开启pitch轴控制，等待维修

底盘/底盘/Objects/Project.build_log.htm

@@ -29,67 +29,67 @@ Project File Date:  11/02/2025
 Rebuild target 'Target 1'
 assembling startup_stm32f40_41xxx.s...
 compiling system_stm32f4xx.c...
-compiling stm32f4xx_adc.c...
-compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_dac.c...
-compiling stm32f4xx_fmpi2c.c...
-compiling stm32f4xx_dma2d.c...
 compiling stm32f4xx_cec.c...
+compiling stm32f4xx_dsi.c...
 compiling stm32f4xx_can.c...
-compiling stm32f4xx_dfsdm.c...
+compiling stm32f4xx_adc.c...
 compiling stm32f4xx_cryp.c...
 compiling stm32f4xx_crc.c...
-compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_dsi.c...
-compiling stm32f4xx_exti.c...
-compiling stm32f4xx_dcmi.c...
-compiling misc.c...
-compiling stm32f4xx_gpio.c...
 compiling stm32f4xx_cryp_tdes.c...
+compiling stm32f4xx_dma2d.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_fmpi2c.c...
 compiling stm32f4xx_cryp_des.c...
+compiling stm32f4xx_dfsdm.c...
+compiling stm32f4xx_dac.c...
+compiling misc.c...
+compiling stm32f4xx_flash_ramfunc.c...
+compiling stm32f4xx_exti.c...
+compiling stm32f4xx_dbgmcu.c...
+compiling stm32f4xx_dcmi.c...
 compiling stm32f4xx_fsmc.c...
 compiling stm32f4xx_dma.c...
 compiling stm32f4xx_flash.c...
 compiling stm32f4xx_cryp_aes.c...
 compiling stm32f4xx_hash.c...
-compiling stm32f4xx_hash_md5.c...
 compiling stm32f4xx_hash_sha1.c...
-compiling stm32f4xx_lptim.c...
-compiling stm32f4xx_iwdg.c...
+compiling stm32f4xx_hash_md5.c...
 compiling stm32f4xx_i2c.c...
+compiling stm32f4xx_iwdg.c...
+compiling stm32f4xx_lptim.c...
+compiling stm32f4xx_ltdc.c...
 compiling stm32f4xx_qspi.c...
 compiling stm32f4xx_pwr.c...
 compiling stm32f4xx_rng.c...
-compiling stm32f4xx_ltdc.c...
-compiling stm32f4xx_spdifrx.c...
-compiling stm32f4xx_sai.c...
 compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_spdifrx.c...
+compiling TIM.c...
+compiling stm32f4xx_sai.c...
+compiling stm32f4xx_wwdg.c...
+compiling Delay.c...
+compiling stm32f4xx_syscfg.c...
 compiling stm32f4xx_sdio.c...
 compiling stm32f4xx_spi.c...
-compiling stm32f4xx_syscfg.c...
-compiling stm32f4xx_rtc.c...
-compiling stm32f4xx_wwdg.c...
 compiling stm32f4xx_usart.c...
-compiling TIM.c...
-compiling Delay.c...
-compiling CAN.c...
+compiling stm32f4xx_rtc.c...
 compiling UART.c...
 compiling stm32f4xx_tim.c...
-compiling LED.c...
+compiling CAN.c...
 compiling Buzzer.c...
+compiling LED.c...
 compiling Remote.c...
-compiling LinkCheck.c...
 compiling M3508.c...
 compiling GM6020.c...
-compiling CToC.c...
 compiling Warming.c...
-compiling PID.c...
+compiling CToC.c...
+compiling LinkCheck.c...
 compiling CloseLoopControl.c...
-compiling RefereeSystem_CRCTable.c...
+compiling PID.c...
 compiling RefereeSystem.c...
-compiling Ultra_CAP.c...
-compiling UI.c...
 compiling Mecanum.c...
+compiling RefereeSystem_CRCTable.c...
+compiling UI.c...
+compiling Ultra_CAP.c...
 compiling UI_Base.c...
 compiling UI_Library.c...
 compiling stm32f4xx_it.c...
@@ -108,7 +108,7 @@ Package Vendor: Keil
 <h2>Collection of Component include folders:</h2>
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:05
+Build Time Elapsed:  00:00:04
 </pre>
 </body>
 </html>

底盘/底盘/Objects/Project.htm

@@ -3,7 +3,7 @@
 <title>Static Call Graph - [.\Objects\Project.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\Project.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Mon Nov 03 12:34:21 2025
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sun Jan 11 14:26:24 2026
 <BR><P>
 <H3>Maximum Stack Usage =        232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>

底盘/底盘/Objects/Project_Target 1.dep

@@ -2132,7 +2132,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
 I (.\Library\stm32f4xx_fsmc.h)(0x64D03164)
 I (Control\PID.h)(0x6503C236)
 F (.\Control\PID.h)(0x6503C236)()
-F (.\CarBody\Mecanum.c)(0x69082C7F)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-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

-o .\objects\mecanum.o --omf_browse .\objects\mecanum.crf --depend .\objects\mecanum.d)
+F (.\CarBody\Mecanum.c)(0x69083235)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-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

-o .\objects\mecanum.o --omf_browse .\objects\mecanum.crf --depend .\objects\mecanum.d)
 I (.\Start\stm32f4xx.h)(0x64F48C00)
 I (.\Start\core_cm4.h)(0x64D03162)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2172,7 +2172,7 @@ I (.\Motor\M3508.h)(0x669D0F64)
 I (.\Motor\GM6020.h)(0x669D0FFA)
 I (.\Hardware\Remote.h)(0x669D0E38)
 I (.\Control\PID.h)(0x6503C236)
-I (.\User\Parameter.h)(0x690830C8)
+I (.\User\Parameter.h)(0x6908316C)
 I (CarBody\RefereeSystem.h)(0x66A104BA)
 I (CarBody\Ultra_CAP.h)(0x66A1111C)
 I (CarBody\Mecanum.h)(0x66A1C558)
@@ -2407,7 +2407,7 @@ I (CarBody\UI_Base.h)(0x664C499A)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (.\System\UART.h)(0x669CFA98)
 F (.\CarBody\UI_Library.h)(0x66A113C6)()
-F (.\User\main.c)(0x66A10DEC)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-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

-o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
+F (.\User\main.c)(0x69633E20)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-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

-o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
 I (.\Start\stm32f4xx.h)(0x64F48C00)
 I (.\Start\core_cm4.h)(0x64D03162)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2458,14 +2458,14 @@ I (.\Function\LinkCheck.h)(0x65F5DCF4)
 I (.\Function\CloseLoopControl.h)(0x66A0FD22)
 I (.\Function\CToC.h)(0x669D3130)
 I (.\Function\Warming.h)(0x66A19ADE)
-I (User\Parameter.h)(0x690830C8)
+I (User\Parameter.h)(0x6908316C)
 I (.\CarBody\Mecanum.h)(0x66A1C558)
 I (.\CarBody\RefereeSystem.h)(0x66A104BA)
 I (.\CarBody\RefereeSystem_CRCTable.h)(0x66A0FD98)
 I (.\CarBody\Ultra_CAP.h)(0x66A1111C)
 I (.\CarBody\UI.h)(0x66A113C6)
 F (.\User\RM_C.h)(0x66A234BA)()
-F (.\User\Parameter.h)(0x690830C8)()
+F (.\User\Parameter.h)(0x6908316C)()
 F (.\User\stm32f4xx_conf.h)(0x64D03180)()
 F (.\User\stm32f4xx_it.c)(0x64D032D2)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\Hardware -I .\Motor -I .\Function -I .\Control -I .\CarBody -I .\User --diag_suppress=188 --no-multibyte-chars --diag_suppress=186

-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

-o .\objects\stm32f4xx_it.o --omf_browse .\objects\stm32f4xx_it.crf --depend .\objects\stm32f4xx_it.d)
 I (User\stm32f4xx_it.h)(0x64D03180)

底盘/底盘/Project.uvoptx

@@ -1527,7 +1527,7 @@
 
   <Group>
     <GroupName>Hardware</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1607,7 +1607,7 @@
 
   <Group>
     <GroupName>Motor</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1663,7 +1663,7 @@
 
   <Group>
     <GroupName>Function</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1767,7 +1767,7 @@
 
   <Group>
     <GroupName>Control</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1799,7 +1799,7 @@
 
   <Group>
     <GroupName>CarBody</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

底盘/底盘/User/main.c

@@ -9,6 +9,7 @@ int main()
 	LED_BON();//蓝灯点亮表示代码在运行
 	Delay_s(2);//延时,等待校准和模块启动
 	RefereeSystem_Init();//裁判系统数据接收初始化
+	//CAN_CANInit();
 	LinkCheck_Init();//连接检测初始化
 	Ultra_CAP_Init();//超电初始化
 	CloseLoopControl_Init();//闭环控制初始化