math lib ok(?) but not linked to lib

Core/Src/freertos.c

@@ -58,65 +58,65 @@
 /* Definitions for BeginTask */
 osThreadId_t BeginTaskHandle;
 const osThreadAttr_t BeginTask_attributes = {
-        .name = "BeginTask",
-        .stack_size = 256 * 4,
-        .priority = (osPriority_t) osPriorityNormal,
+  .name = "BeginTask",
+  .stack_size = 256 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for shoot */
 osThreadId_t shootHandle;
 const osThreadAttr_t shoot_attributes = {
-        .name = "shoot",
-        .stack_size = 512 * 4,
-        .priority = (osPriority_t) osPriorityNormal,
+  .name = "shoot",
+  .stack_size = 512 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for gimbal */
 osThreadId_t gimbalHandle;
 const osThreadAttr_t gimbal_attributes = {
-        .name = "gimbal",
-        .stack_size = 512 * 4,
-        .priority = (osPriority_t) osPriorityNormal,
+  .name = "gimbal",
+  .stack_size = 512 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for chassis */
 osThreadId_t chassisHandle;
 const osThreadAttr_t chassis_attributes = {
-        .name = "chassis",
-        .stack_size = 512 * 4,
-        .priority = (osPriority_t) osPriorityNormal,
+  .name = "chassis",
+  .stack_size = 512 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for init */
 osThreadId_t initHandle;
 const osThreadAttr_t init_attributes = {
-        .name = "init",
-        .stack_size = 256 * 4,
-        .priority = (osPriority_t) osPriorityHigh,
+  .name = "init",
+  .stack_size = 256 * 4,
+  .priority = (osPriority_t) osPriorityHigh,
 };
 /* Definitions for vision */
 osThreadId_t visionHandle;
 const osThreadAttr_t vision_attributes = {
-        .name = "vision",
-        .stack_size = 512 * 4,
-        .priority = (osPriority_t) osPriorityNormal,
+  .name = "vision",
+  .stack_size = 512 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for cmd */
 osThreadId_t cmdHandle;
 const osThreadAttr_t cmd_attributes = {
-        .name = "cmd",
-        .stack_size = 512 * 4,
-        .priority = (osPriority_t) osPriorityNormal,
+  .name = "cmd",
+  .stack_size = 512 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for reference */
 osThreadId_t referenceHandle;
 const osThreadAttr_t reference_attributes = {
-        .name = "reference",
-        .stack_size = 512 * 4,
-        .priority = (osPriority_t) osPriorityNormal,
+  .name = "reference",
+  .stack_size = 512 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for WS2812Task */
 osThreadId_t WS2812TaskHandle;
 const osThreadAttr_t WS2812Task_attributes = {
-        .name = "WS2812Task",
-        .stack_size = 256 * 4,
-        .priority = (osPriority_t) osPriorityBelowNormal,
+  .name = "WS2812Task",
+  .stack_size = 256 * 4,
+  .priority = (osPriority_t) osPriorityBelowNormal,
 };
 
 /* Private function prototypes -----------------------------------------------*/
@@ -136,28 +136,20 @@ void StartINSTASK(void const *argument);
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void *argument);
-
 void ShootTask(void *argument);
-
 void GimbalTask(void *argument);
-
 void ChassisTask(void *argument);
-
 void StartInitTask(void *argument);
-
 void VisionTask(void *argument);
-
 void CmdTask(void *argument);
-
 void RefereeTask(void *argument);
+extern void ws2812Task(void *argument);
 
 extern void MX_USB_DEVICE_Init(void);
-
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
 /* Hook prototypes */
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
-
 void vApplicationMallocFailedHook(void);
 
 /* USER CODE BEGIN 4 */
@@ -192,66 +184,65 @@ void vApplicationMallocFailedHook(void)
   * @param  None
   * @retval None
   */
-void MX_FREERTOS_Init(void)
-{
-    /* USER CODE BEGIN Init */
+void MX_FREERTOS_Init(void) {
+  /* USER CODE BEGIN Init */
 
-    /* USER CODE END Init */
+  /* USER CODE END Init */
 
-    /* USER CODE BEGIN RTOS_MUTEX */
+  /* USER CODE BEGIN RTOS_MUTEX */
     /* add mutexes, ... */
-    /* USER CODE END RTOS_MUTEX */
+  /* USER CODE END RTOS_MUTEX */
 
-    /* USER CODE BEGIN RTOS_SEMAPHORES */
+  /* USER CODE BEGIN RTOS_SEMAPHORES */
     /* add semaphores, ... */
-    /* USER CODE END RTOS_SEMAPHORES */
+  /* USER CODE END RTOS_SEMAPHORES */
 
-    /* USER CODE BEGIN RTOS_TIMERS */
+  /* USER CODE BEGIN RTOS_TIMERS */
     /* start timers, add new ones, ... */
-    /* USER CODE END RTOS_TIMERS */
+  /* USER CODE END RTOS_TIMERS */
 
-    /* USER CODE BEGIN RTOS_QUEUES */
+  /* USER CODE BEGIN RTOS_QUEUES */
     /* add queues, ... */
-    /* USER CODE END RTOS_QUEUES */
+  /* USER CODE END RTOS_QUEUES */
 
-    /* Create the thread(s) */
-    /* creation of BeginTask */
-    BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes);
+  /* Create the thread(s) */
+  /* creation of BeginTask */
+  BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes);
 
-    /* creation of shoot */
-    shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes);
+  /* creation of shoot */
+  shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes);
 
-    /* creation of gimbal */
-    gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes);
+  /* creation of gimbal */
+  gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes);
 
-    /* creation of chassis */
-    chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes);
+  /* creation of chassis */
+  chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes);
 
-    /* creation of init */
-    initHandle = osThreadNew(StartInitTask, NULL, &init_attributes);
+  /* creation of init */
+  initHandle = osThreadNew(StartInitTask, NULL, &init_attributes);
 
-    /* creation of vision */
-    visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes);
+  /* creation of vision */
+  visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes);
 
-    /* creation of cmd */
-    cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes);
+  /* creation of cmd */
+  cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes);
 
-    /* creation of reference */
-    referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes);
+  /* creation of reference */
+  referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes);
 
-    /* creation of WS2812Task */
-    WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);
+  /* creation of WS2812Task */
+  WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);
 
-    /* USER CODE BEGIN RTOS_THREADS */
+  /* USER CODE BEGIN RTOS_THREADS */
     /* add threads, ... */
     //Todo：INS_Task是测试版本
     // 创建线程
     insTaskHandle = osThreadNew(StartINSTASK, NULL, &instask_attributes);
-    /* USER CODE END RTOS_THREADS */
+  /* USER CODE END RTOS_THREADS */
 
-    /* USER CODE BEGIN RTOS_EVENTS */
+  /* USER CODE BEGIN RTOS_EVENTS */
     /* add events, ... */
-    /* USER CODE END RTOS_EVENTS */
+  /* USER CODE END RTOS_EVENTS */
 
 }
 
@@ -264,15 +255,15 @@ void MX_FREERTOS_Init(void)
 /* USER CODE END Header_StartDefaultTask */
 __weak void StartDefaultTask(void *argument)
 {
-    /* init code for USB_DEVICE */
-    MX_USB_DEVICE_Init();
-    /* USER CODE BEGIN StartDefaultTask */
+  /* init code for USB_DEVICE */
+  MX_USB_DEVICE_Init();
+  /* USER CODE BEGIN StartDefaultTask */
     /* Infinite loop */
     for (;;)
     {
         osDelay(1);
     }
-    /* USER CODE END StartDefaultTask */
+  /* USER CODE END StartDefaultTask */
 }
 
 /* USER CODE BEGIN Header_ShootTask */
@@ -284,13 +275,13 @@ __weak void StartDefaultTask(void *argument)
 /* USER CODE END Header_ShootTask */
 __weak void ShootTask(void *argument)
 {
-    /* USER CODE BEGIN ShootTask */
+  /* USER CODE BEGIN ShootTask */
     /* Infinite loop */
     for (;;)
     {
         osDelay(1);
     }
-    /* USER CODE END ShootTask */
+  /* USER CODE END ShootTask */
 }
 
 /* USER CODE BEGIN Header_GimbalTask */
@@ -302,13 +293,13 @@ __weak void ShootTask(void *argument)
 /* USER CODE END Header_GimbalTask */
 __weak void GimbalTask(void *argument)
 {
-    /* USER CODE BEGIN GimbalTask */
+  /* USER CODE BEGIN GimbalTask */
     /* Infinite loop */
     for (;;)
     {
         osDelay(1);
     }
-    /* USER CODE END GimbalTask */
+  /* USER CODE END GimbalTask */
 }
 
 /* USER CODE BEGIN Header_ChassisTask */
@@ -320,13 +311,13 @@ __weak void GimbalTask(void *argument)
 /* USER CODE END Header_ChassisTask */
 __weak void ChassisTask(void *argument)
 {
-    /* USER CODE BEGIN ChassisTask */
+  /* USER CODE BEGIN ChassisTask */
     /* Infinite loop */
     for (;;)
     {
         osDelay(1);
     }
-    /* USER CODE END ChassisTask */
+  /* USER CODE END ChassisTask */
 }
 
 /* USER CODE BEGIN Header_StartInitTask */
@@ -338,13 +329,13 @@ __weak void ChassisTask(void *argument)
 /* USER CODE END Header_StartInitTask */
 __weak void StartInitTask(void *argument)
 {
-    /* USER CODE BEGIN StartInitTask */
+  /* USER CODE BEGIN StartInitTask */
     /* Infinite loop */
     for (;;)
     {
         osDelay(1);
     }
-    /* USER CODE END StartInitTask */
+  /* USER CODE END StartInitTask */
 }
 
 /* USER CODE BEGIN Header_VisionTask */
@@ -356,13 +347,13 @@ __weak void StartInitTask(void *argument)
 /* USER CODE END Header_VisionTask */
 __weak void VisionTask(void *argument)
 {
-    /* USER CODE BEGIN VisionTask */
+  /* USER CODE BEGIN VisionTask */
     /* Infinite loop */
     for (;;)
     {
         osDelay(1);
     }
-    /* USER CODE END VisionTask */
+  /* USER CODE END VisionTask */
 }
 
 /* USER CODE BEGIN Header_CmdTask */
@@ -374,13 +365,13 @@ __weak void VisionTask(void *argument)
 /* USER CODE END Header_CmdTask */
 __weak void CmdTask(void *argument)
 {
-    /* USER CODE BEGIN CmdTask */
+  /* USER CODE BEGIN CmdTask */
     /* Infinite loop */
     for (;;)
     {
         osDelay(1);
     }
-    /* USER CODE END CmdTask */
+  /* USER CODE END CmdTask */
 }
 
 /* USER CODE BEGIN Header_RefereeTask */
@@ -392,13 +383,13 @@ __weak void CmdTask(void *argument)
 /* USER CODE END Header_RefereeTask */
 __weak void RefereeTask(void *argument)
 {
-    /* USER CODE BEGIN RefereeTask */
+  /* USER CODE BEGIN RefereeTask */
     /* Infinite loop */
     for (;;)
     {
         osDelay(1);
     }
-    /* USER CODE END RefereeTask */
+  /* USER CODE END RefereeTask */
 }
 
 /* Private application code --------------------------------------------------*/

Core/Src/main.c

@@ -61,11 +61,8 @@
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
-
 static void MPU_Config(void);
-
 void MX_FREERTOS_Init(void);
-
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -82,84 +79,84 @@ void MX_FREERTOS_Init(void);
 int main(void)
 {
 
-    /* USER CODE BEGIN 1 */
+  /* USER CODE BEGIN 1 */
 
-    /* USER CODE END 1 */
+  /* USER CODE END 1 */
 
-    /* MPU Configuration--------------------------------------------------------*/
-    MPU_Config();
+  /* MPU Configuration--------------------------------------------------------*/
+  MPU_Config();
 
-    /* Enable the CPU Cache */
+  /* Enable the CPU Cache */
 
-    /* Enable I-Cache---------------------------------------------------------*/
-    SCB_EnableICache();
+  /* Enable I-Cache---------------------------------------------------------*/
+  SCB_EnableICache();
 
-    /* Enable D-Cache---------------------------------------------------------*/
-    SCB_EnableDCache();
+  /* Enable D-Cache---------------------------------------------------------*/
+  SCB_EnableDCache();
 
-    /* MCU Configuration--------------------------------------------------------*/
+  /* MCU Configuration--------------------------------------------------------*/
 
-    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-    HAL_Init();
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
 
-    /* USER CODE BEGIN Init */
+  /* USER CODE BEGIN Init */
 
-    /* USER CODE END Init */
+  /* USER CODE END Init */
 
-    /* Configure the system clock */
-    SystemClock_Config();
+  /* Configure the system clock */
+  SystemClock_Config();
 
-    /* USER CODE BEGIN SysInit */
+  /* USER CODE BEGIN SysInit */
 
-    /* USER CODE END SysInit */
+  /* USER CODE END SysInit */
 
-    /* Initialize all configured peripherals */
-    MX_GPIO_Init();
-    MX_DMA_Init();
-    MX_FDCAN2_Init();
-    MX_FDCAN3_Init();
-    MX_CRC_Init();
-    MX_FDCAN1_Init();
-    MX_USART10_UART_Init();
-    MX_SPI2_Init();
-    MX_TIM12_Init();
-    MX_UART7_Init();
-    MX_TIM1_Init();
-    MX_USART1_UART_Init();
-    MX_ADC3_Init();
-    MX_USART2_UART_Init();
-    MX_USART3_UART_Init();
-    MX_SPI1_Init();
-    MX_UART5_Init();
-    MX_TIM3_Init();
-    MX_SPI6_Init();
-    /* USER CODE BEGIN 2 */
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_DMA_Init();
+  MX_FDCAN2_Init();
+  MX_FDCAN3_Init();
+  MX_CRC_Init();
+  MX_FDCAN1_Init();
+  MX_USART10_UART_Init();
+  MX_SPI2_Init();
+  MX_TIM12_Init();
+  MX_UART7_Init();
+  MX_TIM1_Init();
+  MX_USART1_UART_Init();
+  MX_ADC3_Init();
+  MX_USART2_UART_Init();
+  MX_USART3_UART_Init();
+  MX_SPI1_Init();
+  MX_UART5_Init();
+  MX_TIM3_Init();
+  MX_SPI6_Init();
+  /* USER CODE BEGIN 2 */
 
     robotSelfCheck(); //自检LED
     RobotInit();
     systemstart_song(); //开机音乐
 
     /*还没有启动调度器！不允许任何涉及到 Freertos ticks的内容在这里运行！！！*/
-    /* USER CODE END 2 */
+  /* USER CODE END 2 */
 
-    /* Init scheduler */
-    osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */
-    MX_FREERTOS_Init();
+  /* Init scheduler */
+  osKernelInitialize();  /* Call init function for freertos objects (in cmsis_os2.c) */
+  MX_FREERTOS_Init();
 
-    /* Start scheduler */
-    osKernelStart();
+  /* Start scheduler */
+  osKernelStart();
 
-    /* We should never get here as control is now taken by the scheduler */
+  /* We should never get here as control is now taken by the scheduler */
 
-    /* Infinite loop */
-    /* USER CODE BEGIN WHILE */
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
     while (1)
     {
-        /* USER CODE END WHILE */
+    /* USER CODE END WHILE */
 
-        /* USER CODE BEGIN 3 */
+    /* USER CODE BEGIN 3 */
     }
-    /* USER CODE END 3 */
+  /* USER CODE END 3 */
 }
 
 /**
@@ -168,95 +165,93 @@ int main(void)
   */
 void SystemClock_Config(void)
 {
-    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
-    /** Supply configuration update enable
-    */
-    HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
+  /** Supply configuration update enable
+  */
+  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
 
-    /** Configure the main internal regulator output voltage
-    */
-    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
+  /** Configure the main internal regulator output voltage
+  */
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
 
-    while (!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY))
-    {
-    }
+  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
 
-    /** Initializes the RCC Oscillators according to the specified parameters
-    * in the RCC_OscInitTypeDef structure.
-    */
-    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSI
-                                       | RCC_OSCILLATORTYPE_HSE;
-    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
-    RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
-    RCC_OscInitStruct.HSICalibrationValue = 64;
-    RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
-    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-    RCC_OscInitStruct.PLL.PLLM = 2;
-    RCC_OscInitStruct.PLL.PLLN = 40;
-    RCC_OscInitStruct.PLL.PLLP = 1;
-    RCC_OscInitStruct.PLL.PLLQ = 4;
-    RCC_OscInitStruct.PLL.PLLR = 2;
-    RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
-    RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
-    RCC_OscInitStruct.PLL.PLLFRACN = 0;
-    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-    {
-        Error_Handler();
-    }
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSI
+                              |RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSIState = RCC_HSI_DIV1;
+  RCC_OscInitStruct.HSICalibrationValue = 64;
+  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLM = 2;
+  RCC_OscInitStruct.PLL.PLLN = 40;
+  RCC_OscInitStruct.PLL.PLLP = 1;
+  RCC_OscInitStruct.PLL.PLLQ = 4;
+  RCC_OscInitStruct.PLL.PLLR = 2;
+  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
+  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
+  RCC_OscInitStruct.PLL.PLLFRACN = 0;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
 
-    /** Initializes the CPU, AHB and APB buses clocks
-    */
-    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
-                                  | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2
-                                  | RCC_CLOCKTYPE_D3PCLK1 | RCC_CLOCKTYPE_D1PCLK1;
-    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
-    RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
-    RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
-    RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
-    RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
-    RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
-    RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
+                              |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
+  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
 
-    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
-    {
-        Error_Handler();
-    }
-    HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
 }
 
 /* USER CODE BEGIN 4 */
 
 /* USER CODE END 4 */
 
-/* MPU Configuration */
+ /* MPU Configuration */
 
 void MPU_Config(void)
 {
-    MPU_Region_InitTypeDef MPU_InitStruct = {0};
+  MPU_Region_InitTypeDef MPU_InitStruct = {0};
 
-    /* Disables the MPU */
-    HAL_MPU_Disable();
+  /* Disables the MPU */
+  HAL_MPU_Disable();
 
-    /** Initializes and configures the Region and the memory to be protected
-    */
-    MPU_InitStruct.Enable = MPU_REGION_ENABLE;
-    MPU_InitStruct.Number = MPU_REGION_NUMBER0;
-    MPU_InitStruct.BaseAddress = 0x24000000;
-    MPU_InitStruct.Size = MPU_REGION_SIZE_128KB;
-    MPU_InitStruct.SubRegionDisable = 0x0;
-    MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
-    MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
-    MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
-    MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
-    MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
-    MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
+  /** Initializes and configures the Region and the memory to be protected
+  */
+  MPU_InitStruct.Enable = MPU_REGION_ENABLE;
+  MPU_InitStruct.Number = MPU_REGION_NUMBER0;
+  MPU_InitStruct.BaseAddress = 0x24000000;
+  MPU_InitStruct.Size = MPU_REGION_SIZE_128KB;
+  MPU_InitStruct.SubRegionDisable = 0x0;
+  MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL1;
+  MPU_InitStruct.AccessPermission = MPU_REGION_FULL_ACCESS;
+  MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_ENABLE;
+  MPU_InitStruct.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
+  MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
+  MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;
 
-    HAL_MPU_ConfigRegion(&MPU_InitStruct);
-    /* Enables the MPU */
-    HAL_MPU_Enable(MPU_HFNMI_PRIVDEF);
+  HAL_MPU_ConfigRegion(&MPU_InitStruct);
+  /* Enables the MPU */
+  HAL_MPU_Enable(MPU_HFNMI_PRIVDEF);
 
 }
 
@@ -270,16 +265,16 @@ void MPU_Config(void)
   */
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
-    /* USER CODE BEGIN Callback 0 */
+  /* USER CODE BEGIN Callback 0 */
 
-    /* USER CODE END Callback 0 */
-    if (htim->Instance == TIM23)
-    {
-        HAL_IncTick();
-    }
-    /* USER CODE BEGIN Callback 1 */
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM23)
+  {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
 
-    /* USER CODE END Callback 1 */
+  /* USER CODE END Callback 1 */
 }
 
 /**
@@ -288,13 +283,13 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   */
 void Error_Handler(void)
 {
-    /* USER CODE BEGIN Error_Handler_Debug */
+  /* USER CODE BEGIN Error_Handler_Debug */
     /* User can add his own implementation to report the HAL error return state */
     __disable_irq();
     while (1)
     {
     }
-    /* USER CODE END Error_Handler_Debug */
+  /* USER CODE END Error_Handler_Debug */
 }
 #ifdef USE_FULL_ASSERT
 /**
@@ -306,9 +301,9 @@ void Error_Handler(void)
   */
 void assert_failed(uint8_t *file, uint32_t line)
 {
-    /* USER CODE BEGIN 6 */
+  /* USER CODE BEGIN 6 */
     /* User can add his own implementation to report the file name and line number,
        ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
-    /* USER CODE END 6 */
+  /* USER CODE END 6 */
 }
 #endif /* USE_FULL_ASSERT */

User_Code/module/algorithm/QuaternionEKF/QuaternionEKF.c

@@ -15,6 +15,7 @@
  ******************************************************************************
  */
 #include "QuaternionEKF.h"
+#include "arm_math.h"
 
 QEKF_INS_t QEKF_INS;
 

cmake/Toolchain/gcc-arm-none-eabi.cmake

@@ -1,7 +1,7 @@
 # 设置目标系统为通用系统（无操作系统）
-set(CMAKE_SYSTEM_NAME               Generic)
+set(CMAKE_SYSTEM_NAME Generic)
 # 设置目标处理器架构为ARM
-set(CMAKE_SYSTEM_PROCESSOR          arm)
+set(CMAKE_SYSTEM_PROCESSOR arm)
 
 # 以下三行被注释掉的设置用于强制指定编译器信息
 #set(CMAKE_C_COMPILER_FORCED TRUE)
@@ -10,25 +10,25 @@ set(CMAKE_SYSTEM_PROCESSOR          arm)
 #set(CMAKE_CXX_COMPILER_ID GNU)
 
 # 设置工具链前缀（需要在系统PATH环境变量中包含arm-none-eabi-工具链）
-set(TOOLCHAIN_PREFIX                arm-none-eabi-)
+set(TOOLCHAIN_PREFIX arm-none-eabi-)
 
 # 设置C编译器为arm-none-eabi-gcc
-set(CMAKE_C_COMPILER                ${TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc)
 # 设置汇编器使用C编译器（gcc也可以处理汇编文件）
-set(CMAKE_ASM_COMPILER              ${CMAKE_C_COMPILER})
+set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
 # 设置C++编译器为arm-none-eabi-g++
-set(CMAKE_CXX_COMPILER              ${TOOLCHAIN_PREFIX}g++)
+set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++)
 # 设置链接器为arm-none-eabi-g++（使用C++编译器进行链接）
-set(CMAKE_LINKER                    ${TOOLCHAIN_PREFIX}g++)
+set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}g++)
 # 设置objcopy工具，用于生成二进制文件等
-set(CMAKE_OBJCOPY                   ${TOOLCHAIN_PREFIX}objcopy)
+set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy)
 # 设置size工具，用于查看程序内存占用
-set(CMAKE_SIZE                      ${TOOLCHAIN_PREFIX}size)
+set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size)
 
 # 设置各种源文件生成的可执行文件后缀为.elf
-set(CMAKE_EXECUTABLE_SUFFIX_ASM     ".elf")
-set(CMAKE_EXECUTABLE_SUFFIX_C       ".elf")
-set(CMAKE_EXECUTABLE_SUFFIX_CXX     ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_C ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf")
 
 # 设置尝试编译的目标类型为静态库（用于工具链测试）
 set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
@@ -42,19 +42,19 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Wpedantic -fdata-sections -ffunction-sections")
 
 # 根据构建类型设置不同的优化级别
-if(CMAKE_BUILD_TYPE MATCHES "Debug")
+if (CMAKE_BUILD_TYPE MATCHES "Debug")
     set(CMAKE_C_FLAGS_DEBUG "-O0 -g")  # 调试模式：无优化，包含调试信息
     set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
-elseif(CMAKE_BUILD_TYPE MATCHES "Release")
+elseif (CMAKE_BUILD_TYPE MATCHES "Release")
     set(CMAKE_C_FLAGS_RELEASE "-O3")   # 发布模式：最高级别优化
     set(CMAKE_CXX_FLAGS_RELEASE "-O3")
-elseif(CMAKE_BUILD_TYPE MATCHES "RelWithDebInfo")
+elseif (CMAKE_BUILD_TYPE MATCHES "RelWithDebInfo")
     set(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g")  # 带调试信息的发布模式：中等优化，包含调试信息
     set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")
-elseif(CMAKE_BUILD_TYPE MATCHES "MinSizeRel")
+elseif (CMAKE_BUILD_TYPE MATCHES "MinSizeRel")
     set(CMAKE_C_FLAGS_MINSIZEREL "-Os")  # 最小体积模式：优化代码大小
     set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os")
-endif()
+endif ()
 
 # 设置汇编器标志：包含C标志，并添加汇编特定选项
 set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP")
@@ -75,4 +75,6 @@ set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lc -lm -Wl,--en
 set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--print-memory-usage")
 
 # 设置C++链接标志：在C链接标志基础上添加C++标准库支持
-set(CMAKE_CXX_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lstdc++ -lsupc++ -Wl,--end-group")
+set(CMAKE_CXX_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lstdc++ -lsupc++ -Wl,--end-group")
+
+set(TOOLCHAIN_LINK_LIBRARIES "m")

cmake/Toolchain/starm-clang.cmake

@@ -103,4 +103,6 @@ set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lc -lm -Wl,--en
 set(CMAKE_C_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--print-memory-usage")
 
 # 设置C++链接标志：在C链接标志基础上添加C++标准库支持
-set(CMAKE_CXX_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lstdc++ -lsupc++ -Wl,--end-group")
+set(CMAKE_CXX_LINK_FLAGS "${CMAKE_C_LINK_FLAGS} -Wl,--start-group -lstdc++ -lsupc++ -Wl,--end-group")
+
+set(TOOLCHAIN_LINK_LIBRARIES "m")

ozonedeb/windebnewestux.jdebug.user

@@ -1,4 +1,7 @@
 
+OpenDocument="ins_task.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/imu/ins_task.c", Line=0
+OpenDocument="robot.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/application/robot.c", Line=33
+OpenDocument="robot.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/application/robot.c", Line=33
 OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2293
 OpenDocument="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=329
 OpenDocument="list.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/list.c", Line=144
@@ -13,19 +16,18 @@ OpenToolbar="Breakpoints", Floating=0, x=1, y=0
 OpenWindow="Registers 1", DockArea=BOTTOM, x=1, y=0, w=362, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=551, h=273, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Disassembly", DockArea=BOTTOM, x=2, y=0, w=628, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=288, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
+OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=287, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
 OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=466, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20005E30
-OpenWindow="Global Data", DockArea=RIGHT, x=0, y=2, w=681, h=437, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=294, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=217, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=217, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Global Data", DockArea=RIGHT, x=0, y=2, w=681, h=433, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=293, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=219, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=219, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=1101, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=681, h=420, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="491;-46", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=1, CodeGraphLegendPosition="475;0"
-OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=217, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="RTOS", DockArea=RIGHT, x=0, y=0, w=681, h=236, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing=""
-TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118]
+OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=681, h=417, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="491;-46", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=1, CodeGraphLegendPosition="475;0"
+OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=219, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="RTOS", DockArea=RIGHT, x=0, y=0, w=681, h=243, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing=""
 TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1164;100;100;100;100]
-TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;414]
+TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;100]
 TableHeader="Vector Catches", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500]
 TableHeader="Break & Tracepoints", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;142;209]
 TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[229;100;100;100;902]
@@ -35,4 +37,5 @@ TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCol
 TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;294]
 TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location"], ColWidths=[171;101;279]
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
+TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118]
 TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;38]