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开启pitch轴控制，等待维修

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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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底盘/底盘/Objects/Project.axf
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64
底盘/底盘/Objects/Project.build_log.htm
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@@ -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>

2
底盘/底盘/Objects/Project.htm
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@@ -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>

10
底盘/底盘/Objects/Project_Target 1.dep
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@@ -2132,7 +2132,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
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)
I (.\Start\core_cmSimd.h)(0x64D03162)
I (.\Start\core_cmSimd.h)(0x64D03162)
I (.\Start\system_stm32f4xx.h)(0x64D03132)
I (.\User\stm32f4xx_conf.h)(0x64D03180)
I (.\Library\stm32f4xx_adc.h)(0x64D03164)
@@ -2172,7 +2172,7 @@ I (.\Motor\M3508.h)(0x669D0F64)
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
-o .\objects\m3508.o --omf_browse .\objects\m3508.crf --depend .\objects\m3508.d)
I (.\Start\stm32f4xx.h)(0x64F48C00)
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)
I (.\Start\core_cmInstr.h)(0x64D03162)
@@ -2407,7 +2407,7 @@ I (CarBody\UI_Base.h)(0x664C499A)
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)
@@ -2458,14 +2458,14 @@ I (.\Function\LinkCheck.h)(0x65F5DCF4)
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_gpio.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)
I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
I (.\Library\stm32f4xx_spi.h)(0x64D03164)
I (.\Library\stm32f4xx_spi.h)(0x64D03164)
I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
I (.\Library\stm32f4xx_tim.h)(0x64D03164)
I (.\Library\stm32f4xx_usart.h)(0x64D03164)

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底盘/底盘/Project.uvguix.LSMushui
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10
底盘/底盘/Project.uvoptx
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@@ -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>

1
底盘/底盘/User/main.c
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@@ -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