同步最新代码，pitch、yaw正常开启，等待单发限位代码

云台/云台/CarBody/Gimbal.c

@@ -60,7 +60,7 @@ void Gimbal_Init(void)
 	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000);
 */
 	PID_PositionStructureInit(&Gimbal_YawAnglePositionPID,0);//Yaw轴陀螺仪闭环
-	PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,5,0,0.1);
+	PID_PositionSetParameter(&Gimbal_YawAnglePositionPID,10,0,650);
 	PID_PositionSetEkRange(&Gimbal_YawAnglePositionPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_YawAnglePositionPID,-200,200);
 	PID_PositionStructureInit(&Gimbal_YawAngleSpeedPID,200);
@@ -69,32 +69,32 @@ void Gimbal_Init(void)
 	PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-50000,50000);
 	
 	PID_PositionStructureInit(&Gimbal_PitchAnglePositionPID,0);//Pitch轴陀螺仪闭环
-	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,5,0,0);
-	PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-1,1);
-	PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-150,150);
+	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,40,0,700);
+	PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-0.1,0.1);
+	PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-200,200);
 	PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150);
-	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,200,0,10);
-	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-0,0);
-	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000);
+	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,150,0.001,7);
+	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-0.1,0.1);
+	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-50000,50000);
 	
 	PID_PositionStructureInit(&Gimbal_L1_FrictionWheelPID,0);//左摩擦轮
-	PID_PositionSetParameter(&Gimbal_L1_FrictionWheelPID,0.1,0,0);
-	PID_PositionSetEkRange(&Gimbal_L1_FrictionWheelPID,-5,5);
+	PID_PositionSetParameter(&Gimbal_L1_FrictionWheelPID,15,0,0);
+	PID_PositionSetEkRange(&Gimbal_L1_FrictionWheelPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_L1_FrictionWheelPID,-15000,15000);
 
 	PID_PositionStructureInit(&Gimbal_R1_FrictionWheelPID,0);//右摩擦轮
-	PID_PositionSetParameter(&Gimbal_R1_FrictionWheelPID,0.1,0,0);
-	PID_PositionSetEkRange(&Gimbal_R1_FrictionWheelPID,-5,5);
+	PID_PositionSetParameter(&Gimbal_R1_FrictionWheelPID,15,0,0);
+	PID_PositionSetEkRange(&Gimbal_R1_FrictionWheelPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_R1_FrictionWheelPID,-15000,15000);
 	
 	PID_PositionStructureInit(&Gimbal_L2_FrictionWheelPID,0);//左摩擦轮
-	PID_PositionSetParameter(&Gimbal_L2_FrictionWheelPID,0.1,0,0);
-	PID_PositionSetEkRange(&Gimbal_L2_FrictionWheelPID,-5,5);
+	PID_PositionSetParameter(&Gimbal_L2_FrictionWheelPID,15,0,0);
+	PID_PositionSetEkRange(&Gimbal_L2_FrictionWheelPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_L2_FrictionWheelPID,-15000,15000);
 
 	PID_PositionStructureInit(&Gimbal_R2_FrictionWheelPID,0);//右摩擦轮
-	PID_PositionSetParameter(&Gimbal_R2_FrictionWheelPID,0.1,0,0);
-	PID_PositionSetEkRange(&Gimbal_R2_FrictionWheelPID,-5,5);
+	PID_PositionSetParameter(&Gimbal_R2_FrictionWheelPID,15,0,0);
+	PID_PositionSetEkRange(&Gimbal_R2_FrictionWheelPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_R2_FrictionWheelPID,-15000,15000);
 
 	PID_PositionStructureInit(&Gimbal_RammerSpinSpeedPID,Gimbal_RammerSpeed);//拨弹盘
@@ -160,7 +160,7 @@ 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);
 

云台/云台/Function/AttitudeAlgorithms.c

@@ -12,6 +12,32 @@ KFP kfp={0.02,0,0,0,0.01,0.543};//卡尔曼滤波器结构体
 float AttitudeAlgorithms_q[4];//姿态解算四元数
 float AttitudeAlgorithms_RadYaw,AttitudeAlgorithms_RadPitch,AttitudeAlgorithms_RadRoll;//弧度制角度
 float AttitudeAlgorithms_DegYaw,AttitudeAlgorithms_DegPitch,AttitudeAlgorithms_DegRoll;//角度制角度
+float BMI088_GyroZeroOffset[3];//陀螺仪初始零偏
+float BMI088_GyroWithoutOffset[3];//消除零偏后的陀螺仪数据
+/*
+ *函数简介:BMI088清除零偏
+ *参数说明:无
+ *返回类型:无
+ *备注:采集前100次数据取平均值消除零偏
+ */
+void ZeroOffset_Calibration(void)
+{
+	
+	uint16_t BMI088_CountFlag;
+	for (BMI088_CountFlag=0; BMI088_CountFlag < 1000; BMI088_CountFlag++)
+	{
+		BMI088_GyroZeroOffset[0]=BMI088_GyroZeroOffset[0]+BMI088_Gyro[0];
+	}
+	BMI088_GyroZeroOffset[0]=BMI088_GyroZeroOffset[0]/1000;
+
+	for (BMI088_CountFlag=0; BMI088_CountFlag < 1000; BMI088_CountFlag++)
+	{
+		BMI088_GyroZeroOffset[1]=BMI088_GyroZeroOffset[1]+BMI088_Gyro[1];
+	}
+	BMI088_GyroZeroOffset[1]=BMI088_GyroZeroOffset[1]/1000;
+	
+
+}
 
 /*
  *函数简介:姿态解算初始化

云台/云台/Listings/startup_stm32f40_41xxx.lst

@@ -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 -IC:\Users\LSMushui\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\3.1.
+f40_41xxx.o -ID:\useless\ARM\PACK\Keil\STM32F4xx_DFP\3.0.0\Drivers\CMSIS\Device
 
 
 
 ARM Macro Assembler    Page 14 
 
 
-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
+\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
 
 
 

云台/云台/Objects/Project.build_log.htm

@@ -3,131 +3,43 @@
 <pre>
 <h1><EFBFBD>Vision Build Log</h1>
 <h2>Tool Versions:</h2>
-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
+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
  
 Tool Versions:
-Toolchain:       MDK-ARM Plus  Version: 5.43.0.0
-Toolchain Path:  C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\Bin
+Toolchain:       MDK-ARM Plus  Version: 5.39.0.0
+Toolchain Path:  D:\useless\ARM\ARM_Compiler_5.06u7\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 V5.43.0.0
+CPU DLL:         SARMCM3.DLL V5.39.0.0
 Dialog DLL:      DCM.DLL V1.17.5.0
-Target DLL:      CMSIS_AGDI.dll V1.33.24.0
-Dialog DLL:      TCM.DLL V1.56.6.0
+Target DLL:      CMSIS_AGDI.dll V1.33.16.0
+Dialog DLL:      TCM.DLL V1.56.4.0
  
 <h2>Project:</h2>
-C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\<5C><>̨\<5C><>̨\Project.uvprojx
-Project File Date:  11/02/2025
+D:\robomaster\Hero-C-Board-Legacy-main\hero-c-board-legacy\<5C><>̨\<5C><>̨\Project.uvprojx
+Project File Date:  03/14/2026
 
 <h2>Output:</h2>
-*** 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 system_stm32f4xx.c...
-compiling stm32f4xx_cec.c...
-compiling stm32f4xx_can.c...
-compiling stm32f4xx_crc.c...
-compiling stm32f4xx_dsi.c...
-compiling misc.c...
-compiling stm32f4xx_cryp_des.c...
-compiling stm32f4xx_adc.c...
-compiling stm32f4xx_cryp.c...
-compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_dcmi.c...
-compiling stm32f4xx_cryp_aes.c...
-compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_dfsdm.c...
-compiling stm32f4xx_fmpi2c.c...
-compiling stm32f4xx_dma.c...
-compiling stm32f4xx_dma2d.c...
-compiling stm32f4xx_cryp_tdes.c...
-compiling stm32f4xx_gpio.c...
-compiling stm32f4xx_dac.c...
-compiling stm32f4xx_exti.c...
-compiling stm32f4xx_flash.c...
-compiling stm32f4xx_fsmc.c...
-compiling stm32f4xx_hash_md5.c...
-compiling stm32f4xx_hash_sha1.c...
-compiling stm32f4xx_iwdg.c...
-compiling stm32f4xx_hash.c...
-compiling stm32f4xx_lptim.c...
-compiling stm32f4xx_rng.c...
-compiling stm32f4xx_i2c.c...
-compiling stm32f4xx_qspi.c...
-compiling stm32f4xx_pwr.c...
-compiling stm32f4xx_spdifrx.c...
-compiling stm32f4xx_sdio.c...
-compiling stm32f4xx_ltdc.c...
-compiling stm32f4xx_syscfg.c...
-compiling stm32f4xx_spi.c...
-compiling stm32f4xx_sai.c...
-compiling stm32f4xx_rtc.c...
-compiling stm32f4xx_rcc.c...
-compiling Delay.c...
-compiling stm32f4xx_wwdg.c...
-compiling stm32f4xx_usart.c...
-compiling stm32f4xx_tim.c...
-compiling TIM.c...
-compiling UART.c...
-compiling AHRS_middleware.c...
-compiling user_lib.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 MyI2C.c...
-compiling CAN.c...
-compiling Buzzer.c...
-compiling LED.c...
-compiling IST8310.c...
-compiling Remote.c...
-compiling BMI088.c...
-compiling Laser.c...
-compiling CloseLoopControl.c...
-compiling LinkCheck.c...
-compiling Warming.c...
-compiling M3508.c...
-compiling M2006.c...
-compiling GM6020.c...
-compiling AttitudeAlgorithms.c...
-compiling CToC.c...
-compiling IMUTemperatureControl.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=31636 RO-data=1236 RW-data=552 ZI-data=3520  
-".\Objects\Project.axf" - 0 Error(s), 5 Warning(s).
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\useless\ARM\ARM_Compiler_5.06u7\Bin'
+Build target 'Target 1'
+".\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.3.1.1.pack
-                Keil::STM32F4xx_DFP@3.1.1
+                https://www.keil.com/pack/Keil.STM32F4xx_DFP.3.0.0.pack
+                Keil::STM32F4xx_DFP@3.0.0
                 STMicroelectronics STM32F4 Series Device Support
 
 <h2>Collection of Component include folders:</h2>
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:05
+Build Time Elapsed:  00:00:00
 </pre>
 </body>
 </html>

云台/云台/Objects/Project.htm

@@ -3,7 +3,7 @@
 <title>Static Call Graph - [.\Objects\Project.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\Project.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sat Mar 14 13:25:17 2026
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sat Mar 21 13:37:53 2026
 <BR><P>
 <H3>Maximum Stack Usage =        280 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>

云台/云台/Objects/Project_sct.Bak

@@ -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)
+  }
+}
+

云台/云台/Project.uvoptx

@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>3</nTsel>
+        <nTsel>2</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -120,7 +120,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"CMSIS-DAP_LU" -ULU_2022_8888 -O206 -S8 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>

云台/云台/Project.uvprojx

@@ -10,14 +10,14 @@
       <TargetName>Target 1</TargetName>
       <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)::.\ARMCC</pCCUsed>
+      <pArmCC>5060960::V5.06 update 7 (build 960)::.\ARM_Compiler_5.06u7</pArmCC>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARM_Compiler_5.06u7</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.3.1.1</PackID>
+          <PackID>Keil.STM32F4xx_DFP.3.0.0</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>