同步步兵代码，暂时关闭底盘跟随

云台/云台/Objects/ExtDll.iex

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+[EXTDLL]
+Count=0

云台/云台/Objects/Project.build_log.htm

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 <pre>
 <h1><EFBFBD>Vision Build Log</h1>
 <h2>Tool Versions:</h2>
-IDE-Version: <20><>Vision V5.38.0.0
-Copyright (C) 2022 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: peng ge, 1, LIC=IK1BF-6ED2S-X70RZ-J8MCT-Q76GB-XPREM
+IDE-Version: <20><>Vision V5.43.1.0
+Copyright (C) 2025 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: LS Mushui, 1, LIC=NQQMA-1N3GT-30GNC-71PK8-06QJT-WGQ3X
  
 Tool Versions:
-Toolchain:       MDK-ARM Plus  Version: 5.38.0.0
-Toolchain Path:  C:\Keil_v5\ARM\ARMCOMPLIER506\Bin
+Toolchain:       MDK-ARM Plus  Version: 5.43.0.0
+Toolchain Path:  C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin
 C Compiler:      Armcc.exe V5.06 update 7 (build 960)
 Assembler:       Armasm.exe V5.06 update 7 (build 960)
 Linker/Locator:  ArmLink.exe V5.06 update 7 (build 960)
 Library Manager: ArmAr.exe V5.06 update 7 (build 960)
 Hex Converter:   FromElf.exe V5.06 update 7 (build 960)
-CPU DLL:         SARMCM3.DLL V5.38.0.0
+CPU DLL:         SARMCM3.DLL V5.43.0.0
 Dialog DLL:      DCM.DLL V1.17.5.0
-Target DLL:      CMSIS_AGDI.dll V1.33.15.0
-Dialog DLL:      TCM.DLL V1.56.4.0
+Target DLL:      CMSIS_AGDI.dll V1.33.24.0
+Dialog DLL:      TCM.DLL V1.56.6.0
  
 <h2>Project:</h2>
-f:\Mas_Infantry_Control-main\<5C><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>\V1.0\Hero\<5C><>̨\<5C><>̨\Project.uvprojx
-Project File Date:  02/21/2025
+C:\Users\LSMushui\Desktop\RM\New-Infantry-C-Board-Legacy\<5C><>̨\<5C><>̨\Project.uvprojx
+Project File Date:  11/02/2025
 
 <h2>Output:</h2>
-*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Keil_v5\ARM\ARMCOMPLIER506\Bin'
-Build target 'Target 1'
+*** 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_dfsdm.c...
+compiling stm32f4xx_fmpi2c.c...
+compiling stm32f4xx_exti.c...
+compiling stm32f4xx_dcmi.c...
+compiling stm32f4xx_can.c...
+compiling stm32f4xx_cryp_des.c...
+compiling stm32f4xx_dsi.c...
+compiling stm32f4xx_dbgmcu.c...
+compiling stm32f4xx_cryp_tdes.c...
+compiling stm32f4xx_dma.c...
+compiling stm32f4xx_flash_ramfunc.c...
+compiling stm32f4xx_crc.c...
+compiling stm32f4xx_dac.c...
+compiling stm32f4xx_dma2d.c...
+compiling stm32f4xx_cec.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_fsmc.c...
+compiling stm32f4xx_adc.c...
+compiling stm32f4xx_cryp.c...
+compiling stm32f4xx_flash.c...
+compiling stm32f4xx_hash.c...
+compiling stm32f4xx_hash_md5.c...
+compiling stm32f4xx_cryp_aes.c...
+compiling stm32f4xx_hash_sha1.c...
+compiling stm32f4xx_iwdg.c...
+compiling stm32f4xx_lptim.c...
+compiling stm32f4xx_i2c.c...
+compiling stm32f4xx_ltdc.c...
+compiling stm32f4xx_qspi.c...
+compiling AHRS_middleware.c...
+compiling stm32f4xx_pwr.c...
+compiling stm32f4xx_sdio.c...
+compiling user_lib.c...
+compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_rng.c...
+compiling stm32f4xx_spdifrx.c...
+compiling Delay.c...
+compiling TIM.c...
+compiling stm32f4xx_syscfg.c...
+compiling stm32f4xx_wwdg.c...
+compiling stm32f4xx_spi.c...
+compiling stm32f4xx_sai.c...
+compiling stm32f4xx_usart.c...
+compiling CAN.c...
+compiling MyI2C.c...
+compiling UART.c...
+compiling stm32f4xx_rtc.c...
+compiling stm32f4xx_tim.c...
+compiling Buzzer.c...
+compiling LED.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;
+Control\WaveFiltering_Kalman_Filtering.c(13): warning:  #177-D: variable "pDst1"  was declared but never referenced
+  	   float pDst,pDst1=1.0f;
+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 Remote.c...
+compiling Laser.c...
+compiling BMI088.c...
+compiling IST8310.c...
+compiling M2006.c...
+compiling GM6020.c...
+compiling M3508.c...
+compiling LinkCheck.c...
+compiling Warming.c...
 compiling CToC.c...
-compiling main.c...
+compiling IMUTemperatureControl.c...
+compiling CloseLoopControl.c...
+compiling AttitudeAlgorithms.c...
+compiling PID.c...
+compiling Keyboard.c...
 compiling Gimbal.c...
+compiling RefereeSystem.c...
+compiling main.c...
+compiling Visual.c...
+CarBody\Visual.c(76): 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(115): warning:  #550-D: variable "Visual_Type"  was set but never used
+  char Visual_Type = '\0';       // 存储类型（r/b/u<><75>?
+CarBody\Visual.c(118): warning:  #550-D: variable "Visual_ReceiveFlag"  was set but never used
+  uint8_t Visual_ReceiveFlag = 0; // 接收完成标志
+CarBody\Visual.c(124): warning:  #550-D: variable "RxTimeoutTick"  was set but never used
+  static uint32_t RxTimeoutTick = 0;// 超时计时器（毫秒<E6AFAB><E7A792>?
+CarBody\Visual.c(288): warning:  #1-D: last line of file ends without a newline
+  		*/
+CarBody\Visual.c(19): warning:  #177-D: variable "dataType"  was declared but never referenced
+  static char dataType;               // 存储类型字段<E5AD97><E6AEB5>?'r'/'b'/'u'<27><>?
+CarBody\Visual.c: 6 warnings, 0 errors
+compiling stm32f4xx_it.c...
 linking...
-Program Size: Code=31644 RO-data=1236 RW-data=552 ZI-data=3520  
-".\Objects\Project.axf" - 0 Error(s), 0 Warning(s).
+Program Size: Code=32060 RO-data=1372 RW-data=576 ZI-data=3344  
+".\Objects\Project.axf" - 0 Error(s), 9 Warning(s).
 
 <h2>Software Packages used:</h2>
 
 Package Vendor: Keil
-                https://www.keil.com/pack/Keil.STM32F4xx_DFP.2.17.1.pack
-                Keil.STM32F4xx_DFP.2.17.1
-                STMicroelectronics STM32F4 Series Device Support, Drivers and Examples
+                https://www.keil.com/pack/Keil.STM32F4xx_DFP.3.1.1.pack
+                Keil::STM32F4xx_DFP@3.1.1
+                STMicroelectronics STM32F4 Series Device Support
 
 <h2>Collection of Component include folders:</h2>
-  C:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:01
+Build Time Elapsed:  00:00:05
 </pre>
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