From 7f3510c0857bc9d387ae57bb379c4a7fe156ac3c Mon Sep 17 00:00:00 2001 From: zyx Date: Fri, 20 Dec 2024 19:52:40 +0800 Subject: [PATCH] =?UTF-8?q?=E7=A7=BB=E6=A4=8D=E4=B8=BB=E6=A1=86=E6=9E=B6?= =?UTF-8?q?=EF=BC=88DM=E9=A9=B1=E5=8A=A8=EF=BC=89,pitch=E7=94=A8dm?= =?UTF-8?q?=EF=BC=8C=E7=81=AF=E6=9D=A1=E7=94=A8=E5=A4=96=E9=83=A8=E5=8D=95?= =?UTF-8?q?=E7=89=87=E6=9C=BA=E6=8E=A7=E5=88=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 4 +- Src/tim.c | 4 +- application/chassis/chassis.c | 368 - application/chassis/chassis.h | 16 - application/chassis/chassis.md | 24 - application/cmd/robot_cmd.c | 140 +- application/gimbal/gimbal.c | 27 +- application/robot.c | 12 - application/shoot/shoot.c | 81 +- .../reply/cache-v2-66e677dd5570c7783f8d.json | 1447 -- .../cmakeFiles-v1-98b572fb52e402116530.json | 1213 -- .../codemodel-v2-f154511db966dea83028.json | 60 - ...irectory-.-Debug-d0094a50bb2071803777.json | 14 - 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8140 -> 8140 bytes .../uav.elf.dir/Src/usbd_cdc_if.c.obj | Bin 12616 -> 12616 bytes .../uav.elf.dir/Src/usbd_conf.c.obj | Bin 37132 -> 37128 bytes .../uav.elf.dir/Src/usbd_desc.c.obj | Bin 11840 -> 11840 bytes .../application/chassis/chassis.c.obj | Bin 26464 -> 0 bytes .../application/chassis/chassis.c.obj.d | 127 - .../application/cmd/robot_cmd.c.obj | Bin 37820 -> 36136 bytes .../application/gimbal/gimbal.c.obj | Bin 18944 -> 18968 bytes .../application/gimbal/gimbal.c.obj.d | 1 + .../uav.elf.dir/application/robot.c.obj | Bin 19312 -> 19076 bytes .../uav.elf.dir/application/robot.c.obj.d | 1 - .../uav.elf.dir/application/shoot/shoot.c.obj | Bin 26284 -> 26628 bytes .../application/shoot/shoot.c.obj.d | 4 +- .../uav.elf.dir/bsp/adc/bsp_adc.c.obj | Bin 1144 -> 1144 bytes .../uav.elf.dir/bsp/bsp_tools.c.obj | Bin 9176 -> 9172 bytes .../uav.elf.dir/bsp/can/bsp_can.c.obj | Bin 17972 -> 17972 bytes .../uav.elf.dir/bsp/dwt/bsp_dwt.c.obj | Bin 12136 -> 12136 bytes 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10144 -> 10140 bytes .../master_machine/seasky_protocol.c.obj | Bin 10516 -> 10516 bytes .../message_center/message_center.c.obj | Bin 10048 -> 10044 bytes .../modules/motor/DJImotor/dji_motor.c.obj | Bin 28112 -> 28128 bytes .../modules/motor/DMmotor/dmmotor.c.obj | Bin 28916 -> 27652 bytes .../modules/motor/ECmotor/ECA8210.c.obj | Bin 22660 -> 22676 bytes .../modules/motor/HTmotor/HT04.c.obj | Bin 28768 -> 27508 bytes .../modules/motor/LKmotor/LK9025.c.obj | Bin 20400 -> 20416 bytes .../modules/motor/motor_task.c.obj | Bin 3380 -> 3376 bytes .../modules/motor/motor_task.c.obj.d | 3 +- .../motor/servo_motor/servo_motor.c.obj | Bin 13268 -> 13268 bytes .../modules/motor/step_motor/step_motor.c.obj | Bin 1168 -> 1168 bytes .../uav.elf.dir/modules/oled/oled.c.obj | Bin 23812 -> 23808 bytes .../modules/power_meter/power_meter.c.obj | Bin 9424 -> 9420 bytes .../uav.elf.dir/modules/referee/crc_ref.c.obj | Bin 9332 -> 9332 bytes .../modules/referee/referee_UI.c.obj | Bin 23456 -> 23452 bytes 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bytes cmake-build-debug/uav.cbp | 25 +- cmake-build-debug/uav.elf | Bin 1489172 -> 1205332 bytes cmake-build-debug/uav.hex | 10878 ++++++++-------- cmake-build-debug/uav.map | 6273 ++++----- modules/RGB/RGB.c | 80 + modules/RGB/RGB.h | 24 + modules/algorithm/user_lib.c | 14 + modules/algorithm/user_lib.h | 31 +- modules/motor/DJImotor/dji_motor.c | 2 +- modules/motor/DJImotor/dji_motor.h | 2 +- modules/motor/DMmotor/dmmotor.c | 13 +- modules/motor/DMmotor/dmmotor.h | 2 +- modules/motor/HTmotor/HT04.c | 21 +- modules/motor/HTmotor/HT04.h | 2 +- modules/motor/motor_def.h | 23 +- modules/motor/motor_task.c | 1 + modules/motor/pwmmotor/snail.c | 41 + modules/motor/pwmmotor/snail.h | 73 + modules/motor/servo_motor/servo_motor.h | 2 +- modules/referee/referee_task.c | 1 - 192 files changed, 9116 insertions(+), 16906 deletions(-) delete mode 100644 application/chassis/chassis.c delete mode 100644 application/chassis/chassis.h delete mode 100644 application/chassis/chassis.md delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/cache-v2-66e677dd5570c7783f8d.json delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/cmakeFiles-v1-98b572fb52e402116530.json delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/codemodel-v2-f154511db966dea83028.json delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/directory-.-Debug-d0094a50bb2071803777.json delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/index-2024-09-21T02-44-29-0661.json delete mode 100644 cmake-build-debug/.cmake/api/v1/reply/target-uav.elf-Debug-656e98db05d9df89452c.json delete mode 100644 cmake-build-debug/CMakeFiles/clion-environment.txt delete mode 100644 cmake-build-debug/CMakeFiles/uav.elf.dir/application/chassis/chassis.c.obj delete mode 100644 cmake-build-debug/CMakeFiles/uav.elf.dir/application/chassis/chassis.c.obj.d create mode 100644 modules/RGB/RGB.c create mode 100644 modules/RGB/RGB.h create mode 100644 modules/motor/pwmmotor/snail.c create mode 100644 modules/motor/pwmmotor/snail.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 25e4314..090898d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -54,8 +54,8 @@ include_directories(Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_D modules modules/alarm modules/algorithm modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310 modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/RGB modules/standard_cmd modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/auto_aim - modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/ECmotor modules/motor/DMmotor - application application/chassis application/cmd application/gimbal application/shoot + modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/pwmmotor modules/motor/servo_motor modules/motor/step_motor modules/motor/ECmotor modules/motor/DMmotor + application application/cmd application/gimbal application/shoot Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config) include_directories(Middlewares/ST/ARM/DSP/Inc) diff --git a/Src/tim.c b/Src/tim.c index 648464f..713cc37 100644 --- a/Src/tim.c +++ b/Src/tim.c @@ -270,8 +270,8 @@ void MX_TIM8_Init(void) { Error_Handler(); } - sConfigOC.OCMode = TIM_OCMODE_TIMING; - sConfigOC.Pulse = 0; + sConfigOC.OCMode = TIM_OCMODE_PWM1; + sConfigOC.Pulse = 2000; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c deleted file mode 100644 index b1f6486..0000000 --- a/application/chassis/chassis.c +++ /dev/null @@ -1,368 +0,0 @@ -/** - * @file chassis.c - * @author NeoZeng neozng1@hnu.edu.cn - * @brief 底盘应用,负责接收robot_cmd的控制命令并根据命令进行运动学解算,得到输出 - * 注意底盘采取右手系,对于平面视图,底盘纵向运动的正前方为x正方向;横向运动的右侧为y正方向 - * - * @version 0.1 - * @date 2022-12-04 - * - * @copyright Copyright (c) 2022 - * - */ - -#include "chassis.h" -#include "robot_def.h" -#include "dji_motor.h" -#include "super_cap.h" -#include "message_center.h" -#include "referee_task.h" - -#include "general_def.h" -#include "bsp_dwt.h" -#include "referee_UI.h" -#include "arm_math.h" -#include "user_lib.h" - -#include "vofa.h" - -/* 根据robot_def.h中的macro自动计算的参数 */ -#define HALF_WHEEL_BASE (WHEEL_BASE / 2.0f) // 半轴距 -#define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f) // 半轮距 -#define PERIMETER_WHEEL (RADIUS_WHEEL * 2 * PI) // 轮子周长 - -#define P_MAX 50.0f//功率控制 单位：W - -/* 底盘应用包含的模块和信息存储,底盘是单例模式,因此不需要为底盘建立单独的结构体 */ -#ifdef CHASSIS_BOARD // 如果是底盘板,使用板载IMU获取底盘转动角速度 -#include "can_comm.h" -#include "ins_task.h" -static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm -attitude_t *Chassis_IMU_data; -#endif // CHASSIS_BOARD -#ifdef ONE_BOARD -static Publisher_t *chassis_pub; // 用于发布底盘的数据 -static Subscriber_t *chassis_sub; // 用于订阅底盘的控制命令 -#endif // !ONE_BOARD -static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令 -static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据 -static Chassis_Ctrl_Cmd_s Chassis_Power_Mx; -const static float CHASSIS_ACCEL_X_NUM=0.1f; -const static float CHASSIS_ACCEL_Y_NUM=0.1f; - -// 超级电容 -SuperCapInstance *cap; // 超级电容全局 -static uint16_t last_chassis_power_limit=0;//超级电容更新 -static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back - -/* 用于自旋变速策略的时间变量 */ -// static float t; - -/* 私有函数计算的中介变量,设为静态避免参数传递的开销 */ -static float chassis_vx, chassis_vy; // 将云台系的速度投影到底盘 -static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅 -first_order_filter_type_t vx_filter; -first_order_filter_type_t vy_filter; -static float P_cmd; - - -void ChassisInit() { - // 四个轮子的参数一样,改tx_id和反转标志位即可 - Motor_Init_Config_s chassis_motor_config = { - .can_init_config.can_handle = &hcan1, - .controller_param_init_config = { - .speed_PID = { - .Kp = 5.0f, - .Ki = 0.01f, - .Kd = 0.002f, - .IntegralLimit = 3000, - .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, - .MaxOut = 30000, - }, - .current_PID = { - .Kp = 0.0f, - .Ki = 0.0f, - .Kd = 0.0f, - .IntegralLimit = 3000, - .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, - .MaxOut = 15000, - }, - }, - .controller_setting_init_config = { - .angle_feedback_source = MOTOR_FEED, - .speed_feedback_source = MOTOR_FEED, - .outer_loop_type = SPEED_LOOP, - .close_loop_type = SPEED_LOOP, // CURRENT_LOOP, - .power_limit_flag = POWER_LIMIT_ON, - }, - .motor_type = M3508, - }; - // @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改. - // 四个轮子pid分开 - //右前 - chassis_motor_config.can_init_config.tx_id = 3; - chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; - motor_lf = DJIMotorInit(&chassis_motor_config); - - chassis_motor_config.can_init_config.tx_id = 2; - chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; - motor_rf = DJIMotorInit(&chassis_motor_config); - - chassis_motor_config.can_init_config.tx_id = 4; - - chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; - motor_lb = DJIMotorInit(&chassis_motor_config); - - chassis_motor_config.can_init_config.tx_id = 1; - chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; - motor_rb = DJIMotorInit(&chassis_motor_config); - - //超级电容 - SuperCap_Init_Config_s cap_conf = { - .can_config = { - .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 - first_order_filter_init(&vx_filter, 0.007f, &CHASSIS_ACCEL_X_NUM); - first_order_filter_init(&vy_filter, 0.007f, &CHASSIS_ACCEL_Y_NUM); - - // 发布订阅初始化,如果为双板,则需要can comm来传递消息 -#ifdef CHASSIS_BOARD - Chassis_IMU_data = INS_Init(); // 底盘IMU初始化 - - CANComm_Init_Config_s comm_conf = { - .can_config = { - .can_handle = &hcan2, - .tx_id = 0x311, - .rx_id = 0x312, - }, - .recv_data_len = sizeof(Chassis_Ctrl_Cmd_s), - .send_data_len = sizeof(Chassis_Upload_Data_s), - }; - chasiss_can_comm = CANCommInit(&comm_conf); // can comm初始化 -#endif // CHASSIS_BOARD - -#ifdef ONE_BOARD // 单板控制整车,则通过pubsub来传递消息 - chassis_sub = SubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s)); - chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s)); -#endif // ONE_BOARD -} - -#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD) -#define RF_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD) -#define LB_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD) -#define RB_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD) -/** - * @brief 计算每个轮毂电机的输出,正运动学解算 - * 用宏进行预替换减小开销,运动解算具体过程参考教程 - */ -//全向轮解算 -static void OmniCalculate() { - vt_rf = HALF_WHEEL_BASE * chassis_cmd_recv.wz + chassis_vx * 0.707f + chassis_vy * 0.707f; - vt_rb = HALF_WHEEL_BASE * chassis_cmd_recv.wz + chassis_vx * 0.707f - chassis_vy * 0.707f; - vt_lb = HALF_WHEEL_BASE * chassis_cmd_recv.wz - chassis_vx * 0.707f - chassis_vy * 0.707f; - vt_lf = HALF_WHEEL_BASE * chassis_cmd_recv.wz - chassis_vx * 0.707f + chassis_vy * 0.707f; - - vt_rf = (vt_rf / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL; - vt_rb = (vt_rb / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL; - vt_lb = (vt_lb / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL; - vt_lf = (vt_lf / RADIUS_WHEEL) * 180 / PI * REDUCTION_RATIO_WHEEL; -} - -static const float motor_power_K[3] = {1.6301e-6f,5.7501e-7f,2.5863e-7f}; -float input; - -float P_max = 0; - -///依据3508电机功率模型，预测电机输出功率 -static float EstimatePower(DJIMotorInstance* chassis_motor) -{ - - float I_cmd = chassis_motor->motor_controller.current_PID.Output; - float w = chassis_motor->measure.speed_aps /6 ;//aps to rpm - - float power = motor_power_K[0] * I_cmd * w + motor_power_K[1]*w*w + motor_power_K[2]*I_cmd*I_cmd; - - return power; -} -/** - * @brief 根据裁判系统和电容剩余容量对输出进行限制并设置电机参考值 - * - */ -static void LimitChassisOutput() -{ -// float Plimit = 1.0f; - 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 (cap->cap_msg.cap_vol>1800) - { - P_max = input + chassis_cmd_recv.buffer_supercap ; - } - else - { - P_max = input; - } - float K = P_max / P_cmd; - - motor_rf->motor_controller.motor_power_scale = K; - motor_rb->motor_controller.motor_power_scale = K; - motor_lf->motor_controller.motor_power_scale = K; - motor_lb->motor_controller.motor_power_scale = K; - - { - DJIMotorSetRef(motor_lf, vt_lf); - DJIMotorSetRef(motor_rf, vt_rf); - DJIMotorSetRef(motor_lb, vt_lb); - DJIMotorSetRef(motor_rb, vt_rb); - } - -} -/** - * @brief 超电功率对缓冲功率进行闭环 - * - * - */ -static void SuperCapSetUpdate() -{ - - PIDCalculate(&cap->buffer_pid, chassis_cmd_recv.buffer_energy,15);//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); - -} -/** - * @brief 根据每个轮子的速度反馈,计算底盘的实际运动速度,逆运动解算 - * 对于双板的情况,考虑增加来自底盘板IMU的数据 - * - */ -static void EstimateSpeed() { - // 根据电机速度和陀螺仪的角速度进行解算,还可以利用加速度计判断是否打滑(如果有) - // chassis_feedback_data.vx vy wz = - // ... -} -static chassis_mode_e last_chassis_mode; -static float rotate_speed = 70000; -/* 机器人底盘控制核心任务 */ -void ChassisTask() { - // 后续增加没收到消息的处理(双板的情况) - // 获取新的控制信息 -#ifdef ONE_BOARD - SubGetMessage(chassis_sub, &chassis_cmd_recv); -#endif -#ifdef CHASSIS_BOARD - chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(chasiss_can_comm); -#endif // CHASSIS_BOARD - - if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE) { // 如果出现重要模块离线或遥控器设置为急停,让电机停止 - DJIMotorStop(motor_lf); - DJIMotorStop(motor_rf); - DJIMotorStop(motor_lb); - DJIMotorStop(motor_rb); - } else { // 正常工作 - DJIMotorEnable(motor_lf); - DJIMotorEnable(motor_rf); - DJIMotorEnable(motor_lb); - DJIMotorEnable(motor_rb); - } - - // 根据控制模式设定旋转速度 - switch (chassis_cmd_recv.chassis_mode) { - case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态 - chassis_cmd_recv.wz = 0; - 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 = 40.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle); - LIMIT_MIN_MAX(chassis_cmd_recv.wz,-35000,35000); - 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 = 20.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45); - LIMIT_MIN_MAX(chassis_cmd_recv.wz,-35000,35000); - 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 - if(last_chassis_mode != CHASSIS_ROTATE){ - rotate_speed = -rotate_speed; - } - chassis_cmd_recv.wz = rotate_speed; - break; - default: - break; - } - - last_chassis_mode = chassis_cmd_recv.chassis_mode; - // 根据云台和底盘的角度offset将控制量映射到底盘坐标系上 - // 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东) - static float sin_theta, cos_theta; - cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); - sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); - - //一阶低通滤波计算 - first_order_filter_cali(&vx_filter, chassis_cmd_recv.vx); - first_order_filter_cali(&vy_filter, chassis_cmd_recv.vy); - - chassis_cmd_recv.vx = vx_filter.out; - chassis_cmd_recv.vy = vy_filter.out; - - chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta; - chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; - -// chassis_vx = (1.0f - 0.30f) * chassis_vx + 0.30f * (chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta); -// chassis_vy = (1.0f - 0.30f) * chassis_vy + 0.30f * (chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta); - - - // 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(); - -// float vofa_send_data[2]; -// vofa_send_data[0] = motor_lb->motor_controller.speed_PID.Ref; -// vofa_send_data[1] = motor_lb->motor_controller.speed_PID.Measure; -// vofa_justfloat_output(vofa_send_data, 8, &huart1); - - // 根据电机的反馈速度和IMU(如果有)计算真实速度 - EstimateSpeed(); - - //todo: 裁判系统信息移植到消息中心发送 - // 获取裁判系统数据 建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送 - // 发送敌方方颜色id - //chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color; - // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况 - //chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit; - - chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol; - - // 推送反馈消息 -#ifdef ONE_BOARD - PubPushMessage(chassis_pub, (void *) &chassis_feedback_data); -#endif -#ifdef CHASSIS_BOARD - CANCommSend(chasiss_can_comm, (void *)&chassis_feedback_data); -#endif // CHASSIS_BOARD -} diff --git a/application/chassis/chassis.h b/application/chassis/chassis.h deleted file mode 100644 index ea7c0b4..0000000 --- a/application/chassis/chassis.h +++ /dev/null @@ -1,16 +0,0 @@ -#ifndef CHASSIS_H -#define CHASSIS_H - -/** - * @brief 底盘应用初始化,请在开启rtos之前调用(目前会被RobotInit()调用) - * - */ -void ChassisInit(); - -/** - * @brief 底盘应用任务,放入实时系统以一定频率运行 - * - */ -void ChassisTask(); - -#endif // CHASSIS_H \ No newline at end of file diff --git a/application/chassis/chassis.md b/application/chassis/chassis.md deleted file mode 100644 index 6f04688..0000000 --- a/application/chassis/chassis.md +++ /dev/null @@ -1,24 +0,0 @@ -# chassis - - - -## 工作流程 - -首先进行初始化，`ChasissInit()`会被`RobotInit()`调用，进行裁判系统、底盘电机的初始化。如果为双板模式，则还会初始化IMU，并且将消息订阅者和发布者的初始化改为`CANComm`的初始化。 - -操作系统启动后，工作顺序为： - -1. 从cmd模块获取数据（如果双板则从CANComm获取） -2. 判断当前控制数据的模式，如果为停止则停止所有电机 -3. 根据控制数据，计算底盘的旋转速度 -4. 根据控制数据中yaw电机的编码器值`angle_offset`，将控制数据映射到底盘坐标系下 -5. 进行麦克纳姆轮的运动学解算，得到每个电机的设定值 -6. 获取裁判系统的数据，并根据底盘功率限制对输出进行限幅 -7. 由电机的反馈数据和IMU（如果有），计算底盘当前的真实运动速度 -8. 设置底盘反馈数据，包括运动速度和裁判系统数据 -9. 将反馈数据推送到消息中心（如果双板则通过CANComm发送） - - -### 后续支持平衡底盘 - -新增一个app balance_chassis \ No newline at end of file diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index a33b912..4ef7ac0 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -79,22 +79,6 @@ void RobotCMDInit() { shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); -#ifdef ONE_BOARD // 双板兼容 - chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s)); - chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s)); -#endif // ONE_BOARD -#ifdef GIMBAL_BOARD - CANComm_Init_Config_s comm_conf = { - .can_config = { - .can_handle = &hcan1, - .tx_id = 0x312, - .rx_id = 0x311, - }, - .recv_data_len = sizeof(Chassis_Upload_Data_s), - .send_data_len = sizeof(Chassis_Ctrl_Cmd_s), - }; - cmd_can_comm = CANCommInit(&comm_conf); -#endif // GIMBAL_BOARD gimbal_cmd_send.pitch = 0; robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入 @@ -126,15 +110,6 @@ static void CalcOffsetAngle() { #endif } -//功能：死亡后清除小陀螺的状态 -static void death_check() { - if (referee_data->GameRobotState.current_HP <= 0 || - referee_data->GameRobotState.power_management_chassis_output == 0) { - rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0; - gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; - } -} - //功能：等级提升弹频提高 static void shoot_rate_improve() { if (referee_data->GameRobotState.robot_level < 5) @@ -373,26 +348,6 @@ 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 - { - case 0: - shoot_cmd_send.lid_mode = LID_CLOSE; - break; - default: - 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 { case 0: @@ -402,25 +357,6 @@ static void MouseKeySet() { 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; - case 1: - chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; - break; - } // switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 // { // case 0: @@ -433,23 +369,12 @@ static void MouseKeySet() { // loader_flag = 3; // break; // } - switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 - { - case 0: - chassis_cmd_send.buffer_supercap = 5; - break; - case 1: - chassis_cmd_send.buffer_supercap = 200; - chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000; - break; - } shoot_rate_improve(); if (shoot_fetch_data.stalled_flag == 1) shoot_cmd_send.loader_mode = LOAD_REVERSE; - death_check(); } /** @@ -525,45 +450,6 @@ 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 - { - case 0: - shoot_cmd_send.lid_mode = LID_CLOSE; - break; - default: - 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 (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向 - { - case 0: - 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; - } - break; - case 1: - chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; - break; - } switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控 { case 0: @@ -585,23 +471,11 @@ static void VTMouseKeySet() { // loader_flag = 3; // break; // } - switch (vt_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 - { - case 0: - chassis_cmd_send.buffer_supercap = 5; - break; - case 1: - chassis_cmd_send.buffer_supercap = 200; - chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 1 - rc_data[TEMP].key[KEY_PRESS].d * 1; - break; - } - shoot_rate_improve(); if (shoot_fetch_data.stalled_flag == 1) shoot_cmd_send.loader_mode = LOAD_REVERSE; - death_check(); } @@ -616,11 +490,11 @@ static void EmergencyHandler() { // 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正 if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断 { - robot_state = ROBOT_STOP; + robot_state = ROBOT_READY; gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; - shoot_cmd_send.shoot_mode = SHOOT_OFF; - shoot_cmd_send.friction_mode = FRICTION_OFF; + shoot_cmd_send.shoot_mode = SHOOT_ON; + shoot_cmd_send.friction_mode = FRICTION_ON; shoot_cmd_send.loader_mode = LOAD_STOP; LOGERROR("[CMD] emergency stop!"); } @@ -679,11 +553,9 @@ void RobotCMDTask() { if (referee_data->GameRobotState.power_management_gimbal_output == 0) { gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; } - if (referee_data->GameRobotState.power_management_shooter_output == 0) { - shoot_cmd_send.shoot_mode = SHOOT_OFF; - } - - death_check(); +// if (referee_data->GameRobotState.power_management_shooter_output == 0) { +// shoot_cmd_send.shoot_mode = SHOOT_ON; +// } // 推送消息,双板通信,视觉通信等 // 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置 diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 0587b63..b02b6a1 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -1,6 +1,7 @@ #include "gimbal.h" #include "robot_def.h" #include "dji_motor.h" +#include "dmmotor.h" #include "ins_task.h" #include "message_center.h" #include "general_def.h" @@ -16,29 +17,6 @@ static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态 static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息 static float gravity_current = 0; -static void LimitPitchAngleAuto() { - /** 注意电机角度与陀螺仪角度方向是否相同 - * 目前 add > 0, 向下转动 - * 电机角度值减小 - * 陀螺仪角度值增大 - **/ - float add; - float angle_set; - - add = gimbal_cmd_recv.pitch - gimba_IMU_data->Pitch; - - if(pitch_motor->measure.angle_single_round - add > PITCH_MAX_RELATIVE_ANGLE){ - if(add < 0.0f ){ - add = PITCH_MAX_ANGLE - pitch_motor->measure.angle_single_round; - } - }else if(pitch_motor->measure.angle_single_round - add < PITCH_MIN_RELATIVE_ANGLE){ - if(add > 0.0f){ - add = PITCH_MIN_RELATIVE_ANGLE - pitch_motor->measure.angle_single_round; - } - } - angle_set = gimba_IMU_data->Pitch; - DJIMotorSetRef(pitch_motor, angle_set+add); -} void GimbalInit() { gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源 @@ -85,6 +63,7 @@ void GimbalInit() { .can_init_config = { .can_handle = &hcan2, .tx_id = 1, + .rx_id = 3, }, .controller_param_init_config = { .angle_PID = { @@ -117,7 +96,7 @@ void GimbalInit() { .feedforward_flag = CURRENT_FEEDFORWARD, .feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE }, - .motor_type = GM6020, + .motor_type = DM4310, .motor_control_type = CURRENT_CONTROL }; // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动 diff --git a/application/robot.c b/application/robot.c index eedfa6d..eb326b9 100644 --- a/application/robot.c +++ b/application/robot.c @@ -9,10 +9,6 @@ #pragma message "check if you have configured the parameters in robot_def.h, IF NOT, please refer to the comments AND DO IT, otherwise the robot will have FATAL ERRORS!!!" #endif // !ROBOT_DEF_PARAM_WARNING -#if defined(ONE_BOARD) || defined(CHASSIS_BOARD) -#include "chassis.h" -#endif - #if defined(ONE_BOARD) || defined(GIMBAL_BOARD) #include "gimbal.h" #include "shoot.h" @@ -36,10 +32,6 @@ void RobotInit() ShootInit(); #endif -#if defined(ONE_BOARD) || defined(CHASSIS_BOARD) - ChassisInit(); -#endif - OSTaskInit(); // 创建基础任务 // 初始化完成,开启中断 @@ -55,8 +47,4 @@ void RobotTask() ShootTask(); #endif -#if defined(ONE_BOARD) || defined(CHASSIS_BOARD) - ChassisTask(); -#endif - } \ No newline at end of file diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index a03250c..f42b111 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -6,10 +6,13 @@ #include "bsp_dwt.h" #include "general_def.h" #include "servo_motor.h" +#include "snail.h" +#include "RGB.h" /* 对于双发射机构的机器人,将下面的数据封装成结构体即可,生成两份shoot应用实例 */ static DJIMotorInstance *friction_l, *friction_r, *loader; // 拨盘电机 static ServoInstance *lid; +static PwmmotorInstance *friction_l1, *friction_r1; // snail电机 static Publisher_t *shoot_pub; static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自cmd的发射控制信息 @@ -62,8 +65,8 @@ void ShootInit() // 拨盘电机 Motor_Init_Config_s loader_config = { .can_init_config = { - .can_handle = &hcan2, - .tx_id = 1 + .can_handle = &hcan1, + .tx_id = 2 }, .controller_param_init_config = { .angle_PID = { @@ -105,14 +108,19 @@ void ShootInit() shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); - Servo_Init_Config_s lid_config = { - .htim = &htim1, + Pwmmotor_Init_Config_s friction_l1_config = { + .htim = &htim8, .Channel = TIM_CHANNEL_1, - .Servo_type = Servo180, - .Servo_Angle_Type = Free_Angle_mode, + .Pwmmotor_type = 0, }; + friction_l1 = PwmmotorInit(&friction_l1_config); - lid = ServoInit(&lid_config); + Pwmmotor_Init_Config_s friction_r1_config = { + .htim = &htim8, + .Channel = TIM_CHANNEL_2, + .Pwmmotor_type = 0, + }; + friction_r1 = PwmmotorInit(&friction_r1_config); // SPI_Init_Config_s rgb_config = { // .spi_handle = ; @@ -153,39 +161,27 @@ void stalled_detect() // last_total_angle = loader->measure.total_angle; } -// 热量控制 -//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() { + //WS2812_Number_4(0x000018,0x000018,0x000018,0x000018); //从cmd获取控制数据 SubGetMessage(shoot_sub, &shoot_cmd_recv); // 对shoot mode等于SHOOT_STOP的情况特殊处理,直接停止所有电机(紧急停止) if (shoot_cmd_recv.shoot_mode == SHOOT_OFF) { - DJIMotorSetRef(friction_l, 0); - DJIMotorSetRef(friction_r, 0); - DJIMotorStop(loader); + //DJIMotorSetRef(friction_l, 0); + //DJIMotorSetRef(friction_r, 0); + DJIMotorEnable(loader); } else // 恢复运行 { - DJIMotorEnable(friction_l); - DJIMotorEnable(friction_r); + //DJIMotorEnable(friction_l); + //DJIMotorEnable(friction_r); DJIMotorEnable(loader); } - + DJIMotorEnable(loader); // 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可 // 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发) if (hibernate_time + dead_time > DWT_GetTimeline_ms()) @@ -256,44 +252,23 @@ void ShootTask() //default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速. DJIMotorSetRef(friction_l, 39000); DJIMotorSetRef(friction_r, 39000); + // break; // } + Pwm_MotorControl(friction_l1, 2000); + Pwm_MotorControl(friction_r1, 2000); } else // 关闭摩擦轮 { DJIMotorSetRef(friction_l, 0); DJIMotorSetRef(friction_r, 0); + + Pwm_Motor_Stop(friction_l1, 1000); + Pwm_Motor_Stop(friction_r1, 1000); } - // 开关弹舱盖 - if (shoot_cmd_recv.lid_mode == LID_CLOSE) - { - Servo_Motor_FreeAngle_Set(lid,115);// 小107 大115 - } - else if (shoot_cmd_recv.lid_mode == LID_OPEN) - { - Servo_Motor_FreeAngle_Set(lid,10); - } - - // 开关热控 - if(shoot_cmd_recv.heat_mode == HEAT_OPEN) - { - if(shoot_cmd_recv.heat>=(0.85*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(); // 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); diff --git a/cmake-build-debug/.cmake/api/v1/reply/cache-v2-66e677dd5570c7783f8d.json b/cmake-build-debug/.cmake/api/v1/reply/cache-v2-66e677dd5570c7783f8d.json deleted file mode 100644 index 66af10b..0000000 --- a/cmake-build-debug/.cmake/api/v1/reply/cache-v2-66e677dd5570c7783f8d.json +++ /dev/null @@ -1,1447 +0,0 @@ -{ - 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CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.obj: D:/zhandui/cqdm/uav/application/cmd/robot_cmd.c CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_76) "Building C object CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_75) "Building C object CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.obj" D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.obj -MF CMakeFiles\uav.elf.dir\application\cmd\robot_cmd.c.obj.d -o CMakeFiles\uav.elf.dir\application\cmd\robot_cmd.c.obj -c D:\zhandui\cqdm\uav\application\cmd\robot_cmd.c CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.i: cmake_force @@ -1133,7 +1119,7 @@ CMakeFiles/uav.elf.dir/application/cmd/robot_cmd.c.s: cmake_force CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj: CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj: D:/zhandui/cqdm/uav/application/gimbal/gimbal.c CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_77) "Building C object CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_76) "Building C object CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj" D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.obj -MF CMakeFiles\uav.elf.dir\application\gimbal\gimbal.c.obj.d -o CMakeFiles\uav.elf.dir\application\gimbal\gimbal.c.obj -c D:\zhandui\cqdm\uav\application\gimbal\gimbal.c CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.i: cmake_force @@ -1147,7 +1133,7 @@ CMakeFiles/uav.elf.dir/application/gimbal/gimbal.c.s: cmake_force CMakeFiles/uav.elf.dir/application/robot.c.obj: CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/application/robot.c.obj: D:/zhandui/cqdm/uav/application/robot.c CMakeFiles/uav.elf.dir/application/robot.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_78) "Building C object CMakeFiles/uav.elf.dir/application/robot.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_77) "Building C object CMakeFiles/uav.elf.dir/application/robot.c.obj" D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/uav.elf.dir/application/robot.c.obj -MF CMakeFiles\uav.elf.dir\application\robot.c.obj.d -o CMakeFiles\uav.elf.dir\application\robot.c.obj -c D:\zhandui\cqdm\uav\application\robot.c CMakeFiles/uav.elf.dir/application/robot.c.i: cmake_force @@ -1161,7 +1147,7 @@ CMakeFiles/uav.elf.dir/application/robot.c.s: cmake_force CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj: CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj: D:/zhandui/cqdm/uav/application/shoot/shoot.c CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_79) "Building C object CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_78) "Building C object CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj" D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/uav.elf.dir/application/shoot/shoot.c.obj -MF CMakeFiles\uav.elf.dir\application\shoot\shoot.c.obj.d -o CMakeFiles\uav.elf.dir\application\shoot\shoot.c.obj -c D:\zhandui\cqdm\uav\application\shoot\shoot.c CMakeFiles/uav.elf.dir/application/shoot/shoot.c.i: cmake_force @@ -1175,7 +1161,7 @@ CMakeFiles/uav.elf.dir/application/shoot/shoot.c.s: cmake_force CMakeFiles/uav.elf.dir/bsp/adc/bsp_adc.c.obj: CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/bsp/adc/bsp_adc.c.obj: D:/zhandui/cqdm/uav/bsp/adc/bsp_adc.c CMakeFiles/uav.elf.dir/bsp/adc/bsp_adc.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_80) "Building C object CMakeFiles/uav.elf.dir/bsp/adc/bsp_adc.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_79) "Building C object CMakeFiles/uav.elf.dir/bsp/adc/bsp_adc.c.obj" D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/uav.elf.dir/bsp/adc/bsp_adc.c.obj -MF CMakeFiles\uav.elf.dir\bsp\adc\bsp_adc.c.obj.d -o CMakeFiles\uav.elf.dir\bsp\adc\bsp_adc.c.obj -c D:\zhandui\cqdm\uav\bsp\adc\bsp_adc.c CMakeFiles/uav.elf.dir/bsp/adc/bsp_adc.c.i: cmake_force @@ -1189,7 +1175,7 @@ CMakeFiles/uav.elf.dir/bsp/adc/bsp_adc.c.s: cmake_force CMakeFiles/uav.elf.dir/bsp/bsp_tools.c.obj: CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/bsp/bsp_tools.c.obj: D:/zhandui/cqdm/uav/bsp/bsp_tools.c CMakeFiles/uav.elf.dir/bsp/bsp_tools.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_81) "Building C object CMakeFiles/uav.elf.dir/bsp/bsp_tools.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_80) "Building C object CMakeFiles/uav.elf.dir/bsp/bsp_tools.c.obj" D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/uav.elf.dir/bsp/bsp_tools.c.obj -MF CMakeFiles\uav.elf.dir\bsp\bsp_tools.c.obj.d -o CMakeFiles\uav.elf.dir\bsp\bsp_tools.c.obj -c D:\zhandui\cqdm\uav\bsp\bsp_tools.c CMakeFiles/uav.elf.dir/bsp/bsp_tools.c.i: cmake_force @@ -1203,7 +1189,7 @@ CMakeFiles/uav.elf.dir/bsp/bsp_tools.c.s: cmake_force CMakeFiles/uav.elf.dir/bsp/can/bsp_can.c.obj: CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/bsp/can/bsp_can.c.obj: D:/zhandui/cqdm/uav/bsp/can/bsp_can.c CMakeFiles/uav.elf.dir/bsp/can/bsp_can.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_82) "Building C object CMakeFiles/uav.elf.dir/bsp/can/bsp_can.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_81) "Building C object CMakeFiles/uav.elf.dir/bsp/can/bsp_can.c.obj" D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/uav.elf.dir/bsp/can/bsp_can.c.obj -MF CMakeFiles\uav.elf.dir\bsp\can\bsp_can.c.obj.d -o CMakeFiles\uav.elf.dir\bsp\can\bsp_can.c.obj -c D:\zhandui\cqdm\uav\bsp\can\bsp_can.c CMakeFiles/uav.elf.dir/bsp/can/bsp_can.c.i: cmake_force @@ -1217,7 +1203,7 @@ CMakeFiles/uav.elf.dir/bsp/can/bsp_can.c.s: cmake_force CMakeFiles/uav.elf.dir/bsp/dwt/bsp_dwt.c.obj: CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/bsp/dwt/bsp_dwt.c.obj: D:/zhandui/cqdm/uav/bsp/dwt/bsp_dwt.c CMakeFiles/uav.elf.dir/bsp/dwt/bsp_dwt.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_83) "Building C object CMakeFiles/uav.elf.dir/bsp/dwt/bsp_dwt.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_82) "Building C object CMakeFiles/uav.elf.dir/bsp/dwt/bsp_dwt.c.obj" D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/uav.elf.dir/bsp/dwt/bsp_dwt.c.obj -MF CMakeFiles\uav.elf.dir\bsp\dwt\bsp_dwt.c.obj.d -o CMakeFiles\uav.elf.dir\bsp\dwt\bsp_dwt.c.obj -c D:\zhandui\cqdm\uav\bsp\dwt\bsp_dwt.c CMakeFiles/uav.elf.dir/bsp/dwt/bsp_dwt.c.i: cmake_force @@ -1231,7 +1217,7 @@ CMakeFiles/uav.elf.dir/bsp/dwt/bsp_dwt.c.s: cmake_force CMakeFiles/uav.elf.dir/bsp/flash/bsp_flash.c.obj: CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/bsp/flash/bsp_flash.c.obj: D:/zhandui/cqdm/uav/bsp/flash/bsp_flash.c CMakeFiles/uav.elf.dir/bsp/flash/bsp_flash.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green 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D:/zhandui/cqdm/uav/bsp/gpio/bsp_gpio.c CMakeFiles/uav.elf.dir/bsp/gpio/bsp_gpio.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_85) "Building C object CMakeFiles/uav.elf.dir/bsp/gpio/bsp_gpio.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_84) "Building C object CMakeFiles/uav.elf.dir/bsp/gpio/bsp_gpio.c.obj" D:\STM32CubeCLT_1.16.0\GNU-tools-for-STM32\bin\arm-none-eabi-gcc.exe $(C_DEFINES) $(C_INCLUDES) $(C_FLAGS) -MD -MT CMakeFiles/uav.elf.dir/bsp/gpio/bsp_gpio.c.obj -MF CMakeFiles\uav.elf.dir\bsp\gpio\bsp_gpio.c.obj.d -o CMakeFiles\uav.elf.dir\bsp\gpio\bsp_gpio.c.obj -c D:\zhandui\cqdm\uav\bsp\gpio\bsp_gpio.c CMakeFiles/uav.elf.dir/bsp/gpio/bsp_gpio.c.i: cmake_force @@ -1259,7 +1245,7 @@ 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CMakeFiles\uav.elf.dir\bsp\iic\bsp_iic.c.obj -c D:\zhandui\cqdm\uav\bsp\iic\bsp_iic.c CMakeFiles/uav.elf.dir/bsp/iic/bsp_iic.c.i: cmake_force @@ -1273,7 +1259,7 @@ CMakeFiles/uav.elf.dir/bsp/iic/bsp_iic.c.s: cmake_force CMakeFiles/uav.elf.dir/bsp/log/bsp_log.c.obj: CMakeFiles/uav.elf.dir/flags.make CMakeFiles/uav.elf.dir/bsp/log/bsp_log.c.obj: D:/zhandui/cqdm/uav/bsp/log/bsp_log.c CMakeFiles/uav.elf.dir/bsp/log/bsp_log.c.obj: CMakeFiles/uav.elf.dir/compiler_depend.ts - @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_87) "Building C object CMakeFiles/uav.elf.dir/bsp/log/bsp_log.c.obj" + @$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=D:\zhandui\cqdm\uav\cmake-build-debug\CMakeFiles --progress-num=$(CMAKE_PROGRESS_86) "Building C object CMakeFiles/uav.elf.dir/bsp/log/bsp_log.c.obj" 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-8440,7 +8479,6 @@ CMakeFiles/uav.elf.dir/modules/referee/referee_task.c.obj: D:/zhandui/cqdm/uav/m D:/zhandui/cqdm/uav/Middlewares/Third_Party/FreeRTOS/Source/include/queue.h \ D:/zhandui/cqdm/uav/Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h \ D:/zhandui/cqdm/uav/Middlewares/Third_Party/FreeRTOS/Source/include/timers.h \ - D:/zhandui/cqdm/uav/application/chassis/chassis.h \ D:/zhandui/cqdm/uav/modules/super_cap/super_cap.h \ D:/zhandui/cqdm/uav/bsp/can/bsp_can.h \ D:/zhandui/cqdm/uav/Inc/can.h \ @@ -9661,8 +9699,6 @@ D:/zhandui/cqdm/uav/Inc/can.h: D:/zhandui/cqdm/uav/Src/dac.c: -D:/zhandui/cqdm/uav/application/chassis/chassis.c: - D:/zhandui/cqdm/uav/Inc/dac.h: D:/zhandui/cqdm/uav/Src/dma.c: @@ -9671,6 +9707,8 @@ D:/zhandui/cqdm/uav/Src/freertos.c: D:/zhandui/cqdm/uav/Src/gpio.c: +D:/zhandui/cqdm/uav/modules/RGB/RGB.c: + D:/zhandui/cqdm/uav/Inc/gpio.h: D:/zhandui/cqdm/uav/bsp/iic/bsp_iic.h: @@ -9769,9 +9807,7 @@ D:/zhandui/cqdm/uav/Src/usbd_cdc_if.c: D:/zhandui/cqdm/uav/Src/usbd_desc.c: -D:/zhandui/cqdm/uav/bsp/adc/bsp_adc.c: - -D:/zhandui/cqdm/uav/application/chassis/chassis.h: +D:/zhandui/cqdm/uav/application/cmd/robot_cmd.c: D:/zhandui/cqdm/uav/modules/imu/ins_task.h: @@ -9781,6 +9817,12 @@ D:/zhandui/cqdm/uav/modules/algorithm/kalman_filter.h: D:/zhandui/cqdm/uav/Middlewares/ST/ARM/DSP/Inc/arm_math.h: +D:/zhandui/cqdm/uav/application/cmd/robot_cmd.h: + +D:/zhandui/cqdm/uav/modules/remote/remote_control.h: + +D:/zhandui/cqdm/uav/modules/message_center/message_center.h: + D:/zhandui/cqdm/uav/bsp/can/bsp_can.h: D:/zhandui/cqdm/uav/modules/algorithm/controller.h: @@ -9795,11 +9837,17 @@ D:/zhandui/cqdm/uav/modules/motor/motor_def.h: D:/zhandui/cqdm/uav/modules/daemon/daemon.h: +D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/arm-none-eabi/include/c++/12.3.1/bits/stl_algobase.h: + +D:/zhandui/cqdm/uav/modules/TFminiPlus/tfminiplus.h: + +D:/zhandui/cqdm/uav/modules/auto_aim/auto_aim.h: + D:/zhandui/cqdm/uav/modules/algorithm/crc8.c: D:/zhandui/cqdm/uav/modules/super_cap/super_cap.h: -D:/zhandui/cqdm/uav/modules/message_center/message_center.h: +D:/zhandui/cqdm/uav/modules/algorithm/user_lib.h: D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/arm-none-eabi/include/c++/12.3.1/bits/stl_iterator.h: @@ -9807,32 +9855,18 @@ D:/zhandui/cqdm/uav/modules/referee/referee_task.h: D:/zhandui/cqdm/uav/modules/referee/referee_protocol.h: -D:/zhandui/cqdm/uav/modules/referee/referee_UI.h: - -D:/zhandui/cqdm/uav/modules/algorithm/user_lib.h: - -D:/zhandui/cqdm/uav/modules/vofa/vofa.h: - -D:/zhandui/cqdm/uav/application/cmd/robot_cmd.c: - -D:/zhandui/cqdm/uav/application/cmd/robot_cmd.h: - -D:/zhandui/cqdm/uav/modules/remote/remote_control.h: - -D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/arm-none-eabi/include/c++/12.3.1/bits/stl_algobase.h: - -D:/zhandui/cqdm/uav/modules/TFminiPlus/tfminiplus.h: - -D:/zhandui/cqdm/uav/modules/auto_aim/auto_aim.h: - D:/zhandui/cqdm/uav/modules/referee/vision_transfer.h: D:/zhandui/cqdm/uav/application/gimbal/gimbal.h: +D:/zhandui/cqdm/uav/modules/motor/DMmotor/dmmotor.h: + D:/zhandui/cqdm/uav/bsp/spi/bsp_spi.h: D:/zhandui/cqdm/uav/bsp/pwm/bsp_pwm.h: +D:/zhandui/cqdm/uav/modules/vofa/vofa.h: + D:/zhandui/cqdm/uav/bsp/bsp_init.h: D:/zhandui/cqdm/uav/bsp/usb/bsp_usb.h: @@ -9849,6 +9883,14 @@ D:/zhandui/cqdm/uav/modules/motor/servo_motor/servo_motor.h: D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/lib/gcc/arm-none-eabi/12.3.1/include/stdint-gcc.h: +D:/zhandui/cqdm/uav/modules/motor/step_motor/step_motor.h: + +D:/zhandui/cqdm/uav/modules/motor/pwmmotor/snail.h: + +D:/zhandui/cqdm/uav/modules/RGB/RGB.h: + +D:/zhandui/cqdm/uav/bsp/adc/bsp_adc.c: + D:/zhandui/cqdm/uav/bsp/bsp_tools.c: D:/zhandui/cqdm/uav/bsp/bsp_tools.h: @@ -9909,18 +9951,16 @@ D:/zhandui/cqdm/uav/modules/motor/LKmotor/LK9025.c: D:/zhandui/cqdm/uav/modules/motor/DJImotor/dji_motor.c: -D:/zhandui/cqdm/uav/modules/motor/DMmotor/dmmotor.h: - D:/zhandui/cqdm/uav/modules/motor/ECmotor/ECA8210.c: D:/zhandui/cqdm/uav/modules/motor/ECmotor/ECA8210.h: D:/zhandui/cqdm/uav/modules/motor/motor_task.c: -D:/zhandui/cqdm/uav/modules/motor/step_motor/step_motor.h: - D:/zhandui/cqdm/uav/modules/motor/step_motor/step_motor.c: +D:/zhandui/cqdm/uav/modules/motor/pwmmotor/snail.c: + D:/zhandui/cqdm/uav/modules/oled/oled.c: D:/zhandui/cqdm/uav/modules/oled/oled.h: @@ -9935,6 +9975,8 @@ D:/zhandui/cqdm/uav/modules/referee/crc_ref.h: D:/zhandui/cqdm/uav/modules/referee/referee_UI.c: +D:/zhandui/cqdm/uav/modules/referee/referee_UI.h: + D:/zhandui/cqdm/uav/modules/referee/rm_referee.c: D:/zhandui/cqdm/uav/modules/referee/vision_transfer.c: diff --git a/cmake-build-debug/CMakeFiles/uav.elf.dir/flags.make b/cmake-build-debug/CMakeFiles/uav.elf.dir/flags.make index a1bf1c1..dfab0de 100644 --- a/cmake-build-debug/CMakeFiles/uav.elf.dir/flags.make +++ b/cmake-build-debug/CMakeFiles/uav.elf.dir/flags.make @@ -6,19 +6,19 @@ # compile CXX with D:/STM32CubeCLT_1.16.0/GNU-tools-for-STM32/bin/arm-none-eabi-g++.exe ASM_DEFINES = -DARM_MATH_CM4 -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER -ASM_INCLUDES = -ID:\zhandui\cqdm\uav\Inc -ID:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc -ID:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F -ID:\zhandui\cqdm\uav\Middlewares\ST\STM32_USB_Device_Library\Core\Inc -ID:\zhandui\cqdm\uav\Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc -ID:\zhandui\cqdm\uav\Drivers\CMSIS\Device\ST\STM32F4xx\Include -ID:\zhandui\cqdm\uav\Drivers\CMSIS\Include -ID:\zhandui\cqdm\uav\Middlewares\ST\ARM\DSP\Inc -ID:\zhandui\cqdm\uav\bsp -ID:\zhandui\cqdm\uav\bsp\adc -ID:\zhandui\cqdm\uav\bsp\can -ID:\zhandui\cqdm\uav\bsp\dwt -ID:\zhandui\cqdm\uav\bsp\flash -ID:\zhandui\cqdm\uav\bsp\gpio -ID:\zhandui\cqdm\uav\bsp\iic -ID:\zhandui\cqdm\uav\bsp\log -ID:\zhandui\cqdm\uav\bsp\pwm -ID:\zhandui\cqdm\uav\bsp\spi -ID:\zhandui\cqdm\uav\bsp\usart -ID:\zhandui\cqdm\uav\bsp\usb -ID:\zhandui\cqdm\uav\modules -ID:\zhandui\cqdm\uav\modules\alarm -ID:\zhandui\cqdm\uav\modules\algorithm -ID:\zhandui\cqdm\uav\modules\BMI088 -ID:\zhandui\cqdm\uav\modules\can_comm -ID:\zhandui\cqdm\uav\modules\daemon -ID:\zhandui\cqdm\uav\modules\encoder -ID:\zhandui\cqdm\uav\modules\imu -ID:\zhandui\cqdm\uav\modules\ist8310 -ID:\zhandui\cqdm\uav\modules\led -ID:\zhandui\cqdm\uav\modules\master_machine -ID:\zhandui\cqdm\uav\modules\message_center -ID:\zhandui\cqdm\uav\modules\motor -ID:\zhandui\cqdm\uav\modules\oled -ID:\zhandui\cqdm\uav\modules\referee -ID:\zhandui\cqdm\uav\modules\remote -ID:\zhandui\cqdm\uav\modules\RGB -ID:\zhandui\cqdm\uav\modules\standard_cmd -ID:\zhandui\cqdm\uav\modules\super_cap -ID:\zhandui\cqdm\uav\modules\TFminiPlus -ID:\zhandui\cqdm\uav\modules\unicomm -ID:\zhandui\cqdm\uav\modules\vofa -ID:\zhandui\cqdm\uav\modules\auto_aim -ID:\zhandui\cqdm\uav\modules\motor\DJImotor -ID:\zhandui\cqdm\uav\modules\motor\HTmotor -ID:\zhandui\cqdm\uav\modules\motor\LKmotor -ID:\zhandui\cqdm\uav\modules\motor\servo_motor -ID:\zhandui\cqdm\uav\modules\motor\step_motor -ID:\zhandui\cqdm\uav\modules\motor\ECmotor -ID:\zhandui\cqdm\uav\modules\motor\DMmotor -ID:\zhandui\cqdm\uav\application -ID:\zhandui\cqdm\uav\application\chassis -ID:\zhandui\cqdm\uav\application\cmd -ID:\zhandui\cqdm\uav\application\gimbal -ID:\zhandui\cqdm\uav\application\shoot -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\SEGGER\RTT -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\SEGGER\Config +ASM_INCLUDES = -ID:\zhandui\cqdm\uav\Inc -ID:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc -ID:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F -ID:\zhandui\cqdm\uav\Middlewares\ST\STM32_USB_Device_Library\Core\Inc -ID:\zhandui\cqdm\uav\Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc -ID:\zhandui\cqdm\uav\Drivers\CMSIS\Device\ST\STM32F4xx\Include -ID:\zhandui\cqdm\uav\Drivers\CMSIS\Include -ID:\zhandui\cqdm\uav\Middlewares\ST\ARM\DSP\Inc -ID:\zhandui\cqdm\uav\bsp -ID:\zhandui\cqdm\uav\bsp\adc -ID:\zhandui\cqdm\uav\bsp\can -ID:\zhandui\cqdm\uav\bsp\dwt -ID:\zhandui\cqdm\uav\bsp\flash -ID:\zhandui\cqdm\uav\bsp\gpio -ID:\zhandui\cqdm\uav\bsp\iic -ID:\zhandui\cqdm\uav\bsp\log -ID:\zhandui\cqdm\uav\bsp\pwm -ID:\zhandui\cqdm\uav\bsp\spi -ID:\zhandui\cqdm\uav\bsp\usart -ID:\zhandui\cqdm\uav\bsp\usb -ID:\zhandui\cqdm\uav\modules -ID:\zhandui\cqdm\uav\modules\alarm -ID:\zhandui\cqdm\uav\modules\algorithm -ID:\zhandui\cqdm\uav\modules\BMI088 -ID:\zhandui\cqdm\uav\modules\can_comm -ID:\zhandui\cqdm\uav\modules\daemon -ID:\zhandui\cqdm\uav\modules\encoder -ID:\zhandui\cqdm\uav\modules\imu -ID:\zhandui\cqdm\uav\modules\ist8310 -ID:\zhandui\cqdm\uav\modules\led -ID:\zhandui\cqdm\uav\modules\master_machine -ID:\zhandui\cqdm\uav\modules\message_center -ID:\zhandui\cqdm\uav\modules\motor -ID:\zhandui\cqdm\uav\modules\oled -ID:\zhandui\cqdm\uav\modules\referee -ID:\zhandui\cqdm\uav\modules\remote -ID:\zhandui\cqdm\uav\modules\RGB -ID:\zhandui\cqdm\uav\modules\standard_cmd -ID:\zhandui\cqdm\uav\modules\super_cap -ID:\zhandui\cqdm\uav\modules\TFminiPlus -ID:\zhandui\cqdm\uav\modules\unicomm -ID:\zhandui\cqdm\uav\modules\vofa -ID:\zhandui\cqdm\uav\modules\auto_aim -ID:\zhandui\cqdm\uav\modules\motor\DJImotor -ID:\zhandui\cqdm\uav\modules\motor\HTmotor -ID:\zhandui\cqdm\uav\modules\motor\LKmotor -ID:\zhandui\cqdm\uav\modules\motor\pwmmotor -ID:\zhandui\cqdm\uav\modules\motor\servo_motor -ID:\zhandui\cqdm\uav\modules\motor\step_motor -ID:\zhandui\cqdm\uav\modules\motor\ECmotor -ID:\zhandui\cqdm\uav\modules\motor\DMmotor -ID:\zhandui\cqdm\uav\application -ID:\zhandui\cqdm\uav\application\cmd -ID:\zhandui\cqdm\uav\application\gimbal -ID:\zhandui\cqdm\uav\application\shoot -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\SEGGER\RTT -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\SEGGER\Config -ASM_FLAGS = -g -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mcpu=cortex-m4 -mthumb -mthumb-interwork -ffunction-sections -fdata-sections -fno-common -fmessage-length=0 -x assembler-with-cpp -Og -g +ASM_FLAGS = -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mcpu=cortex-m4 -mthumb -mthumb-interwork -ffunction-sections -fdata-sections -fno-common -fmessage-length=0 -x assembler-with-cpp -Og -g C_DEFINES = -DARM_MATH_CM4 -DARM_MATH_MATRIX_CHECK -DARM_MATH_ROUNDING -DDEBUG -DSTM32F407xx -DUSE_HAL_DRIVER -C_INCLUDES = -ID:\zhandui\cqdm\uav\Inc -ID:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc -ID:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F -ID:\zhandui\cqdm\uav\Middlewares\ST\STM32_USB_Device_Library\Core\Inc -ID:\zhandui\cqdm\uav\Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc -ID:\zhandui\cqdm\uav\Drivers\CMSIS\Device\ST\STM32F4xx\Include -ID:\zhandui\cqdm\uav\Drivers\CMSIS\Include -ID:\zhandui\cqdm\uav\Middlewares\ST\ARM\DSP\Inc -ID:\zhandui\cqdm\uav\bsp -ID:\zhandui\cqdm\uav\bsp\adc -ID:\zhandui\cqdm\uav\bsp\can -ID:\zhandui\cqdm\uav\bsp\dwt -ID:\zhandui\cqdm\uav\bsp\flash -ID:\zhandui\cqdm\uav\bsp\gpio -ID:\zhandui\cqdm\uav\bsp\iic -ID:\zhandui\cqdm\uav\bsp\log -ID:\zhandui\cqdm\uav\bsp\pwm -ID:\zhandui\cqdm\uav\bsp\spi -ID:\zhandui\cqdm\uav\bsp\usart -ID:\zhandui\cqdm\uav\bsp\usb -ID:\zhandui\cqdm\uav\modules -ID:\zhandui\cqdm\uav\modules\alarm -ID:\zhandui\cqdm\uav\modules\algorithm -ID:\zhandui\cqdm\uav\modules\BMI088 -ID:\zhandui\cqdm\uav\modules\can_comm -ID:\zhandui\cqdm\uav\modules\daemon -ID:\zhandui\cqdm\uav\modules\encoder -ID:\zhandui\cqdm\uav\modules\imu -ID:\zhandui\cqdm\uav\modules\ist8310 -ID:\zhandui\cqdm\uav\modules\led -ID:\zhandui\cqdm\uav\modules\master_machine -ID:\zhandui\cqdm\uav\modules\message_center -ID:\zhandui\cqdm\uav\modules\motor -ID:\zhandui\cqdm\uav\modules\oled -ID:\zhandui\cqdm\uav\modules\referee -ID:\zhandui\cqdm\uav\modules\remote -ID:\zhandui\cqdm\uav\modules\RGB -ID:\zhandui\cqdm\uav\modules\standard_cmd -ID:\zhandui\cqdm\uav\modules\super_cap -ID:\zhandui\cqdm\uav\modules\TFminiPlus -ID:\zhandui\cqdm\uav\modules\unicomm -ID:\zhandui\cqdm\uav\modules\vofa -ID:\zhandui\cqdm\uav\modules\auto_aim -ID:\zhandui\cqdm\uav\modules\motor\DJImotor -ID:\zhandui\cqdm\uav\modules\motor\HTmotor -ID:\zhandui\cqdm\uav\modules\motor\LKmotor -ID:\zhandui\cqdm\uav\modules\motor\servo_motor -ID:\zhandui\cqdm\uav\modules\motor\step_motor -ID:\zhandui\cqdm\uav\modules\motor\ECmotor -ID:\zhandui\cqdm\uav\modules\motor\DMmotor -ID:\zhandui\cqdm\uav\application -ID:\zhandui\cqdm\uav\application\chassis -ID:\zhandui\cqdm\uav\application\cmd -ID:\zhandui\cqdm\uav\application\gimbal -ID:\zhandui\cqdm\uav\application\shoot -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\SEGGER\RTT -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\SEGGER\Config +C_INCLUDES = -ID:\zhandui\cqdm\uav\Inc -ID:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc -ID:\zhandui\cqdm\uav\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\include -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS -ID:\zhandui\cqdm\uav\Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F -ID:\zhandui\cqdm\uav\Middlewares\ST\STM32_USB_Device_Library\Core\Inc 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