暂时关闭云台pitch、yaw轴电机控制
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@@ -274,9 +274,12 @@ void Gimbal_Rammer(void)
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*/
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void Gimbal_MoveControl(void)
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{
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Gimbal_PitchControl();//云台Pitch轴控制
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Gimbal_YawControl();//云台Yaw轴控制
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//Raw Code//
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//Gimbal_PitchControl();//云台Pitch轴控制
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//Gimbal_YawControl();//云台Yaw轴控制
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//Testing Code//
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//暂时关闭云台控制
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Gimbal_FiringMechanismControl();//摩擦轮控制
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Gimbal_Rammer();//拨弹盘控制
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//UART2_Printf("%f,%f,%f,%f\n",Gimbal_PitchAngleSpeedPID.Need_Value,Gimbal_PitchAngleSpeedPID.Now_Value,Gimbal_PitchAnglePositionPID.Now_Value,Gimbal_PitchAnglePositionPID.Need_Value);
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@@ -21,7 +21,7 @@ Target DLL: CMSIS_AGDI.dll V1.33.24.0
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Dialog DLL: TCM.DLL V1.56.6.0
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<h2>Project:</h2>
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C:\Users\LSMushui\Desktop\RM\New-Infantry-C-Board-Legacy\ÔÆ̨\ÔÆ̨\Project.uvprojx
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C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\ÔÆ̨\ÔÆ̨\Project.uvprojx
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Project File Date: 11/02/2025
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<h2>Output:</h2>
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@@ -29,57 +29,54 @@ Project File Date: 11/02/2025
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Rebuild target 'Target 1'
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assembling startup_stm32f40_41xxx.s...
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compiling misc.c...
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compiling system_stm32f4xx.c...
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compiling stm32f4xx_dfsdm.c...
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compiling stm32f4xx_fmpi2c.c...
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compiling stm32f4xx_exti.c...
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compiling stm32f4xx_dcmi.c...
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compiling stm32f4xx_can.c...
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compiling stm32f4xx_cryp_des.c...
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compiling stm32f4xx_dsi.c...
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compiling stm32f4xx_dbgmcu.c...
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compiling stm32f4xx_cryp_tdes.c...
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compiling stm32f4xx_dma.c...
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compiling stm32f4xx_flash_ramfunc.c...
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compiling stm32f4xx_crc.c...
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compiling stm32f4xx_dac.c...
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compiling stm32f4xx_can.c...
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compiling stm32f4xx_dsi.c...
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compiling stm32f4xx_cryp_aes.c...
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compiling stm32f4xx_dma2d.c...
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compiling stm32f4xx_cec.c...
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compiling stm32f4xx_gpio.c...
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compiling stm32f4xx_fsmc.c...
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compiling stm32f4xx_adc.c...
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compiling stm32f4xx_dbgmcu.c...
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compiling stm32f4xx_cryp.c...
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compiling stm32f4xx_dma.c...
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compiling stm32f4xx_cec.c...
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compiling stm32f4xx_flash_ramfunc.c...
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compiling stm32f4xx_cryp_tdes.c...
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compiling stm32f4xx_cryp_des.c...
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compiling system_stm32f4xx.c...
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compiling stm32f4xx_fmpi2c.c...
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compiling stm32f4xx_dfsdm.c...
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compiling stm32f4xx_dcmi.c...
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compiling stm32f4xx_gpio.c...
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compiling stm32f4xx_crc.c...
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compiling stm32f4xx_adc.c...
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compiling stm32f4xx_fsmc.c...
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compiling stm32f4xx_flash.c...
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compiling stm32f4xx_hash.c...
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compiling stm32f4xx_hash_md5.c...
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compiling stm32f4xx_cryp_aes.c...
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compiling stm32f4xx_hash_sha1.c...
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compiling stm32f4xx_iwdg.c...
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compiling stm32f4xx_lptim.c...
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compiling stm32f4xx_iwdg.c...
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compiling stm32f4xx_i2c.c...
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compiling stm32f4xx_ltdc.c...
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compiling stm32f4xx_qspi.c...
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compiling AHRS_middleware.c...
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compiling stm32f4xx_pwr.c...
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compiling stm32f4xx_sdio.c...
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compiling user_lib.c...
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compiling stm32f4xx_rcc.c...
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compiling stm32f4xx_ltdc.c...
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compiling stm32f4xx_rng.c...
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compiling stm32f4xx_spdifrx.c...
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compiling Delay.c...
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compiling TIM.c...
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compiling stm32f4xx_syscfg.c...
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compiling stm32f4xx_wwdg.c...
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compiling stm32f4xx_spi.c...
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compiling stm32f4xx_sdio.c...
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compiling stm32f4xx_sai.c...
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compiling stm32f4xx_rcc.c...
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compiling stm32f4xx_spdifrx.c...
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compiling AHRS_middleware.c...
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compiling stm32f4xx_syscfg.c...
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compiling stm32f4xx_spi.c...
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compiling stm32f4xx_wwdg.c...
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compiling stm32f4xx_usart.c...
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compiling CAN.c...
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compiling MyI2C.c...
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compiling UART.c...
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compiling stm32f4xx_rtc.c...
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compiling Delay.c...
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compiling stm32f4xx_tim.c...
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compiling Buzzer.c...
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compiling LED.c...
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compiling user_lib.c...
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compiling TIM.c...
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compiling UART.c...
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compiling MyI2C.c...
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compiling WaveFiltering_Kalman_Filtering.c...
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Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst" was declared but never referenced
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float pDst,pDst1=1.0f;
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@@ -88,24 +85,25 @@ Control\WaveFiltering_Kalman_Filtering.c(13): warning: #177-D: variable "pDst1"
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Control\WaveFiltering_Kalman_Filtering.c(32): warning: #1-D: last line of file ends without a newline
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Control\WaveFiltering_Kalman_Filtering.c: 3 warnings, 0 errors
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compiling CAN.c...
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compiling LED.c...
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compiling Buzzer.c...
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compiling Remote.c...
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compiling IST8310.c...
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compiling Laser.c...
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compiling BMI088.c...
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compiling IST8310.c...
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compiling M2006.c...
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compiling LinkCheck.c...
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compiling GM6020.c...
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compiling M3508.c...
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compiling LinkCheck.c...
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compiling M2006.c...
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compiling CloseLoopControl.c...
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compiling Warming.c...
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compiling AttitudeAlgorithms.c...
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compiling CToC.c...
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compiling IMUTemperatureControl.c...
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compiling CloseLoopControl.c...
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compiling AttitudeAlgorithms.c...
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compiling PID.c...
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compiling Keyboard.c...
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compiling Gimbal.c...
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compiling PID.c...
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compiling RefereeSystem.c...
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compiling main.c...
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compiling Visual.c...
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CarBody\Visual.c(76): warning: #9-D: nested comment is not allowed
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UART2_Printf("%f %f %f %f \n",Visual_Yaw,Visual_Pitch,Visual_GetRoll,Visual_GetDelay);//*0.0030518509475997f*/
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@@ -120,9 +118,11 @@ CarBody\Visual.c(288): warning: #1-D: last line of file ends without a newline
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CarBody\Visual.c(19): warning: #177-D: variable "dataType" was declared but never referenced
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static char dataType; // å˜å‚¨ç±»åž‹å—段ï¼?'r'/'b'/'u'ï¼?
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CarBody\Visual.c: 6 warnings, 0 errors
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compiling Keyboard.c...
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compiling main.c...
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compiling stm32f4xx_it.c...
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linking...
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Program Size: Code=32060 RO-data=1372 RW-data=576 ZI-data=3344
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Program Size: Code=31024 RO-data=1372 RW-data=576 ZI-data=3344
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".\Objects\Project.axf" - 0 Error(s), 9 Warning(s).
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<h2>Software Packages used:</h2>
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+502
-524
File diff suppressed because it is too large
Load Diff
@@ -2442,7 +2442,7 @@ I (Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF)
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I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
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I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
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F (.\Control\WaveFiltering_Kalman_Filtering.h)(0x67B835FF)()
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F (.\CarBody\Gimbal.c)(0x68F9B7B0)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -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 -DARM_MATH_CM4 -D__FPU_PRESENT="1U"␍␍-o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d)
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F (.\CarBody\Gimbal.c)(0x69075F4E)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\Start -I .\Library -I .\System -I .\Algorithm -I .\AHRS -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 -DARM_MATH_CM4 -D__FPU_PRESENT="1U"␍␍-o .\objects\gimbal.o --omf_browse .\objects\gimbal.crf --depend .\objects\gimbal.d)
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I (.\Start\stm32f4xx.h)(0x66256792)
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I (.\Start\core_cm4.h)(0x64D03162)
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I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
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