34aa44293aa93d762fa03ae4cfdab3a" and "3390dcc7deae6de64d3c06ad5d4abe0fb7c93bca" have entirely different histories.

289 changed files with 35810 additions and 36095 deletions

View File

@ -132,15 +132,7 @@ void ChassisInit() {
.can_handle = &hcan1,
.tx_id = 0x210,
.rx_id = 0x211,
},
.buffer_config_pid = {
.Kp = 1.0f,
.Ki = 0,
.Kd = 0,
.MaxOut = 300,
},
};
}};
cap = SuperCapInit(&cap_conf); // 超级电容初始化
//用一阶滤波代替斜波函数生成 //增大更能刹住
@ -192,10 +184,6 @@ static void OmniCalculate() {
}
static const float motor_power_K[3] = {1.6301e-6f,5.7501e-7f,2.5863e-7f};
float input;
float P_max;
///依据3508电机功率模型预测电机输出功率
static float EstimatePower(DJIMotorInstance* chassis_motor)
{
@ -213,29 +201,21 @@ static float EstimatePower(DJIMotorInstance* chassis_motor)
*/
static void LimitChassisOutput()
{
// float Plimit = 1.0f;
float Plimit = 1.0f;
float P_cmd = motor_rf->motor_controller.motor_power_predict +
motor_rb->motor_controller.motor_power_predict +
motor_lb->motor_controller.motor_power_predict +
motor_lf->motor_controller.motor_power_predict + 3.6f;
// if(chassis_cmd_recv.buffer_energy<50&&chassis_cmd_recv.buffer_energy>=40) Plimit=0.9f;
// else if(chassis_cmd_recv.buffer_energy<40&&chassis_cmd_recv.buffer_energy>=35) Plimit=0.75f;
// else if(chassis_cmd_recv.buffer_energy<35&&chassis_cmd_recv.buffer_energy>=30) Plimit=0.5f;
// else if(chassis_cmd_recv.buffer_energy<30&&chassis_cmd_recv.buffer_energy>=20) Plimit=0.25f;
// else if(chassis_cmd_recv.buffer_energy<20&&chassis_cmd_recv.buffer_energy>=10) Plimit=0.125f;
// else if(chassis_cmd_recv.buffer_energy<10&&chassis_cmd_recv.buffer_energy>=0) Plimit=0.05f;
// else if(chassis_cmd_recv.buffer_energy==60) Plimit=1.0f;
if(chassis_cmd_recv.buffer_energy<50&&chassis_cmd_recv.buffer_energy>=40) Plimit=0.9f;
else if(chassis_cmd_recv.buffer_energy<40&&chassis_cmd_recv.buffer_energy>=35) Plimit=0.75f;
else if(chassis_cmd_recv.buffer_energy<35&&chassis_cmd_recv.buffer_energy>=30) Plimit=0.5f;
else if(chassis_cmd_recv.buffer_energy<30&&chassis_cmd_recv.buffer_energy>=20) Plimit=0.25f;
else if(chassis_cmd_recv.buffer_energy<20&&chassis_cmd_recv.buffer_energy>=10) Plimit=0.125f;
else if(chassis_cmd_recv.buffer_energy<10&&chassis_cmd_recv.buffer_energy>=0) Plimit=0.05f;
else if(chassis_cmd_recv.buffer_energy==60) Plimit=1.0f;
if (cap->cap_msg.cap_vol>1800)
{
P_max = input + chassis_cmd_recv.buffer_supercap ;
}
else
{
P_max = input;
}
float K = P_max / P_cmd;
float K = ((float)(chassis_cmd_recv.chassis_power_limit - 3) * (Plimit + 0.50f) + (float)(chassis_cmd_recv.buffer_supercap)) / P_cmd;
if(chassis_cmd_recv.buffer_energy<5)//当缓冲功率过小时,限制功率给小;
K = (float)(chassis_cmd_recv.chassis_power_limit - 3) / P_cmd;
@ -259,13 +239,11 @@ static void LimitChassisOutput()
*/
static void SuperCapSetUpdate()
{
PIDCalculate(&cap->buffer_pid, chassis_cmd_recv.buffer_energy,30);//对缓冲功率进行闭环
input = chassis_cmd_recv.chassis_power_limit - cap->buffer_pid.Output;
LIMIT_MIN_MAX(input, 30, 130);
SuperCapSetPower(cap,input);
if(last_chassis_power_limit != chassis_cmd_recv.chassis_power_limit)
{
SuperCapSetPower(cap,chassis_cmd_recv.chassis_power_limit); // 超级电容限制功率
last_chassis_power_limit = chassis_cmd_recv.chassis_power_limit;
}
}
/**
* @brief ,,
@ -308,11 +286,6 @@ void ChassisTask() {
break;
case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
chassis_cmd_recv.wz = 10.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
LIMIT_MIN_MAX(chassis_cmd_recv.wz,-30000,30000);
break;
case CHASSIS_SIDEWAYS: // 侧向,不单独设置pid,以误差角度平方为速度输出
chassis_cmd_recv.wz = 10.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45);
LIMIT_MIN_MAX(chassis_cmd_recv.wz,-30000,30000);
break;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
chassis_cmd_recv.wz = 30000;
@ -344,8 +317,7 @@ void ChassisTask() {
// 根据控制模式进行正运动学解算,计算底盘输出
//MecanumCalculate();
OmniCalculate();
////对缓冲功率进行闭环
SuperCapSetUpdate();
// 根据裁判系统的反馈数据和电容数据对输出限幅并设定闭环参考值
LimitChassisOutput();
@ -365,7 +337,8 @@ void ChassisTask() {
//chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol;
//每次随等级更新超电的设定功率
SuperCapSetUpdate();
// 推送反馈消息
#ifdef ONE_BOARD
PubPushMessage(chassis_pub, (void *) &chassis_feedback_data);

View File

@ -139,7 +139,6 @@ static void update_ui_data() {
ui_data.friction_mode = shoot_cmd_send.friction_mode;
//ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
ui_data.lid_mode = shoot_cmd_send.lid_mode;
ui_data.heat_mode = shoot_cmd_send.heat_mode;
ui_data.aim_fire = aim_select.suggest_fire;
//ui_data.loader_mode = shoot_cmd_send.loader_mode;
@ -184,7 +183,7 @@ static void auto_aim_mode() {
gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI;
if (yaw_err <= 2) //3度
if (yaw_err <= 0.5) //3度
{
aim_select.suggest_fire = 1;
}
@ -270,7 +269,7 @@ static void RemoteControlSet() {
// }
// 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
shoot_cmd_send.shoot_rate = 18;// 小 18
shoot_cmd_send.shoot_rate = 18;
if(shoot_fetch_data.stalled_flag ==1)
shoot_cmd_send.loader_mode = LOAD_REVERSE;
@ -359,7 +358,7 @@ static void MouseKeySet() {
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // Q键开关弹舱盖
{
case 0:
shoot_cmd_send.lid_mode = LID_CLOSE;
@ -368,54 +367,15 @@ static void MouseKeySet() {
shoot_cmd_send.lid_mode = LID_OPEN;
break;
}
// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
// {
// case 0:
// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
// break;
// default:
// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
// break;
// }
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
{
case 0:
shoot_cmd_send.heat_mode = HEAT_OPEN;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
break;
default:
shoot_cmd_send.heat_mode = HEAT_CLOSE;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
{
case 0:
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
{
case 0:
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
{
case 0:
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
@ -523,7 +483,7 @@ static void VTMouseKeySet()
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // Q键开关弹舱盖
{
case 0:
shoot_cmd_send.lid_mode = LID_CLOSE;
@ -532,63 +492,15 @@ static void VTMouseKeySet()
shoot_cmd_send.lid_mode = LID_OPEN;
break;
}
// switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
// {
// case 0:
// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
// break;
// default:
// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
// break;
// }
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
{
case 0:
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
{
case 0:
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
{
case 0:
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
{
case 0:
shoot_cmd_send.heat_mode = HEAT_OPEN;
break;
default:
shoot_cmd_send.heat_mode = HEAT_CLOSE;
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
{
case 0:
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式

View File

@ -26,7 +26,7 @@
/* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
// 云台参数
#define YAW_CHASSIS_ALIGN_ECD 1443 // 小 1443 大2053 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_CHASSIS_ALIGN_ECD 1443 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
#define PITCH_HORIZON_ECD 4422 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_MAX_ANGLE 25 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪,则填写陀螺仪的角度)
@ -90,7 +90,6 @@ typedef enum
CHASSIS_ROTATE, // 小陀螺模式
CHASSIS_NO_FOLLOW, // 不跟随,允许全向平移
CHASSIS_FOLLOW_GIMBAL_YAW, // 跟随模式,底盘叠加角度环控制
CHASSIS_SIDEWAYS, // 侧向
} chassis_mode_e;
// 云台模式设置
@ -115,7 +114,7 @@ typedef enum
typedef enum
{
LID_OPEN , // 弹舱盖打开
LID_OPEN = 0, // 弹舱盖打开
LID_CLOSE, // 弹舱盖关闭
} lid_mode_e;
@ -127,11 +126,7 @@ typedef enum
LOAD_3_BULLET, // 三发
LOAD_BURSTFIRE, // 连发
} loader_mode_e;
typedef enum
{
HEAT_OPEN , // 热控打开
HEAT_CLOSE, // 热控关闭
}heat_mode_e;
// 功率限制,从裁判系统获取,是否有必要保留?
typedef struct
{
@ -184,7 +179,6 @@ typedef struct
loader_mode_e loader_mode;
lid_mode_e lid_mode;
friction_mode_e friction_mode;
heat_mode_e heat_mode;
Bullet_Speed_e bullet_speed; // 弹速枚举
float shoot_rate; // 连续发射的射频,unit per s,发/秒

View File

@ -28,16 +28,16 @@ void ShootInit()
},
.controller_param_init_config = {
.speed_PID = {
.Kp = 1.5f,
.Ki = 0.2f,
.Kp = 1.5f, // 20
.Ki = 0.2f, // 1
.Kd = 0,
.Improve = PID_Integral_Limit,
.IntegralLimit = 10000,
.MaxOut = 15000,
},
.current_PID = {
.Kp = 0,
.Ki = 0,
.Kp = 0, // 0.7
.Ki = 0, // 0.1
.Kd = 0,
.Improve = PID_Integral_Limit,
.IntegralLimit = 10000,
@ -49,11 +49,11 @@ void ShootInit()
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508};
friction_config.can_init_config.tx_id = 2,
friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
friction_l = DJIMotorInit(&friction_config);
friction_l = DJIMotorInit(&friction_config);
friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行
friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
@ -154,17 +154,17 @@ void stalled_detect()
}
// 热量控制
//void Heat_control()
//{
// if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit))
// {
// DJIMotorStop(loader);
// }
// else
// {
// DJIMotorEnable(loader);
// }
//}
void Heat_control()
{
if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit))
{
DJIMotorStop(loader);
}
else
{
DJIMotorEnable(loader);
}
}
/* 机器人发射机构控制核心任务 */
void ShootTask()
@ -274,26 +274,10 @@ void ShootTask()
{
Servo_Motor_FreeAngle_Set(lid,10);
}
// 开关热控
if(shoot_cmd_recv.heat_mode == HEAT_OPEN)
{
if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit))
{
DJIMotorStop(loader);
}
else
{
DJIMotorEnable(loader);
}
}
else if(shoot_cmd_recv.heat_mode == HEAT_CLOSE) {
DJIMotorEnable(loader);
}
//卡弹检测
stalled_detect();
// 热量控制
//Heat_control();
Heat_control();
// 反馈数据,目前暂时没有要设定的反馈数据,后续可能增加应用离线监测以及卡弹反馈
PubPushMessage(shoot_pub, (void *)&shoot_feedback_data);

File diff suppressed because one or more lines are too long

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@ -1,10 +1,10 @@
set(CMAKE_ASM_COMPILER "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc.exe")
set(CMAKE_ASM_COMPILER "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc.exe")
set(CMAKE_ASM_COMPILER_ARG1 "")
set(CMAKE_AR "arm-none-eabi-ar")
set(CMAKE_ASM_COMPILER_AR "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ar.exe")
set(CMAKE_RANLIB "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-ranlib.exe")
set(CMAKE_ASM_COMPILER_RANLIB "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ranlib.exe")
set(CMAKE_LINKER "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-ld.exe")
set(CMAKE_ASM_COMPILER_AR "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ar.exe")
set(CMAKE_RANLIB "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-ranlib.exe")
set(CMAKE_ASM_COMPILER_RANLIB "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ranlib.exe")
set(CMAKE_LINKER "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-ld.exe")
set(CMAKE_MT "")
set(CMAKE_ASM_COMPILER_LOADED 1)
set(CMAKE_ASM_COMPILER_ID "GNU")

View File

@ -1,4 +1,4 @@
set(CMAKE_C_COMPILER "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc.exe")
set(CMAKE_C_COMPILER "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc.exe")
set(CMAKE_C_COMPILER_ARG1 "")
set(CMAKE_C_COMPILER_ID "GNU")
set(CMAKE_C_COMPILER_VERSION "10.3.1")
@ -22,10 +22,10 @@ set(CMAKE_C_SIMULATE_VERSION "")
set(CMAKE_AR "arm-none-eabi-ar")
set(CMAKE_C_COMPILER_AR "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ar.exe")
set(CMAKE_RANLIB "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-ranlib.exe")
set(CMAKE_C_COMPILER_RANLIB "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ranlib.exe")
set(CMAKE_LINKER "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-ld.exe")
set(CMAKE_C_COMPILER_AR "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ar.exe")
set(CMAKE_RANLIB "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-ranlib.exe")
set(CMAKE_C_COMPILER_RANLIB "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ranlib.exe")
set(CMAKE_LINKER "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-ld.exe")
set(CMAKE_MT "")
set(CMAKE_COMPILER_IS_GNUCC 1)
set(CMAKE_C_COMPILER_LOADED 1)
@ -66,7 +66,7 @@ endif()
set(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/arm-none-eabi/10.3.1/include;D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/arm-none-eabi/10.3.1/include-fixed;D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/arm-none-eabi/include")
set(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES "D:/codeSoftware/STM32/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/10.3.1/include;D:/codeSoftware/STM32/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/10.3.1/include-fixed;D:/codeSoftware/STM32/gcc-arm-none-eabi/arm-none-eabi/include")
set(CMAKE_C_IMPLICIT_LINK_LIBRARIES "")
set(CMAKE_C_IMPLICIT_LINK_DIRECTORIES "")
set(CMAKE_C_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")

View File

@ -1,4 +1,4 @@
set(CMAKE_CXX_COMPILER "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe")
set(CMAKE_CXX_COMPILER "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-g++.exe")
set(CMAKE_CXX_COMPILER_ARG1 "")
set(CMAKE_CXX_COMPILER_ID "GNU")
set(CMAKE_CXX_COMPILER_VERSION "10.3.1")
@ -23,10 +23,10 @@ set(CMAKE_CXX_SIMULATE_VERSION "")
set(CMAKE_AR "arm-none-eabi-ar")
set(CMAKE_CXX_COMPILER_AR "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ar.exe")
set(CMAKE_RANLIB "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-ranlib.exe")
set(CMAKE_CXX_COMPILER_RANLIB "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ranlib.exe")
set(CMAKE_LINKER "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-ld.exe")
set(CMAKE_CXX_COMPILER_AR "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ar.exe")
set(CMAKE_RANLIB "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-ranlib.exe")
set(CMAKE_CXX_COMPILER_RANLIB "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ranlib.exe")
set(CMAKE_LINKER "D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-ld.exe")
set(CMAKE_MT "")
set(CMAKE_COMPILER_IS_GNUCXX 1)
set(CMAKE_CXX_COMPILER_LOADED 1)
@ -77,7 +77,7 @@ endif()
set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/arm-none-eabi/include/c++/10.3.1;D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/arm-none-eabi/include/c++/10.3.1/arm-none-eabi;D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/arm-none-eabi/include/c++/10.3.1/backward;D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/arm-none-eabi/10.3.1/include;D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/arm-none-eabi/10.3.1/include-fixed;D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/arm-none-eabi/include")
set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "D:/codeSoftware/STM32/gcc-arm-none-eabi/arm-none-eabi/include/c++/10.3.1;D:/codeSoftware/STM32/gcc-arm-none-eabi/arm-none-eabi/include/c++/10.3.1/arm-none-eabi;D:/codeSoftware/STM32/gcc-arm-none-eabi/arm-none-eabi/include/c++/10.3.1/backward;D:/codeSoftware/STM32/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/10.3.1/include;D:/codeSoftware/STM32/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/10.3.1/include-fixed;D:/codeSoftware/STM32/gcc-arm-none-eabi/arm-none-eabi/include")
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@ -4,7 +4,7 @@ events:
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kind: "message-v1"
backtrace:
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineSystem.cmake:199 (message)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineSystem.cmake:199 (message)"
- "CMakeLists.txt:17 (project)"
message: |
The target system is: Generic - 1 -
@ -12,19 +12,19 @@ events:
-
kind: "message-v1"
backtrace:
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
- "CMakeLists.txt:17 (project)"
message: |
Compiling the C compiler identification source file "CMakeCCompilerId.c" failed.
Compiler: D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc.exe
Compiler: D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc.exe
Build flags:
Id flags:
The output was:
1
d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib\\libc.a(lib_a-exit.o): in function `exit':
d:/codesoftware/stm32/gcc-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: d:/codesoftware/stm32/gcc-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib\\libc.a(lib_a-exit.o): in function `exit':
exit.c:(.text.exit+0x2c): undefined reference to `_exit'
collect2.exe: error: ld returned 1 exit status
@ -32,13 +32,13 @@ events:
-
kind: "message-v1"
backtrace:
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCCompiler.cmake:123 (CMAKE_DETERMINE_COMPILER_ID)"
- "CMakeLists.txt:17 (project)"
message: |
Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
Compiler: D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc.exe
Compiler: D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc.exe
Build flags:
Id flags: -c
@ -49,24 +49,24 @@ events:
Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "CMakeCCompilerId.o"
The C compiler identification is GNU, found in:
D:/zhandui/cqdm/xiaojing/cmake-build-debug/CMakeFiles/3.26.4/CompilerIdC/CMakeCCompilerId.o
C:/Users/sph/Desktop/xjcontrol/xiaojing/cmake-build-debug/CMakeFiles/3.26.4/CompilerIdC/CMakeCCompilerId.o
-
kind: "message-v1"
backtrace:
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)"
- "CMakeLists.txt:17 (project)"
message: |
Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" failed.
Compiler: D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe
Compiler: D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-g++.exe
Build flags:
Id flags:
The output was:
1
d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib\\libc.a(lib_a-exit.o): in function `exit':
d:/codesoftware/stm32/gcc-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld.exe: d:/codesoftware/stm32/gcc-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib\\libc.a(lib_a-exit.o): in function `exit':
exit.c:(.text.exit+0x2c): undefined reference to `_exit'
collect2.exe: error: ld returned 1 exit status
@ -74,13 +74,13 @@ events:
-
kind: "message-v1"
backtrace:
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:17 (message)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:64 (__determine_compiler_id_test)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCXXCompiler.cmake:126 (CMAKE_DETERMINE_COMPILER_ID)"
- "CMakeLists.txt:17 (project)"
message: |
Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
Compiler: D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe
Compiler: D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-g++.exe
Build flags:
Id flags: -c
@ -91,13 +91,13 @@ events:
Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "CMakeCXXCompilerId.o"
The CXX compiler identification is GNU, found in:
D:/zhandui/cqdm/xiaojing/cmake-build-debug/CMakeFiles/3.26.4/CompilerIdCXX/CMakeCXXCompilerId.o
C:/Users/sph/Desktop/xjcontrol/xiaojing/cmake-build-debug/CMakeFiles/3.26.4/CompilerIdCXX/CMakeCXXCompilerId.o
-
kind: "message-v1"
backtrace:
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:1102 (message)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineASMCompiler.cmake:127 (CMAKE_DETERMINE_COMPILER_ID_VENDOR)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerId.cmake:1102 (message)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineASMCompiler.cmake:127 (CMAKE_DETERMINE_COMPILER_ID_VENDOR)"
- "CMakeLists.txt:17 (project)"
message: |
Checking whether the ASM compiler is GNU using "--version" matched "(GNU assembler)|(GCC)|(Free Software Foundation)":
@ -109,14 +109,14 @@ events:
-
kind: "try_compile-v1"
backtrace:
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerABI.cmake:57 (try_compile)"
- "D:/clion/CLion 2023.2.2/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeTestCCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeDetermineCompilerABI.cmake:57 (try_compile)"
- "D:/codeEditor/CLion/bin/cmake/win/x64/share/cmake-3.26/Modules/CMakeTestCCompiler.cmake:26 (CMAKE_DETERMINE_COMPILER_ABI)"
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@ -125,136 +125,136 @@ events:
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# Targets to which this target links which contain Fortran sources.

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C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_gpio_ex.h \
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C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_dma.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_dma_ex.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_cortex.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_adc.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_ll_adc.h \
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C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_dac.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_dac_ex.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_flash.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_flash_ex.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_flash_ramfunc.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_i2c.h \
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C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_rtc.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_rtc_ex.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_spi.h \
C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_tim.h \
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C:\Users\sph\Desktop\xjcontrol\xiaojing\Drivers\STM32F4xx_HAL_Driver\Inc/stm32f4xx_hal_uart.h \
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