From 275b03224aa6170d4dc8c661c1cd949dd88c1fcb Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 24 十一月 2025 15:10:21 +0800
Subject: [PATCH] 转向问题解决，方向定义问题，开始走了
---
STM32H743/MDK-ARM/STM32H743.uvoptx | 238 ++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 179 insertions(+), 59 deletions(-)
diff --git a/STM32H743/MDK-ARM/STM32H743.uvoptx b/STM32H743/MDK-ARM/STM32H743.uvoptx
index 9909d22..eb79aae 100644
--- a/STM32H743/MDK-ARM/STM32H743.uvoptx
+++ b/STM32H743/MDK-ARM/STM32H743.uvoptx
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
- <nTsel>4</nTsel>
+ <nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
- <pMon>Segger\JL2CM3.dll</pMon>
+ <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@@ -158,24 +158,7 @@
<Name>-U31002400110000344351534E -O2254 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(6BA02477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32H7x_2048.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32H743VITx$CMSIS\Flash\STM32H7x_2048.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
- <Breakpoint>
- <Bp>
- <Number>0</Number>
- <Type>0</Type>
- <LineNumber>170</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>134565196</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>1</BreakIfRCount>
- <Filename>../Core/Src/main.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression>\\STM32H743\../Core/Src/main.c\170</Expression>
- </Bp>
- </Breakpoint>
+ <Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>
@@ -222,12 +205,57 @@
<WinNumber>1</WinNumber>
<ItemText>g_com_map[0]</ItemText>
</Ww>
+ <Ww>
+ <count>9</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>g_stSBUSData</ItemText>
+ </Ww>
+ <Ww>
+ <count>10</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>g_stSBUSData.m_au16Channels,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>11</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>steering_pulse,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>12</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>motor_pulse,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>13</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>sbusData.m_au16Channels[0],0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>14</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>ch0,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>15</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>ch1,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>16</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>l_au8GPSUartRxBuf</ItemText>
+ </Ww>
+ <Ww>
+ <count>17</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>gpsbaudrate,0x0A</ItemText>
+ </Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
<WinNumber>1</WinNumber>
<SubType>8</SubType>
- <ItemText>l_stGPSRecv.m_acRecvBuf</ItemText>
+ <ItemText>acOutputBuf</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow1>
@@ -237,7 +265,7 @@
<DebugFlag>
<trace>0</trace>
<periodic>1</periodic>
- <aLwin>1</aLwin>
+ <aLwin>0</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>
@@ -305,7 +333,7 @@
<Group>
<GroupName>Application/User/Core</GroupName>
- <tvExp>1</tvExp>
+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -613,17 +641,41 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
+ <File>
+ <GroupNumber>4</GroupNumber>
+ <FileNumber>26</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\FML\SBUS.c</PathWithFileName>
+ <FilenameWithoutPath>SBUS.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
+ <File>
+ <GroupNumber>4</GroupNumber>
+ <FileNumber>27</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\FML\PythonLink.c</PathWithFileName>
+ <FilenameWithoutPath>PythonLink.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
</Group>
<Group>
<GroupName>Application/HAL</GroupName>
- <tvExp>0</tvExp>
+ <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>5</GroupNumber>
- <FileNumber>26</FileNumber>
+ <FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -635,7 +687,7 @@
</File>
<File>
<GroupNumber>5</GroupNumber>
- <FileNumber>27</FileNumber>
+ <FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -655,7 +707,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>28</FileNumber>
+ <FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -667,7 +719,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>29</FileNumber>
+ <FileNumber>31</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -679,7 +731,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>30</FileNumber>
+ <FileNumber>32</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -691,7 +743,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>31</FileNumber>
+ <FileNumber>33</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -703,7 +755,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>32</FileNumber>
+ <FileNumber>34</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -715,7 +767,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>33</FileNumber>
+ <FileNumber>35</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -727,7 +779,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>34</FileNumber>
+ <FileNumber>36</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -739,7 +791,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>35</FileNumber>
+ <FileNumber>37</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -751,7 +803,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>36</FileNumber>
+ <FileNumber>38</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -763,7 +815,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>37</FileNumber>
+ <FileNumber>39</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -775,7 +827,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>38</FileNumber>
+ <FileNumber>40</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -787,7 +839,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>39</FileNumber>
+ <FileNumber>41</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -799,7 +851,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>40</FileNumber>
+ <FileNumber>42</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -811,7 +863,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>41</FileNumber>
+ <FileNumber>43</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -823,7 +875,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>42</FileNumber>
+ <FileNumber>44</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -835,7 +887,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>43</FileNumber>
+ <FileNumber>45</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -847,7 +899,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>44</FileNumber>
+ <FileNumber>46</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -859,7 +911,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>45</FileNumber>
+ <FileNumber>47</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -871,7 +923,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>46</FileNumber>
+ <FileNumber>48</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -883,7 +935,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>47</FileNumber>
+ <FileNumber>49</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -903,7 +955,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>48</FileNumber>
+ <FileNumber>50</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -923,7 +975,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>49</FileNumber>
+ <FileNumber>51</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -935,7 +987,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>50</FileNumber>
+ <FileNumber>52</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -947,7 +999,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>51</FileNumber>
+ <FileNumber>53</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -959,7 +1011,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>52</FileNumber>
+ <FileNumber>54</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -971,7 +1023,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>53</FileNumber>
+ <FileNumber>55</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -983,7 +1035,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>54</FileNumber>
+ <FileNumber>56</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -995,7 +1047,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>55</FileNumber>
+ <FileNumber>57</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -1007,7 +1059,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>56</FileNumber>
+ <FileNumber>58</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -1019,7 +1071,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>57</FileNumber>
+ <FileNumber>59</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -1031,7 +1083,7 @@
</File>
<File>
<GroupNumber>8</GroupNumber>
- <FileNumber>58</FileNumber>
+ <FileNumber>60</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -1051,7 +1103,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>9</GroupNumber>
- <FileNumber>59</FileNumber>
+ <FileNumber>61</FileNumber>
<FileType>4</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -1064,8 +1116,76 @@
</Group>
<Group>
+ <GroupName>Application/ALG</GroupName>
+ <tvExp>1</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <cbSel>0</cbSel>
+ <RteFlg>0</RteFlg>
+ <File>
+ <GroupNumber>10</GroupNumber>
+ <FileNumber>62</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\FML\motion_control.c</PathWithFileName>
+ <FilenameWithoutPath>motion_control.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
+ <File>
+ <GroupNumber>10</GroupNumber>
+ <FileNumber>63</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\FML\motion_path_data.c</PathWithFileName>
+ <FilenameWithoutPath>motion_path_data.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
+ <File>
+ <GroupNumber>10</GroupNumber>
+ <FileNumber>64</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\FML\geo_utils.c</PathWithFileName>
+ <FilenameWithoutPath>geo_utils.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
+ <File>
+ <GroupNumber>10</GroupNumber>
+ <FileNumber>65</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\APL\motion_control_task.c</PathWithFileName>
+ <FilenameWithoutPath>motion_control_task.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
+ <File>
+ <GroupNumber>10</GroupNumber>
+ <FileNumber>66</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\FML\arm_math_compat.c</PathWithFileName>
+ <FilenameWithoutPath>arm_math_compat.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
+ </Group>
+
+ <Group>
<GroupName>::CMSIS</GroupName>
- <tvExp>0</tvExp>
+ <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>1</RteFlg>
--
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