同步步兵代码，暂时关闭底盘跟随

2025-11-02 21:21:11 +08:00
parent 456cc96c81
commit 3821589bed
693 changed files with 238044 additions and 2735 deletions
--- a/云台/云台-old/Objects/Project.axf
+++ b/云台/云台-old/Objects/Project.axf
--- a/云台/云台-old/Objects/Project.build_log.htm
+++ b/云台/云台-old/Objects/Project.build_log.htm
@@ -0,0 +1,121 @@
+<html>
+<body>
+<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
+ 
+Tool Versions:
+Toolchain:       MDK-ARM Plus  Version: 5.38.0.0
+Toolchain Path:  C:\Keil_v5\ARM\ARMCOMPLIER506\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
+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
+ 
+<h2>Project:</h2>
+f:\Mas_Infantry_Control-main\<5C><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>\V1.0\<5C><>̨\<5C><>̨\Project.uvprojx
+Project File Date:  01/24/2025
+
+<h2>Output:</h2>
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Keil_v5\ARM\ARMCOMPLIER506\Bin'
+Rebuild target 'Target 1'
+assembling startup_stm32f40_41xxx.s...
+compiling stm32f4xx_dbgmcu.c...
+compiling stm32f4xx_crc.c...
+compiling stm32f4xx_dfsdm.c...
+compiling stm32f4xx_cec.c...
+compiling stm32f4xx_adc.c...
+compiling misc.c...
+compiling system_stm32f4xx.c...
+compiling stm32f4xx_dac.c...
+compiling stm32f4xx_cryp_des.c...
+compiling stm32f4xx_can.c...
+compiling stm32f4xx_cryp_tdes.c...
+compiling stm32f4xx_dcmi.c...
+compiling stm32f4xx_cryp.c...
+compiling stm32f4xx_cryp_aes.c...
+compiling stm32f4xx_dma.c...
+compiling stm32f4xx_dsi.c...
+compiling stm32f4xx_dma2d.c...
+compiling stm32f4xx_flash_ramfunc.c...
+compiling stm32f4xx_exti.c...
+compiling stm32f4xx_hash_md5.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_hash.c...
+compiling stm32f4xx_fsmc.c...
+compiling stm32f4xx_fmpi2c.c...
+compiling stm32f4xx_flash.c...
+compiling stm32f4xx_lptim.c...
+compiling stm32f4xx_iwdg.c...
+compiling stm32f4xx_hash_sha1.c...
+compiling stm32f4xx_i2c.c...
+compiling stm32f4xx_ltdc.c...
+compiling stm32f4xx_qspi.c...
+compiling stm32f4xx_pwr.c...
+compiling stm32f4xx_rng.c...
+compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_spdifrx.c...
+compiling TIM.c...
+compiling stm32f4xx_spi.c...
+compiling stm32f4xx_usart.c...
+compiling Delay.c...
+compiling stm32f4xx_rtc.c...
+compiling stm32f4xx_syscfg.c...
+compiling stm32f4xx_wwdg.c...
+compiling stm32f4xx_sdio.c...
+compiling stm32f4xx_sai.c...
+compiling stm32f4xx_tim.c...
+compiling AHRS_middleware.c...
+compiling MyI2C.c...
+compiling UART.c...
+compiling user_lib.c...
+compiling CAN.c...
+compiling LED.c...
+compiling Buzzer.c...
+compiling GM6020.c...
+compiling LinkCheck.c...
+compiling Remote.c...
+compiling AttitudeAlgorithms.c...
+compiling Laser.c...
+compiling M2006.c...
+compiling IST8310.c...
+compiling BMI088.c...
+compiling M3508.c...
+compiling CToC.c...
+compiling Warming.c...
+compiling CloseLoopControl.c...
+compiling IMUTemperatureControl.c...
+compiling PID.c...
+compiling Gimbal.c...
+compiling Keyboard.c...
+compiling stm32f4xx_it.c...
+compiling RefereeSystem.c...
+compiling Visual.c...
+compiling main.c...
+linking...
+Program Size: Code=27452 RO-data=1236 RW-data=472 ZI-data=3200  
+".\Objects\Project.axf" - 0 Error(s), 0 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
+
+<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:  00:00:06
+</pre>
+</body>
+</html>
--- a/云台/云台-old/Objects/Project.htm
+++ b/云台/云台-old/Objects/Project.htm
--- a/云台/云台-old/Objects/Project.lnp
+++ b/云台/云台-old/Objects/Project.lnp
@@ -0,0 +1,79 @@
+--cpu=Cortex-M4.fp.sp
+".\objects\startup_stm32f40_41xxx.o"
+".\objects\system_stm32f4xx.o"
+".\objects\misc.o"
+".\objects\stm32f4xx_adc.o"
+".\objects\stm32f4xx_can.o"
+".\objects\stm32f4xx_cec.o"
+".\objects\stm32f4xx_crc.o"
+".\objects\stm32f4xx_cryp.o"
+".\objects\stm32f4xx_cryp_aes.o"
+".\objects\stm32f4xx_cryp_des.o"
+".\objects\stm32f4xx_cryp_tdes.o"
+".\objects\stm32f4xx_dac.o"
+".\objects\stm32f4xx_dbgmcu.o"
+".\objects\stm32f4xx_dcmi.o"
+".\objects\stm32f4xx_dfsdm.o"
+".\objects\stm32f4xx_dma.o"
+".\objects\stm32f4xx_dma2d.o"
+".\objects\stm32f4xx_dsi.o"
+".\objects\stm32f4xx_exti.o"
+".\objects\stm32f4xx_flash.o"
+".\objects\stm32f4xx_flash_ramfunc.o"
+".\objects\stm32f4xx_fmpi2c.o"
+".\objects\stm32f4xx_fsmc.o"
+".\objects\stm32f4xx_gpio.o"
+".\objects\stm32f4xx_hash.o"
+".\objects\stm32f4xx_hash_md5.o"
+".\objects\stm32f4xx_hash_sha1.o"
+".\objects\stm32f4xx_i2c.o"
+".\objects\stm32f4xx_iwdg.o"
+".\objects\stm32f4xx_lptim.o"
+".\objects\stm32f4xx_ltdc.o"
+".\objects\stm32f4xx_pwr.o"
+".\objects\stm32f4xx_qspi.o"
+".\objects\stm32f4xx_rcc.o"
+".\objects\stm32f4xx_rng.o"
+".\objects\stm32f4xx_rtc.o"
+".\objects\stm32f4xx_sai.o"
+".\objects\stm32f4xx_sdio.o"
+".\objects\stm32f4xx_spdifrx.o"
+".\objects\stm32f4xx_spi.o"
+".\objects\stm32f4xx_syscfg.o"
+".\objects\stm32f4xx_tim.o"
+".\objects\stm32f4xx_usart.o"
+".\objects\stm32f4xx_wwdg.o"
+".\objects\delay.o"
+".\objects\tim.o"
+".\objects\uart.o"
+".\objects\myi2c.o"
+".\objects\can.o"
+".\AHRS\AHRS.lib"
+".\objects\ahrs_middleware.o"
+".\objects\user_lib.o"
+".\objects\led.o"
+".\objects\buzzer.o"
+".\objects\remote.o"
+".\objects\bmi088.o"
+".\objects\ist8310.o"
+".\objects\laser.o"
+".\objects\m3508.o"
+".\objects\gm6020.o"
+".\objects\m2006.o"
+".\objects\linkcheck.o"
+".\objects\warming.o"
+".\objects\ctoc.o"
+".\objects\closeloopcontrol.o"
+".\objects\attitudealgorithms.o"
+".\objects\imutemperaturecontrol.o"
+".\objects\pid.o"
+".\objects\gimbal.o"
+".\objects\refereesystem.o"
+".\objects\visual.o"
+".\objects\keyboard.o"
+".\objects\main.o"
+".\objects\stm32f4xx_it.o"
+--library_type=microlib --strict --scatter ".\Objects\Project.sct"
+--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
+--info sizes --info totals --info unused --info veneers
+--list ".\Listings\Project.map" -o .\Objects\Project.axf
--- a/云台/云台-old/Objects/Project.sct
+++ b/云台/云台-old/Objects/Project.sct
@@ -0,0 +1,16 @@
+; *************************************************************
+; *** Scatter-Loading Description File generated by uVision ***
+; *************************************************************
+
+LR_IROM1 0x08000000 0x00100000  {    ; load region size_region
+  ER_IROM1 0x08000000 0x00100000  {  ; load address = execution address
+   *.o (RESET, +First)
+   *(InRoot$$Sections)
+   .ANY (+RO)
+   .ANY (+XO)
+  }
+  RW_IRAM1 0x20000000 0x00020000  {  ; RW data
+   .ANY (+RW +ZI)
+  }
+}
+
--- a/云台/云台-old/Objects/Project_Target
+++ b/云台/云台-old/Objects/Project_Target
--- a/云台/云台-old/Objects/ahrs_middleware.crf
+++ b/云台/云台-old/Objects/ahrs_middleware.crf
--- a/云台/云台-old/Objects/attitudealgorithms.crf
+++ b/云台/云台-old/Objects/attitudealgorithms.crf
--- a/云台/云台-old/Objects/bmi088.crf
+++ b/云台/云台-old/Objects/bmi088.crf
--- a/云台/云台-old/Objects/buzzer.crf
+++ b/云台/云台-old/Objects/buzzer.crf
--- a/云台/云台-old/Objects/can.crf
+++ b/云台/云台-old/Objects/can.crf
--- a/云台/云台-old/Objects/closeloopcontrol.crf
+++ b/云台/云台-old/Objects/closeloopcontrol.crf
--- a/云台/云台-old/Objects/ctoc.crf
+++ b/云台/云台-old/Objects/ctoc.crf
--- a/云台/云台-old/Objects/delay.crf
+++ b/云台/云台-old/Objects/delay.crf
--- a/云台/云台-old/Objects/gimbal.crf
+++ b/云台/云台-old/Objects/gimbal.crf
--- a/云台/云台-old/Objects/gm6020.crf
+++ b/云台/云台-old/Objects/gm6020.crf
--- a/云台/云台-old/Objects/imutemperaturecontrol.crf
+++ b/云台/云台-old/Objects/imutemperaturecontrol.crf
--- a/云台/云台-old/Objects/ist8310.crf
+++ b/云台/云台-old/Objects/ist8310.crf
--- a/云台/云台-old/Objects/keyboard.crf
+++ b/云台/云台-old/Objects/keyboard.crf
--- a/云台/云台-old/Objects/laser.crf
+++ b/云台/云台-old/Objects/laser.crf
--- a/云台/云台-old/Objects/led.crf
+++ b/云台/云台-old/Objects/led.crf
--- a/云台/云台-old/Objects/linkcheck.crf
+++ b/云台/云台-old/Objects/linkcheck.crf
--- a/云台/云台-old/Objects/m2006.crf
+++ b/云台/云台-old/Objects/m2006.crf
--- a/云台/云台-old/Objects/m3508.crf
+++ b/云台/云台-old/Objects/m3508.crf
--- a/云台/云台-old/Objects/main.crf
+++ b/云台/云台-old/Objects/main.crf
--- a/云台/云台-old/Objects/misc.crf
+++ b/云台/云台-old/Objects/misc.crf
--- a/云台/云台-old/Objects/myi2c.crf
+++ b/云台/云台-old/Objects/myi2c.crf
--- a/云台/云台-old/Objects/pid.crf
+++ b/云台/云台-old/Objects/pid.crf
--- a/云台/云台-old/Objects/refereesystem.crf
+++ b/云台/云台-old/Objects/refereesystem.crf
--- a/云台/云台-old/Objects/remote.crf
+++ b/云台/云台-old/Objects/remote.crf
--- a/云台/云台-old/Objects/stm32f4xx_adc.crf
+++ b/云台/云台-old/Objects/stm32f4xx_adc.crf
--- a/云台/云台-old/Objects/stm32f4xx_can.crf
+++ b/云台/云台-old/Objects/stm32f4xx_can.crf
--- a/云台/云台-old/Objects/stm32f4xx_cec.crf
+++ b/云台/云台-old/Objects/stm32f4xx_cec.crf
--- a/云台/云台-old/Objects/stm32f4xx_crc.crf
+++ b/云台/云台-old/Objects/stm32f4xx_crc.crf
--- a/云台/云台-old/Objects/stm32f4xx_cryp.crf
+++ b/云台/云台-old/Objects/stm32f4xx_cryp.crf
--- a/云台/云台-old/Objects/stm32f4xx_cryp_aes.crf
+++ b/云台/云台-old/Objects/stm32f4xx_cryp_aes.crf
--- a/云台/云台-old/Objects/stm32f4xx_cryp_des.crf
+++ b/云台/云台-old/Objects/stm32f4xx_cryp_des.crf
--- a/云台/云台-old/Objects/stm32f4xx_cryp_tdes.crf
+++ b/云台/云台-old/Objects/stm32f4xx_cryp_tdes.crf
--- a/云台/云台-old/Objects/stm32f4xx_dac.crf
+++ b/云台/云台-old/Objects/stm32f4xx_dac.crf
--- a/云台/云台-old/Objects/stm32f4xx_dbgmcu.crf
+++ b/云台/云台-old/Objects/stm32f4xx_dbgmcu.crf
--- a/云台/云台-old/Objects/stm32f4xx_dcmi.crf
+++ b/云台/云台-old/Objects/stm32f4xx_dcmi.crf
--- a/云台/云台-old/Objects/stm32f4xx_dfsdm.crf
+++ b/云台/云台-old/Objects/stm32f4xx_dfsdm.crf
--- a/云台/云台-old/Objects/stm32f4xx_dma.crf
+++ b/云台/云台-old/Objects/stm32f4xx_dma.crf
--- a/云台/云台-old/Objects/stm32f4xx_dma2d.crf
+++ b/云台/云台-old/Objects/stm32f4xx_dma2d.crf
--- a/云台/云台-old/Objects/stm32f4xx_dsi.crf
+++ b/云台/云台-old/Objects/stm32f4xx_dsi.crf
--- a/云台/云台-old/Objects/stm32f4xx_exti.crf
+++ b/云台/云台-old/Objects/stm32f4xx_exti.crf
--- a/云台/云台-old/Objects/stm32f4xx_flash.crf
+++ b/云台/云台-old/Objects/stm32f4xx_flash.crf
--- a/云台/云台-old/Objects/stm32f4xx_flash_ramfunc.crf
+++ b/云台/云台-old/Objects/stm32f4xx_flash_ramfunc.crf
--- a/云台/云台-old/Objects/stm32f4xx_fmpi2c.crf
+++ b/云台/云台-old/Objects/stm32f4xx_fmpi2c.crf
--- a/云台/云台-old/Objects/stm32f4xx_fsmc.crf
+++ b/云台/云台-old/Objects/stm32f4xx_fsmc.crf
--- a/云台/云台-old/Objects/stm32f4xx_gpio.crf
+++ b/云台/云台-old/Objects/stm32f4xx_gpio.crf
--- a/云台/云台-old/Objects/stm32f4xx_hash.crf
+++ b/云台/云台-old/Objects/stm32f4xx_hash.crf
--- a/云台/云台-old/Objects/stm32f4xx_hash_md5.crf
+++ b/云台/云台-old/Objects/stm32f4xx_hash_md5.crf
--- a/云台/云台-old/Objects/stm32f4xx_hash_sha1.crf
+++ b/云台/云台-old/Objects/stm32f4xx_hash_sha1.crf
--- a/云台/云台-old/Objects/stm32f4xx_i2c.crf
+++ b/云台/云台-old/Objects/stm32f4xx_i2c.crf
--- a/云台/云台-old/Objects/stm32f4xx_it.crf
+++ b/云台/云台-old/Objects/stm32f4xx_it.crf
--- a/云台/云台-old/Objects/stm32f4xx_iwdg.crf
+++ b/云台/云台-old/Objects/stm32f4xx_iwdg.crf
--- a/云台/云台-old/Objects/stm32f4xx_lptim.crf
+++ b/云台/云台-old/Objects/stm32f4xx_lptim.crf
--- a/云台/云台-old/Objects/stm32f4xx_ltdc.crf
+++ b/云台/云台-old/Objects/stm32f4xx_ltdc.crf
--- a/云台/云台-old/Objects/stm32f4xx_pwr.crf
+++ b/云台/云台-old/Objects/stm32f4xx_pwr.crf
--- a/云台/云台-old/Objects/stm32f4xx_qspi.crf
+++ b/云台/云台-old/Objects/stm32f4xx_qspi.crf
--- a/云台/云台-old/Objects/stm32f4xx_rcc.crf
+++ b/云台/云台-old/Objects/stm32f4xx_rcc.crf
--- a/云台/云台-old/Objects/stm32f4xx_rng.crf
+++ b/云台/云台-old/Objects/stm32f4xx_rng.crf
--- a/云台/云台-old/Objects/stm32f4xx_rtc.crf
+++ b/云台/云台-old/Objects/stm32f4xx_rtc.crf
--- a/云台/云台-old/Objects/stm32f4xx_sai.crf
+++ b/云台/云台-old/Objects/stm32f4xx_sai.crf
--- a/云台/云台-old/Objects/stm32f4xx_sdio.crf
+++ b/云台/云台-old/Objects/stm32f4xx_sdio.crf
--- a/云台/云台-old/Objects/stm32f4xx_spdifrx.crf
+++ b/云台/云台-old/Objects/stm32f4xx_spdifrx.crf
--- a/云台/云台-old/Objects/stm32f4xx_spi.crf
+++ b/云台/云台-old/Objects/stm32f4xx_spi.crf
--- a/云台/云台-old/Objects/stm32f4xx_syscfg.crf
+++ b/云台/云台-old/Objects/stm32f4xx_syscfg.crf
--- a/云台/云台-old/Objects/stm32f4xx_tim.crf
+++ b/云台/云台-old/Objects/stm32f4xx_tim.crf
--- a/云台/云台-old/Objects/stm32f4xx_usart.crf
+++ b/云台/云台-old/Objects/stm32f4xx_usart.crf
--- a/云台/云台-old/Objects/stm32f4xx_wwdg.crf
+++ b/云台/云台-old/Objects/stm32f4xx_wwdg.crf
--- a/云台/云台-old/Objects/system_stm32f4xx.crf
+++ b/云台/云台-old/Objects/system_stm32f4xx.crf
--- a/云台/云台-old/Objects/tim.crf
+++ b/云台/云台-old/Objects/tim.crf
--- a/云台/云台-old/Objects/uart.crf
+++ b/云台/云台-old/Objects/uart.crf
--- a/云台/云台-old/Objects/user_lib.crf
+++ b/云台/云台-old/Objects/user_lib.crf
--- a/云台/云台-old/Objects/visual.crf
+++ b/云台/云台-old/Objects/visual.crf
--- a/云台/云台-old/Objects/warming.crf
+++ b/云台/云台-old/Objects/warming.crf