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修复云台编码器正方向，等待优化PID参数

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This commit is contained in:
Qi Bin
2026-03-27 09:26:10 +08:00
parent dbac677902
commit 84a9bccc9c
91 changed files with 783 additions and 649 deletions
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53
云台/云台/CarBody/Gimbal.c
View File

@@ -11,6 +11,7 @@
#include "RefereeSystem.h"
#include "Visual.h"
#include "WaveFiltering_Kalman_Filtering.h"
#include "Delay.h"
KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体
@@ -26,7 +27,7 @@ KFP kfp_PITCH={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体
uint8_t Gimbal_FrictionWheelFlag;//云台小陀螺标志位,云台开摩擦轮标志位
bool Fire_Flag=0;//开火指示位，用于单发限位
uint8_t Fire_Flag=0;//开火指示位，用于单发限位
PID_PositionInitTypedef Gimbal_YawAnglePositionPID,Gimbal_YawAngleSpeedPID;//Yaw轴GM6020电机PID
PID_PositionInitTypedef Gimbal_PitchAnglePositionPID,Gimbal_PitchAngleSpeedPID;//Pitch轴GM6020电机PID
@@ -98,9 +99,9 @@ void Gimbal_Init(void)
PID_PositionSetOUTRange(&Gimbal_R2_FrictionWheelPID,-15000,15000);
PID_PositionStructureInit(&Gimbal_RammerSpinPositionPID,Gimbal_RammerSpeed);//拨弹盘
PID_PositionSetParameter(&Gimbal_RammerSpinPositionPID,50,50,0);
PID_PositionSetParameter(&Gimbal_RammerSpinPositionPID,20,0,0);
PID_PositionSetEkRange(&Gimbal_RammerSpinPositionPID,-20,20);
PID_PositionSetOUTRange(&Gimbal_RammerSpinPositionPID,-2000,2000);
PID_PositionSetOUTRange(&Gimbal_RammerSpinPositionPID,-20000,20000);
@@ -139,12 +140,12 @@ void Gimbal_CleanPID(void)
void Gimbal_PitchControl(void)
{
if(Remote_StartFlag==2)Gimbal_PitchAnglePositionPID.Need_Value=0;//遥控器刚建立连接时,复位Pitch轴角度
if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1000) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit)
if(((Remote_RxData.Remote_L_UD>1050 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)<1020) && AttitudeAlgorithms_DegRoll>Pitch_GM6020AngleUpperLinit)
Gimbal_PitchAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;//通过遥控器或者鼠标获取俯仰情况
else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1050) && AttitudeAlgorithms_DegRoll<Pitch_GM6020AngleLowerLinit)
else if(((Remote_RxData.Remote_L_UD<1000 && RefereeSystem_Status==0) || (1024+Remote_RxData.Remote_Mouse_DU*3)>1030) && AttitudeAlgorithms_DegRoll<Pitch_GM6020AngleLowerLinit)
Gimbal_PitchAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate/8192.0f*360.0f;
if(Remote_RxData.Remote_LS==2 && Visual_ReceiveFlag==1 || Remote_RxData.Remote_Mouse_KeyR==1 && Visual_ReceiveFlag==1 )//自瞄,补偿角度
if((Remote_RxData.Remote_LS==2 && Visual_ReceiveFlag==1 ) || (Remote_RxData.Remote_Mouse_KeyR==1 && Visual_ReceiveFlag==1) )//自瞄,补偿角度
{
Visual_ReceiveFlag=0;
@@ -159,10 +160,10 @@ void Gimbal_PitchControl(void)
//串级PID闭环Pitch角
PID_PositionCalc(&Gimbal_PitchAnglePositionPID,AttitudeAlgorithms_DegRoll);
Gimbal_PitchAnglePositionPID.OUT=kalmanFilter(&kfp_PITCH,Gimbal_PitchAnglePositionPID.OUT);
//Gimbal_PitchAnglePositionPID.OUT=kalmanFilter(&kfp_PITCH,Gimbal_PitchAnglePositionPID.OUT);
Gimbal_PitchAngleSpeedPID.Need_Value=-Gimbal_PitchAnglePositionPID.OUT;
PID_PositionCalc(&Gimbal_PitchAngleSpeedPID,GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Speed);
//GM6020_CAN1SetLIDVoltage(0,Gimbal_YawAngleSpeedPID.OUT,0,0);
}
void Debug(void)
@@ -185,14 +186,14 @@ void Gimbal_YawControl(void)
{
if(Remote_StartFlag==2)
Gimbal_YawAnglePositionPID.Need_Value=AttitudeAlgorithms_DegYaw;//遥控器刚建立连接时,复位Yaw轴角度
if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1050)//根据摇杆改变偏航
if((Remote_RxData.Remote_L_RL>1050 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity>1030)//根据摇杆改变偏航
{
if(PC_Spin==0)
Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((Remote_RxData.Remote_L_RL-1024)/660.0f);
else
Gimbal_YawAnglePositionPID.Need_Value-=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*(PC_Spin*PC_Mouse_RLSensitivity/660.0f*2);
}
else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1000)
else if((Remote_RxData.Remote_L_RL<1000 && RefereeSystem_Status==0) || 1024+PC_Spin*PC_Mouse_RLSensitivity<1020)
{
if(PC_Spin==0)
Gimbal_YawAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((1024-Remote_RxData.Remote_L_RL)/660.0f);
@@ -204,8 +205,9 @@ void Gimbal_YawControl(void)
PID_PositionCalc(&Gimbal_YawAnglePositionPID,AttitudeAlgorithms_DegYaw);
Gimbal_YawAngleSpeedPID.Need_Value=Gimbal_YawAnglePositionPID.OUT;
PID_PositionCalc(&Gimbal_YawAngleSpeedPID,GM6020_MotorStatus[0].Speed);
GM6020_CAN2SetLIDVoltage(Gimbal_YawAngleSpeedPID.OUT,0,0,0);
GM6020_CAN2SetLIDVoltage(Gimbal_YawAngleSpeedPID.OUT,0,0,0);
//UART2_Printf("%lld\n",GM6020_MotorStatus[Gimbal_YawMotor-0x205].Position);
}
/*
@@ -258,9 +260,8 @@ void Gimbal_Rammer(void)
else Gimbal_RammerSpinPositionPID.Need_Value=0;
PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
//PID_PositionCalc(&Gimbal_PitchAngleSpeedPID,GM6020_MotorStatus[Gimbal_PitchMotor-0x205].Speed);
//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
M3508_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
Delay_ms(1);
//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
}
@@ -274,31 +275,34 @@ void Gimbal_Rammer_Single_fire(void)
{
if(Gimbal_FrictionWheelFlag==1)
{
if(((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1) && Fire_Flag != 1;)
if((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1)
{ if(Fire_Flag == 0)
{
Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value-Gimbal_RammerSingleAmmo;//3,2,1 Fire!!!
Fire_Flag=1;//单次开火标志置1
Fire_Flag=1;
}
else
Gimbal_RammerSpinPositionPID.Need_Value=0;
//单次开火标志置1
}
else if((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1)
{
Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value+Gimbal_RammerSpeed;//退弹
Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpinPositionPID.Need_Value+Gimbal_RammerSingleAmmo;//退弹
Fire_Flag=0;//退弹就不用一发一发退了
}
else
Gimbal_RammerSpinPositionPID.Need_Value=0;//停止开火！
Fire_Flag=0;
}
else Gimbal_RammerSpinPositionPID.Need_Value=0;//防止意外走火？
else
Gimbal_RammerSpinPositionPID.Need_Value=0;//防止意外走火？
Fire_Flag=0;
PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
//M3508_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
//M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
}
/*
*函数简介:云台运动控制
*参数说明:无
@@ -312,5 +316,6 @@ void Gimbal_MoveControl(void)
Gimbal_FiringMechanismControl();//摩擦轮控制
Gimbal_Rammer();//拨弹盘控制
//Gimbal_Rammer_Single_fire();
//UART2_Printf("%f,%f,%f,%f\n",Gimbal_PitchAngleSpeedPID.Need_Value,Gimbal_PitchAngleSpeedPID.Now_Value,Gimbal_PitchAnglePositionPID.Now_Value,Gimbal_PitchAnglePositionPID.Need_Value);
}

BIN
云台/云台/Objects/Project.axf
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95
云台/云台/Objects/Project.build_log.htm
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@@ -22,15 +22,100 @@ Dialog DLL: TCM.DLL V1.56.6.0
<h2>Project:</h2>
C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\<5C><>̨\<5C><>̨\Project.uvprojx
Project File Date: 03/23/2026
Project File Date: 03/24/2026
<h2>Output:</h2>
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin'
Build target 'Target 1'
Rebuild target 'Target 1'
assembling startup_stm32f40_41xxx.s...
compiling misc.c...
compiling stm32f4xx_cec.c...
compiling system_stm32f4xx.c...
compiling stm32f4xx_crc.c...
compiling stm32f4xx_cryp.c...
compiling stm32f4xx_cryp_tdes.c...
compiling stm32f4xx_flash.c...
compiling stm32f4xx_dma2d.c...
compiling stm32f4xx_can.c...
compiling stm32f4xx_dac.c...
compiling stm32f4xx_fsmc.c...
compiling stm32f4xx_dsi.c...
compiling stm32f4xx_adc.c...
compiling stm32f4xx_exti.c...
compiling stm32f4xx_gpio.c...
compiling stm32f4xx_fmpi2c.c...
compiling stm32f4xx_flash_ramfunc.c...
compiling stm32f4xx_dbgmcu.c...
compiling stm32f4xx_dcmi.c...
compiling stm32f4xx_dfsdm.c...
compiling stm32f4xx_cryp_des.c...
compiling stm32f4xx_dma.c...
compiling stm32f4xx_cryp_aes.c...
compiling stm32f4xx_hash_md5.c...
compiling stm32f4xx_hash.c...
compiling stm32f4xx_lptim.c...
compiling stm32f4xx_hash_sha1.c...
compiling stm32f4xx_iwdg.c...
compiling stm32f4xx_i2c.c...
compiling stm32f4xx_qspi.c...
compiling stm32f4xx_pwr.c...
compiling stm32f4xx_rng.c...
compiling stm32f4xx_ltdc.c...
compiling stm32f4xx_rcc.c...
compiling stm32f4xx_sai.c...
compiling stm32f4xx_spdifrx.c...
compiling stm32f4xx_rtc.c...
compiling stm32f4xx_sdio.c...
compiling stm32f4xx_syscfg.c...
compiling Delay.c...
compiling stm32f4xx_spi.c...
compiling stm32f4xx_wwdg.c...
compiling TIM.c...
compiling AHRS_middleware.c...
compiling stm32f4xx_usart.c...
compiling UART.c...
compiling user_lib.c...
compiling stm32f4xx_tim.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 CAN.c...
compiling MyI2C.c...
compiling LED.c...
compiling Buzzer.c...
compiling Remote.c...
compiling IST8310.c...
compiling Laser.c...
compiling BMI088.c...
compiling M3508.c...
compiling GM6020.c...
compiling LinkCheck.c...
compiling M2006.c...
compiling Warming.c...
compiling CToC.c...
compiling CloseLoopControl.c...
compiling IMUTemperatureControl.c...
compiling AttitudeAlgorithms.c...
compiling PID.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=31572 RO-data=1236 RW-data=552 ZI-data=3544
".\Objects\Project.axf" - 0 Error(s), 0 Warning(s).
Program Size: Code=31688 RO-data=1236 RW-data=552 ZI-data=3544
".\Objects\Project.axf" - 0 Error(s), 5 Warning(s).
<h2>Software Packages used:</h2>
@@ -42,7 +127,7 @@ Package Vendor: Keil
<h2>Collection of Component include folders:</h2>
<h2>Collection of Component Files used:</h2>
Build Time Elapsed: 00:00:01
Build Time Elapsed: 00:00:05
</pre>
</body>
</html>

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云台/云台/Objects/Project.htm
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15
云台/云台/Objects/Project_Target 1.dep
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@@ -1741,7 +1741,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F633)
I (.\Start\core_cmFunc.h)(0x69B4F633)
I (.\Start\core_cmSimd.h)(0x69B4F633)
I (.\Start\core_cmSimd.h)(0x69B4F633)
I (.\Start\system_stm32f4xx.h)(0x69B4F633)
I (.\User\stm32f4xx_conf.h)(0x69B4F633)
I (.\Library\stm32f4xx_adc.h)(0x69B4F631)
@@ -2273,7 +2273,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F632)
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F632)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F632)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F632)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F632)
@@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x69B4F631)
I (.\User\stm32f4xx_conf.h)(0x69B4F633)
I (.\Library\stm32f4xx_adc.h)(0x69B4F631)
I (.\Library\stm32f4xx_crc.h)(0x69B4F631)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
I (.\Library\stm32f4xx_dma.h)(0x69B4F632)
I (.\Library\stm32f4xx_exti.h)(0x69B4F632)
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
@@ -2477,7 +2477,7 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F631)
-o .\objects\m2006.o --omf_browse .\objects\m2006.crf --depend .\objects\m2006.d)
I (.\Start\stm32f4xx.h)(0x69B4F633)
I (.\Start\core_cm4.h)(0x69B4F633)
I (.\Start\core_cm4.h)(0x69B4F633)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F633)
I (.\Start\core_cmFunc.h)(0x69B4F633)
@@ -2489,6 +2489,7 @@ I (CarBody\RefereeSystem.h)(0x69B4F631)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
I (.\Library\stm32f4xx_dma.h)(0x69B4F632)
I (.\Library\stm32f4xx_exti.h)(0x69B4F632)
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F632)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
@@ -2612,7 +2613,7 @@ I (.\Library\stm32f4xx_fsmc.h)(0x69B4F632)
-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)(0x69B4F633)
I (.\Start\core_cm4.h)(0x69B4F633)
@@ -2670,13 +2671,13 @@ I (.\Function\CToC.h)(0x69B4F631)
I (.\User\stm32f4xx_conf.h)(0x69B4F633)
I (.\Library\stm32f4xx_adc.h)(0x69B4F631)
I (.\Library\stm32f4xx_crc.h)(0x69B4F631)
I (.\Library\stm32f4xx_crc.h)(0x69B4F631)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F632)
I (.\Library\stm32f4xx_dma.h)(0x69B4F632)
I (.\Library\stm32f4xx_exti.h)(0x69B4F632)
I (.\Library\stm32f4xx_flash.h)(0x69B4F632)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F632)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F632)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F632)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F632)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F632)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F632)

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云台/云台/Objects/can.crf
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云台/云台/Objects/ctoc.crf
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云台/云台/Objects/gimbal.crf
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云台/云台/Objects/main.crf
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133
云台/云台/Project.uvguix.LSMushui
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4
云台/云台/Project.uvoptx
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@@ -145,7 +145,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U-O206 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Name>-U040C0D038416303030303032 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("") -D00(00000000) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8000 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0-R0</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -1810,7 +1810,7 @@
<Group>
<GroupName>Motor</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

2
云台/云台/Project.uvprojx
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@@ -10,7 +10,7 @@
<TargetName>Target 1</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARM_Compiler_5.06u7</pArmCC>
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>

2
云台/云台/System/CAN.c
View File

@@ -12,7 +12,7 @@
uint8_t CAN_CAN1DeviceNumber=6;//CAN1总线上设备数量
uint8_t CAN_CAN2DeviceNumber=2;//CAN2总线上设备数量
uint8_t CAN_DeviceNumber=8;//CAN总线上设备数量
uint32_t CAN_CAN1IDList[10][2]={{CAN_GM6020,GM6020_2},{CAN_M3508,M3508_1},{CAN_M3508,M3508_2},{CAN_M3508,M3508_3},{CAN_M3508,M3508_4},{CAN_M3508,M3508_7},0};//CAN1总线上设备ID列表
uint32_t CAN_CAN1IDList[10][2]={{CAN_M3508,M3508_7},{CAN_GM6020,GM6020_2},{CAN_M3508,M3508_1},{CAN_M3508,M3508_2},{CAN_M3508,M3508_3},{CAN_M3508,M3508_4},0};//CAN1总线上设备ID列表
uint32_t CAN_CAN2IDList[10][2]={{CAN_GM6020,GM6020_1},{CAN_RoboMasterC,CToC_MasterID1},0};//CAN2总线上设备ID列表
int8_t CAN_IDSelect=0;//CAN总线上ID列表选择位

8
云台/云台/User/Parameter.h
View File

@@ -2,7 +2,7 @@
#define __PARAMETER_H
/*=============================================结构参数=============================================*/
#define Yaw_GM6020PositionValue 6200////Yaw轴回正时编码器值
#define Yaw_GM6020PositionValue 5733////Yaw轴回正时编码器值
#define Pitch_GM6020PositionValue 3245//Pitch轴编码器值
#define Pitch_GM6020PositionLowerLinit 7363//Pitch轴编码器值下限7363
#define Pitch_GM6020PositionUpperLinit 8625//Pitch轴编码器值上限433 8625
@@ -10,9 +10,9 @@
#define Pitch_GM6020AngleUpperLinit -20.0f//Pitch轴编码器值上限
/*=============================================云台参数=============================================*/
#define Gimbal_FrictionWheelSpeed -5000//摩擦轮转速,弹速限制30m/s
#define Gimbal_RammerSpeed -5000//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_RammerSingleAmmo -15//拨弹盘3508单发旋转编码值
#define Gimbal_FrictionWheelSpeed -4000//摩擦轮转速 对应大弹丸11.7M/s
#define Gimbal_RammerSpeed -2500//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_RammerSingleAmmo -200//拨弹盘3508单发旋转编码值
#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

4
底盘/底盘/CarBody/Mecanum.c
View File

@@ -56,9 +56,9 @@ void Mecanum_Init(void)
PID_PositionStructureInit(&Mecanum_TrackPID,Yaw_GM6020PositionValue);//底盘跟随
//Raw Code//
//PID_PositionSetParameter(&Mecanum_TrackPID,0.007,0,0.8);
//Testing Code//
PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,1);//随便写的PID值，勉强可以用
//Testing Code//
//PID_PositionSetParameter(&Mecanum_TrackPID,0,0,0);
PID_PositionSetEkRange(&Mecanum_TrackPID,-1,1);
PID_PositionSetOUTRange(&Mecanum_TrackPID,-4,4);

2
底盘/底盘/CarBody/RefereeSystem.c
View File

@@ -101,7 +101,7 @@ uint32_t RefereeSystem_VerifyCRC16CheckSum(uint8_t *Data, uint32_t Length)
void RefereeSystem_Init(void)
{
UART1_Init();
//while(RefereeSystem_RobotID==0);
while(RefereeSystem_RobotID==0);
}
/*

8
底盘/底盘/Listings/startup_stm32f40_41xxx.lst
View File

@@ -842,16 +842,16 @@ ARM Macro Assembler Page 13
00000000
Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M4.fp.sp --apcs=
interwork --depend=.\objects\startup_stm32f40_41xxx.d -o.\objects\startup_stm32
f40_41xxx.o -ID:\useless\ARM\PACK\Keil\STM32F4xx_DFP\3.0.0\Drivers\CMSIS\Device
f40_41xxx.o -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.
ARM Macro Assembler Page 14
\ST\STM32F4xx\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VE
RSION SETA 539" --predefine="STM32F407xx SETA 1" --list=.\listings\startup_stm3
2f40_41xxx.lst Start\startup_stm32f40_41xxx.s
1\Drivers\CMSIS\Device\ST\STM32F4xx\Include --predefine="__MICROLIB SETA 1" --p
redefine="__UVISION_VERSION SETA 543" --predefine="STM32F407xx SETA 1" --list=.
\listings\startup_stm32f40_41xxx.lst Start\startup_stm32f40_41xxx.s

BIN
底盘/底盘/Objects/Project.axf
View File

Binary file not shown.

99
底盘/底盘/Objects/Project.build_log.htm
View File

@@ -3,43 +3,112 @@
<pre>
<h1><EFBFBD>Vision Build Log</h1>
<h2>Tool Versions:</h2>
IDE-Version: <20><>Vision V5.39.0.0
Copyright (C) 2023 ARM Ltd and ARM Germany GmbH. All rights reserved.
License Information: sun JXF, sun, LIC=HN0AE-5SW5I-PCIJ8-3MDKX-KLD28-41CF7
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: 5.39.0.0
Toolchain Path: D:\useless\ARM\ARM_Compiler_5.06u7\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 V5.39.0.0
CPU DLL: SARMCM3.DLL V5.43.0.0
Dialog DLL: DCM.DLL V1.17.5.0
Target DLL: CMSIS_AGDI.dll V1.33.16.0
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>
D:\robomaster\Hero-C-Board-Legacy-main\hero-c-board-legacy\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
Project File Date: 03/19/2026
C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
Project File Date: 03/26/2026
<h2>Output:</h2>
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\useless\ARM\ARM_Compiler_5.06u7\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_cec.c...
compiling stm32f4xx_flash_ramfunc.c...
compiling stm32f4xx_dcmi.c...
compiling stm32f4xx_dma2d.c...
compiling stm32f4xx_adc.c...
compiling stm32f4xx_can.c...
compiling stm32f4xx_cryp_des.c...
compiling stm32f4xx_cryp_tdes.c...
compiling stm32f4xx_crc.c...
compiling stm32f4xx_dfsdm.c...
compiling stm32f4xx_exti.c...
compiling stm32f4xx_dma.c...
compiling stm32f4xx_dsi.c...
compiling stm32f4xx_fmpi2c.c...
compiling stm32f4xx_gpio.c...
compiling stm32f4xx_dbgmcu.c...
compiling stm32f4xx_dac.c...
compiling stm32f4xx_flash.c...
compiling stm32f4xx_cryp.c...
compiling stm32f4xx_fsmc.c...
compiling stm32f4xx_cryp_aes.c...
compiling stm32f4xx_hash_md5.c...
compiling stm32f4xx_hash.c...
compiling stm32f4xx_hash_sha1.c...
compiling stm32f4xx_i2c.c...
compiling stm32f4xx_iwdg.c...
compiling stm32f4xx_lptim.c...
compiling stm32f4xx_pwr.c...
compiling stm32f4xx_qspi.c...
compiling stm32f4xx_ltdc.c...
compiling stm32f4xx_rng.c...
compiling stm32f4xx_rcc.c...
compiling stm32f4xx_sai.c...
compiling stm32f4xx_spdifrx.c...
compiling stm32f4xx_sdio.c...
compiling stm32f4xx_syscfg.c...
compiling TIM.c...
compiling stm32f4xx_wwdg.c...
compiling stm32f4xx_spi.c...
compiling stm32f4xx_rtc.c...
compiling Delay.c...
compiling stm32f4xx_usart.c...
compiling UART.c...
compiling stm32f4xx_tim.c...
compiling Buzzer.c...
compiling LED.c...
compiling CAN.c...
compiling Remote.c...
compiling GM6020.c...
compiling M3508.c...
compiling LinkCheck.c...
compiling Warming.c...
compiling CToC.c...
compiling CloseLoopControl.c...
compiling PID.c...
compiling RefereeSystem.c...
compiling RefereeSystem_CRCTable.c...
compiling Mecanum.c...
compiling Ultra_CAP.c...
compiling UI.c...
compiling stm32f4xx_it.c...
compiling UI_Base.c...
compiling main.c...
compiling UI_Library.c...
linking...
Program Size: Code=18652 RO-data=1224 RW-data=408 ZI-data=2496
".\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.3.0.0.pack
Keil::STM32F4xx_DFP@3.0.0
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>
<h2>Collection of Component Files used:</h2>
Build Time Elapsed: 00:00:01
Build Time Elapsed: 00:00:04
</pre>
</body>
</html>

6
底盘/底盘/Objects/Project.htm
View File

@@ -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: Sat Mar 21 18:49:59 2026
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Fri Mar 27 09:19:29 2026
<BR><P>
<H3>Maximum Stack Usage = 232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@@ -934,7 +934,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CloseLoopControl_Init
</UL>
<P><STRONG><a name="[b0]"></a>Mecanum_PowerMoveControl</STRONG> (Thumb, 2000 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl))
<P><STRONG><a name="[b0]"></a>Mecanum_PowerMoveControl</STRONG> (Thumb, 2004 bytes, Stack size 80 bytes, mecanum.o(i.Mecanum_PowerMoveControl))
<BR><BR>[Stack]<UL><LI>Max Depth = 224<LI>Call Chain = Mecanum_PowerMoveControl &rArr; Mecanum_ControlSpeed &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
</UL>
<BR>[Calls]<UL><LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Ultra_CAP_SetPower
@@ -1036,7 +1036,7 @@ Global Symbols
<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RefereeSystem_VerifyCRC8CheckSum
</UL>
<P><STRONG><a name="[b5]"></a>RefereeSystem_Init</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, refereesystem.o(i.RefereeSystem_Init))
<P><STRONG><a name="[b5]"></a>RefereeSystem_Init</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, refereesystem.o(i.RefereeSystem_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = RefereeSystem_Init &rArr; UART1_Init &rArr; USART_Init &rArr; RCC_GetClocksFreq
</UL>
<BR>[Calls]<UL><LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART1_Init

286
底盘/底盘/Objects/Project_Target 1.dep
View File

@@ -1,15 +1,15 @@
Dependencies for Project 'Project', Target 'Target 1': (DO NOT MODIFY !)
CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARM_Compiler_5.06u7
CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARMCC
F (.\Start\core_cm4.h)(0x69B4F635)()
F (.\Start\core_cmFunc.h)(0x69B4F635)()
F (.\Start\core_cmInstr.h)(0x69B4F635)()
F (.\Start\core_cmSimd.h)(0x69B4F635)()
F (.\Start\startup_stm32f40_41xxx.s)(0x69B4F635)(--cpu Cortex-M4.fp.sp -g --apcs=interwork --pd "__MICROLIB SETA 1"
F (.\Start\startup_stm32f40_41xxx.s)(0x69B4F635)(--cpu Cortex-M4.fp.sp -g --apcs=interwork --pd "__MICROLIB SETA 1"
-ID:\useless\ARM\PACK\Keil\STM32F4xx_DFP\3.0.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include
--pd "__UVISION_VERSION SETA 543" --pd "STM32F407xx SETA 1"
--list .\listings\startup_stm32f40_41xxx.lst --xref -o .\objects\startup_stm32f40_41xxx.o --depend .\objects\startup_stm32f40_41xxx.d)
F (.\Start\stm32f4xx.h)(0x69B4F635)()
F (.\Start\system_stm32f4xx.c)(0x69B4F635)(--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
@@ -43,11 +43,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
@@ -80,11 +80,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
@@ -117,11 +117,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
@@ -154,11 +154,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
@@ -191,11 +191,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
-o .\objects\stm32f4xx_cec.o --omf_browse .\objects\stm32f4xx_cec.crf --depend .\objects\stm32f4xx_cec.d)
I (Library\stm32f4xx_cec.h)(0x69B4F634)
I (Library\stm32f4xx_cec.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
@@ -228,11 +228,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\Library\stm32f4xx_cec.h)(0x69B4F634)()
F (.\Library\stm32f4xx_crc.c)(0x69B4F634)(--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_crc.o --omf_browse .\objects\stm32f4xx_crc.crf --depend .\objects\stm32f4xx_crc.d)
I (Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
@@ -265,11 +265,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\Library\stm32f4xx_crc.h)(0x69B4F634)()
F (.\Library\stm32f4xx_crc.h)(0x69B4F634)()
F (.\Library\stm32f4xx_cryp.c)(0x69B4F634)(--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
@@ -301,11 +301,11 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
@@ -337,11 +337,11 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
@@ -373,11 +373,11 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
@@ -410,11 +410,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
@@ -447,11 +447,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
-o .\objects\stm32f4xx_dac.o --omf_browse .\objects\stm32f4xx_dac.crf --depend .\objects\stm32f4xx_dac.d)
I (Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
@@ -484,12 +484,12 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
F (.\Library\stm32f4xx_dac.h)(0x69B4F634)()
F (.\Library\stm32f4xx_dbgmcu.c)(0x69B4F634)(--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
-ID:\useless\ARM\PACK\Keil\STM32F4xx_DFP\3.0.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-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_dbgmcu.o --omf_browse .\objects\stm32f4xx_dbgmcu.crf --depend .\objects\stm32f4xx_dbgmcu.d)
I (Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -522,11 +522,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)()
F (.\Library\stm32f4xx_dcmi.c)(0x69B4F634)(--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
@@ -559,11 +559,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
@@ -596,11 +596,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
@@ -633,11 +633,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
@@ -670,11 +670,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
@@ -707,11 +707,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
-o .\objects\stm32f4xx_dsi.o --omf_browse .\objects\stm32f4xx_dsi.crf --depend .\objects\stm32f4xx_dsi.d)
I (Library\stm32f4xx_dsi.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
@@ -744,11 +744,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
F (.\Library\stm32f4xx_exti.c)(0x69B4F634)(--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_exti.o --omf_browse .\objects\stm32f4xx_exti.crf --depend .\objects\stm32f4xx_exti.d)
I (Library\stm32f4xx_exti.h)(0x69B4F634)
I (Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -781,11 +781,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\Library\stm32f4xx_exti.h)(0x69B4F634)()
F (.\Library\stm32f4xx_flash.c)(0x69B4F634)(--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
@@ -818,11 +818,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
@@ -855,11 +855,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
@@ -892,11 +892,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
@@ -928,11 +928,11 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
@@ -964,11 +964,11 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F634)
-o .\objects\stm32f4xx_gpio.o --omf_browse .\objects\stm32f4xx_gpio.crf --depend .\objects\stm32f4xx_gpio.d)
I (Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
@@ -1001,11 +1001,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
F (.\Library\stm32f4xx_gpio.h)(0x69B4F634)()
F (.\Library\stm32f4xx_hash.c)(0x69B4F634)(--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
-ID:\useless\ARM\PACK\Keil\STM32F4xx_DFP\3.0.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-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_hash.o --omf_browse .\objects\stm32f4xx_hash.crf --depend .\objects\stm32f4xx_hash.d)
-o .\objects\stm32f4xx_hash.o --omf_browse .\objects\stm32f4xx_hash.crf --depend .\objects\stm32f4xx_hash.d)
I (Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
@@ -1038,11 +1038,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\Library\stm32f4xx_hash.h)(0x69B4F634)()
F (.\Library\stm32f4xx_hash_md5.c)(0x69B4F634)(--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
F (.\Library\stm32f4xx_hash_md5.c)(0x69B4F634)(--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
@@ -1075,11 +1075,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
@@ -1112,11 +1112,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
@@ -1149,11 +1149,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
@@ -1186,11 +1186,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
@@ -1223,11 +1223,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
@@ -1260,11 +1260,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
-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_ltdc.o --omf_browse .\objects\stm32f4xx_ltdc.crf --depend .\objects\stm32f4xx_ltdc.d)
I (Library\stm32f4xx_ltdc.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
@@ -1297,11 +1297,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\Library\stm32f4xx_ltdc.h)(0x69B4F634)()
F (.\Library\stm32f4xx_ltdc.h)(0x69B4F634)()
F (.\Library\stm32f4xx_pwr.c)(0x69B4F634)(--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_pwr.o --omf_browse .\objects\stm32f4xx_pwr.crf --depend .\objects\stm32f4xx_pwr.d)
@@ -1334,11 +1334,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\Library\stm32f4xx_pwr.h)(0x69B4F634)()
F (.\Library\stm32f4xx_qspi.c)(0x69B4F634)(--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
@@ -1371,11 +1371,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
@@ -1408,11 +1408,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
@@ -1445,11 +1445,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
@@ -1482,11 +1482,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
@@ -1519,11 +1519,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
-o .\objects\stm32f4xx_sai.o --omf_browse .\objects\stm32f4xx_sai.crf --depend .\objects\stm32f4xx_sai.d)
-o .\objects\stm32f4xx_sai.o --omf_browse .\objects\stm32f4xx_sai.crf --depend .\objects\stm32f4xx_sai.d)
I (Library\stm32f4xx_sai.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (D:\useless\ARM\ARM_Compiler_5.06u7\include\stdint.h)(0x5E8E3CC2)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
@@ -1556,11 +1556,11 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\Library\stm32f4xx_sai.h)(0x69B4F634)()
F (.\Library\stm32f4xx_sdio.c)(0x69B4F634)(--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
F (.\Library\stm32f4xx_sdio.c)(0x69B4F634)(--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="539" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
-o .\objects\stm32f4xx_sdio.o --omf_browse .\objects\stm32f4xx_sdio.crf --depend .\objects\stm32f4xx_sdio.d)
I (Library\stm32f4xx_sdio.h)(0x69B4F634)
@@ -1593,10 +1593,10 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\Library\stm32f4xx_sdio.h)(0x69B4F634)()
F (.\Library\stm32f4xx_spdifrx.c)(0x69B4F634)(--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
@@ -1629,10 +1629,10 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
@@ -1666,10 +1666,10 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
@@ -1701,13 +1701,13 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
@@ -1746,10 +1746,10 @@ I (.\Function\LinkCheck.h)(0x69B4F634)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
@@ -1782,10 +1782,10 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
@@ -1820,10 +1820,10 @@ I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
-o .\objects\stm32f4xx_wwdg.o --omf_browse .\objects\stm32f4xx_wwdg.crf --depend .\objects\stm32f4xx_wwdg.d)
-o .\objects\stm32f4xx_wwdg.o --omf_browse .\objects\stm32f4xx_wwdg.crf --depend .\objects\stm32f4xx_wwdg.d)
I (Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
@@ -1859,10 +1859,10 @@ I (Hardware\Remote.h)(0x69B4F634)
F (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)()
F (.\System\Delay.c)(0x69B4F635)(--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
-ID:\useless\ARM\PACK\Keil\STM32F4xx_DFP\3.0.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-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\delay.o --omf_browse .\objects\delay.crf --depend .\objects\delay.d)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
@@ -1897,10 +1897,10 @@ I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
F (.\System\Delay.h)(0x69B4F635)()
F (.\System\TIM.c)(0x69B4F635)(--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
@@ -1934,10 +1934,10 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
I (System\CAN.h)(0x69B4F635)
@@ -1973,10 +1973,10 @@ I (.\System\TIM.h)(0x69B4F635)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
@@ -2015,10 +2015,10 @@ I (.\System\Delay.h)(0x69B4F635)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
@@ -2054,10 +2054,10 @@ I (Function\CToC.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
@@ -2095,10 +2095,10 @@ I (Function\Warming.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
@@ -2132,10 +2132,10 @@ I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
@@ -2167,20 +2167,20 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F634)
F (.\Hardware\Remote.h)(0x69B4F634)()
F (.\Motor\M3508.c)(0x69B4F634)(--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
-ID:\useless\ARM\PACK\Keil\STM32F4xx_DFP\3.0.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-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\m3508.o --omf_browse .\objects\m3508.crf --depend .\objects\m3508.d)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
@@ -2215,10 +2215,10 @@ I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
-D__UVISION_VERSION="543" -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx
-o .\objects\gm6020.o --omf_browse .\objects\gm6020.crf --depend .\objects\gm6020.d)
-o .\objects\gm6020.o --omf_browse .\objects\gm6020.crf --depend .\objects\gm6020.d)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
I (D:\useless\ARM\ARM_Compiler_5.06u7\include\stdint.h)(0x5E8E3CC2)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
I (.\Start\core_cmInstr.h)(0x69B4F635)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
@@ -2251,10 +2251,10 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
I (Motor\GM6020.h)(0x69B4F634)
F (.\Motor\GM6020.h)(0x69B4F634)()
F (.\Motor\GM6020.h)(0x69B4F634)()
F (.\Function\LinkCheck.c)(0x69B4F634)(--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
-ID:\useless\ARM\PACK\Keil\STM32F4xx_DFP\3.0.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
-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
@@ -2287,10 +2287,10 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_dcmi.h)(0x69B4F634)
I (.\Library\stm32f4xx_fsmc.h)(0x69B4F634)
I (.\System\TIM.h)(0x69B4F635)
@@ -2328,10 +2328,10 @@ I (.\Function\CloseLoopControl.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)
@@ -2364,14 +2364,14 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
@@ -2404,13 +2404,13 @@ I (.\Library\stm32f4xx_dac.h)(0x69B4F634)
I (.\Start\core_cmFunc.h)(0x69B4F635)
I (.\Start\core_cmSimd.h)(0x69B4F635)
I (.\Start\system_stm32f4xx.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\User\stm32f4xx_conf.h)(0x69B4F635)
I (.\Library\stm32f4xx_adc.h)(0x69B4F634)
I (.\Library\stm32f4xx_crc.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dbgmcu.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
@@ -2442,7 +2442,7 @@ I (.\Library\stm32f4xx_can.h)(0x69B4F634)
-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\pid.o --omf_browse .\objects\pid.crf --depend .\objects\pid.d)
I (.\Start\stm32f4xx.h)(0x69B4F635)
I (.\Start\core_cm4.h)(0x69B4F635)
@@ -2458,20 +2458,20 @@ I (.\Function\LinkCheck.h)(0x69B4F634)
I (.\Library\stm32f4xx_dma.h)(0x69B4F634)
I (.\Library\stm32f4xx_exti.h)(0x69B4F634)
I (.\Library\stm32f4xx_flash.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_gpio.h)(0x69B4F634)
I (.\Library\stm32f4xx_i2c.h)(0x69B4F634)
I (.\Library\stm32f4xx_iwdg.h)(0x69B4F634)
I (.\Library\stm32f4xx_pwr.h)(0x69B4F634)
I (.\Library\stm32f4xx_rcc.h)(0x69B4F634)
I (.\Library\stm32f4xx_rtc.h)(0x69B4F634)
I (.\Library\stm32f4xx_sdio.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_spi.h)(0x69B4F634)
I (.\Library\stm32f4xx_syscfg.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_tim.h)(0x69B4F634)
I (.\Library\stm32f4xx_usart.h)(0x69B4F634)
I (.\Library\stm32f4xx_wwdg.h)(0x69B4F634)
I (.\Library\misc.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_cryp.h)(0x69B4F634)
I (.\Library\stm32f4xx_hash.h)(0x69B4F634)
I (.\Library\stm32f4xx_rng.h)(0x69B4F634)
I (.\Library\stm32f4xx_can.h)(0x69B4F634)

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2
底盘/底盘/Project.uvoptx
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@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>2</nTsel>
<nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>

4
底盘/底盘/Project.uvprojx
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@@ -11,13 +11,13 @@
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARM_Compiler_5.06u7</pCCUsed>
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32F407IGHx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.3.0.0</PackID>
<PackID>Keil.STM32F4xx_DFP.3.1.1</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000,0x00020000) IRAM2(0x10000000,0x00010000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec>

4
底盘/底盘/User/Parameter.h
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@@ -2,7 +2,7 @@
#define __PARAMETER_H
/*=============================================结构参数=============================================*/
#define Yaw_GM6020PositionValue 6200//Yaw轴回正时编码器值
#define Yaw_GM6020PositionValue 5733//Yaw轴回正时编码器值
/*=============================================麦轮参数=============================================*/
#define Mecanum_WheelRadius 7.0f//麦轮半径(单位cm)
@@ -12,6 +12,6 @@
#define Mecanum_LeverSpeedMapRate (1.2f/660.0f)//拨杆速度映射比例
#define Mecanum_GyroScopeAngularVelocity 7.0f//小陀螺角速度
#define Mecanum_NormalSpeedRate 1.5f//底盘正常速度和超功率速度的比值
#define Mecanum_NormalSpeedRate 1.2f//底盘正常速度和超功率速度的比值
#endif