ELCT/Hero-C-Board-Legacy
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开启pitch轴控制，等待维修

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This commit is contained in:
Qi Bin
2026-03-14 13:35:04 +08:00
parent 3f028897fa
commit 1bc3278657
23 changed files with 774 additions and 673 deletions
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25
云台/云台/.vscode/c_cpp_properties.json vendored
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@@ -104,19 +104,18 @@
{
"name": "Target 1",
"includePath": [
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Start",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Library",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\System",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Algorithm",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\AHRS",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Hardware",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Motor",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Function",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Control",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\CarBody",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\User",
"C:\\Keil_v5\\ARM\\ARMCC\\include",
"f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Carbody"
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Start",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Library",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\System",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Algorithm",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\AHRS",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Hardware",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Motor",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Function",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Control",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\CarBody",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\User",
"c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Carbody"
],
"defines": [
"USE_STDPERIPH_DRIVER",

2
云台/云台/.vscode/keil-assistant.log vendored
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@@ -66,3 +66,5 @@
[info] Log at : 2025/3/26|23:03:09|GMT+0800
[info] Log at : 2026/1/12|17:16:15|GMT+0800

2
云台/云台/CarBody/Gimbal.c
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@@ -277,7 +277,7 @@ void Gimbal_Rammer(void)
*/
void Gimbal_MoveControl(void)
{
//Gimbal_PitchControl();//云台Pitch轴控制
Gimbal_PitchControl();//云台Pitch轴控制
Gimbal_YawControl();//云台Yaw轴控制
Gimbal_FiringMechanismControl();//摩擦轮控制

BIN
云台/云台/Objects/Project.axf
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84
云台/云台/Objects/Project.build_log.htm
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@@ -28,55 +28,54 @@ Project File Date: 11/02/2025
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin'
Rebuild target 'Target 1'
assembling startup_stm32f40_41xxx.s...
compiling misc.c...
compiling system_stm32f4xx.c...
compiling stm32f4xx_dcmi.c...
compiling stm32f4xx_adc.c...
compiling stm32f4xx_fsmc.c...
compiling stm32f4xx_cryp_tdes.c...
compiling stm32f4xx_dsi.c...
compiling stm32f4xx_cec.c...
compiling stm32f4xx_can.c...
compiling stm32f4xx_crc.c...
compiling stm32f4xx_dsi.c...
compiling misc.c...
compiling stm32f4xx_cryp_des.c...
compiling stm32f4xx_dac.c...
compiling stm32f4xx_adc.c...
compiling stm32f4xx_cryp.c...
compiling stm32f4xx_flash_ramfunc.c...
compiling stm32f4xx_dcmi.c...
compiling stm32f4xx_cryp_aes.c...
compiling stm32f4xx_dbgmcu.c...
compiling stm32f4xx_dfsdm.c...
compiling stm32f4xx_fmpi2c.c...
compiling stm32f4xx_flash_ramfunc.c...
compiling stm32f4xx_crc.c...
compiling stm32f4xx_gpio.c...
compiling stm32f4xx_exti.c...
compiling stm32f4xx_cryp.c...
compiling stm32f4xx_dma2d.c...
compiling stm32f4xx_dma.c...
compiling stm32f4xx_dma2d.c...
compiling stm32f4xx_cryp_tdes.c...
compiling stm32f4xx_gpio.c...
compiling stm32f4xx_dac.c...
compiling stm32f4xx_exti.c...
compiling stm32f4xx_flash.c...
compiling stm32f4xx_can.c...
compiling stm32f4xx_cryp_aes.c...
compiling stm32f4xx_hash.c...
compiling stm32f4xx_fsmc.c...
compiling stm32f4xx_hash_md5.c...
compiling stm32f4xx_hash_sha1.c...
compiling stm32f4xx_iwdg.c...
compiling stm32f4xx_i2c.c...
compiling stm32f4xx_hash.c...
compiling stm32f4xx_lptim.c...
compiling stm32f4xx_pwr.c...
compiling stm32f4xx_ltdc.c...
compiling stm32f4xx_qspi.c...
compiling stm32f4xx_rng.c...
compiling stm32f4xx_i2c.c...
compiling stm32f4xx_qspi.c...
compiling stm32f4xx_pwr.c...
compiling stm32f4xx_spdifrx.c...
compiling stm32f4xx_syscfg.c...
compiling stm32f4xx_sai.c...
compiling stm32f4xx_rcc.c...
compiling stm32f4xx_sdio.c...
compiling stm32f4xx_ltdc.c...
compiling stm32f4xx_syscfg.c...
compiling stm32f4xx_spi.c...
compiling TIM.c...
compiling Delay.c...
compiling stm32f4xx_usart.c...
compiling AHRS_middleware.c...
compiling stm32f4xx_wwdg.c...
compiling stm32f4xx_sai.c...
compiling stm32f4xx_rtc.c...
compiling UART.c...
compiling user_lib.c...
compiling stm32f4xx_rcc.c...
compiling Delay.c...
compiling stm32f4xx_wwdg.c...
compiling stm32f4xx_usart.c...
compiling stm32f4xx_tim.c...
compiling MyI2C.c...
compiling TIM.c...
compiling UART.c...
compiling AHRS_middleware.c...
compiling user_lib.c...
compiling WaveFiltering_Kalman_Filtering.c...
Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst" was declared but never referenced
float pDst,pDst1=1.0f;
@@ -85,36 +84,37 @@ Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst1"
Control\WaveFiltering_Kalman_Filtering.c(32): warning: #1-D: last line of file ends without a newline
Control\WaveFiltering_Kalman_Filtering.c: 3 warnings, 0 errors
compiling MyI2C.c...
compiling CAN.c...
compiling LED.c...
compiling Buzzer.c...
compiling LED.c...
compiling IST8310.c...
compiling Remote.c...
compiling BMI088.c...
compiling Laser.c...
compiling GM6020.c...
compiling M3508.c...
compiling LinkCheck.c...
compiling M2006.c...
compiling Warming.c...
compiling CToC.c...
compiling AttitudeAlgorithms.c...
compiling CloseLoopControl.c...
compiling LinkCheck.c...
compiling Warming.c...
compiling M3508.c...
compiling M2006.c...
compiling GM6020.c...
compiling AttitudeAlgorithms.c...
compiling CToC.c...
compiling IMUTemperatureControl.c...
compiling PID.c...
compiling Gimbal.c...
compiling RefereeSystem.c...
compiling Visual.c...
CarBody\Visual.c(68): warning: #9-D: nested comment is not allowed
UART2_Printf("%f %f %f %f \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/
CarBody\Visual.c(165): warning: #1-D: last line of file ends without a newline
}
CarBody\Visual.c: 2 warnings, 0 errors
compiling Gimbal.c...
compiling RefereeSystem.c...
compiling Keyboard.c...
compiling main.c...
compiling stm32f4xx_it.c...
linking...
Program Size: Code=31032 RO-data=1236 RW-data=552 ZI-data=3520
Program Size: Code=31636 RO-data=1236 RW-data=552 ZI-data=3520
".\Objects\Project.axf" - 0 Error(s), 5 Warning(s).
<h2>Software Packages used:</h2>

1009
云台/云台/Objects/Project.htm
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File diff suppressed because it is too large Load Diff

12
云台/云台/Objects/Project_Target 1.dep
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@@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
@@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF)
I (.\User\stm32f4xx_conf.h)(0x64D03180)
I (.\Library\stm32f4xx_adc.h)(0x64D03164)
I (.\Library\stm32f4xx_crc.h)(0x64D03164)
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
I (.\Library\stm32f4xx_dma.h)(0x64D03164)
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
@@ -2477,7 +2477,7 @@ I (.\Library\stm32f4xx_can.h)(0x64D03164)
-o .\objects\m2006.o --omf_browse .\objects\m2006.crf --depend .\objects\m2006.d)
I (.\Start\stm32f4xx.h)(0x66256792)
I (.\Start\core_cm4.h)(0x64D03162)
I (.\Start\core_cm4.h)(0x64D03162)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x64D03162)
I (.\Start\core_cmFunc.h)(0x64D03162)
@@ -2612,7 +2612,7 @@ I (.\Library\stm32f4xx_fsmc.h)(0x64D03164)
-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -DARM_MATH_CM4 -D__FPU_PRESENT="1U"
-o .\objects\ctoc.o --omf_browse .\objects\ctoc.crf --depend .\objects\ctoc.d)
I (.\Start\stm32f4xx.h)(0x66256792)
@@ -2670,13 +2670,13 @@ I (.\Function\CToC.h)(0x669D31F6)
I (.\Start\system_stm32f4xx.h)(0x64D03132)
I (.\User\stm32f4xx_conf.h)(0x64D03180)
I (.\Library\stm32f4xx_adc.h)(0x64D03164)
I (.\Library\stm32f4xx_crc.h)(0x64D03164)
I (.\Library\stm32f4xx_crc.h)(0x64D03164)
I (.\Library\stm32f4xx_dbgmcu.h)(0x64D03164)
I (.\Library\stm32f4xx_dma.h)(0x64D03164)
I (.\Library\stm32f4xx_exti.h)(0x64D03164)
I (.\Library\stm32f4xx_flash.h)(0x64D03164)
I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
I (.\Library\stm32f4xx_rcc.h)(0x64D03164)

BIN
云台/云台/Objects/ctoc.crf
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BIN
云台/云台/Objects/gimbal.crf
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BIN
云台/云台/Objects/main.crf
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104
云台/云台/Project.uvguix.LSMushui
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File diff suppressed because one or more lines are too long

8
云台/云台/Project.uvoptx
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@@ -1442,7 +1442,7 @@
<Group>
<GroupName>System</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -1578,7 +1578,7 @@
<Group>
<GroupName>AHRS</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -1658,7 +1658,7 @@
<Group>
<GroupName>Hardware</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -1810,7 +1810,7 @@
<Group>
<GroupName>Motor</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

4
云台/云台/User/Parameter.h
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@@ -10,8 +10,8 @@
#define Pitch_GM6020AngleUpperLinit -20.0f//Pitch轴编码器值上限
/*=============================================云台参数=============================================*/
#define Gimbal_FrictionWheelSpeed -10000//摩擦轮转速,弹速限制30m/s
#define Gimbal_RammerSpeed -50//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限
#define Gimbal_FrictionWheelSpeed -5000//摩擦轮转速,弹速限制30m/s
#define Gimbal_RammerSpeed -15//拨弹盘转速,射频为7时大概冷却和热量相抵,5400是射频20的最低下限
#define Gimbal_LeverSpeedMapRate 1.0f//云台俯仰拨杆速度映射比例
#define Gimbal_YawPitchSpeedRate 2.0f//云台偏航俯仰速度比

2
云台/云台/User/main.c
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@@ -41,7 +41,7 @@ int main(void)
CToC_MasterSendData();//CToC发送遥控器摇杆数据
//Visual_SendData();
Visual_SendData();
if(Delay_Count) //每次大循环只执行一次