修改README

补充AHRS.lib文件

README.md

@@ -6,11 +6,15 @@ SR 英雄 2025 的代码，适用于 C 板开发，使用标准库
 
 基于@Peng Ge步兵代码修改
 
-编译器使用Keil V5
+编译器使用ARMCC V5
 
-目前正在调试，暂时关闭云台pitch轴等待后续修复代码，yaw轴皮带需调整
+该代码为RMUL2026 最终上场版本
+
+该代码已过时，仅用于参考使用，不建议继续维护
 
 //Raw Code下的代码为被注释掉的源代码，通常用于关闭某些异常或不需要的功能用于调试
 
+
 //Testing Code下的代码为替代代码，用于关闭某些异常或不需要的功能用于调试
 
+

云台/云台/.vscode/c_cpp_properties.json

@@ -104,19 +104,18 @@
         {
             "name": "Target 1",
             "includePath": [
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Start",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Start",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Library",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Library",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\System",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\System",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Algorithm",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Algorithm",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\AHRS",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\AHRS",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Hardware",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Hardware",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Motor",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Motor",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Function",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Function",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Control",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Control",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\CarBody",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\CarBody",
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\User",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\User",
-                "C:\\Keil_v5\\ARM\\ARMCC\\include",
+                "c:\\Users\\LSMushui\\Desktop\\RM\\Hero-C-Board-Legacy\\云台\\云台\\Carbody"
-                "f:\\Mas_Infantry_Control-main\\开源代码\\V1.0\\Hero\\云台\\云台\\Carbody"
             ],
             "defines": [
                 "USE_STDPERIPH_DRIVER",

云台/云台/.vscode/keil-assistant.log

@@ -66,3 +66,5 @@
 
 [info] Log at : 2025/3/26|23:03:09|GMT+0800
 
+[info] Log at : 2026/1/12|17:16:15|GMT+0800
+

云台/云台/CarBody/Gimbal.c

@@ -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
 
@@ -26,12 +27,12 @@ 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
-
+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
 PID_PositionInitTypedef Gimbal_L2_FrictionWheelPID,Gimbal_R2_FrictionWheelPID,Gimbal_L1_FrictionWheelPID,Gimbal_R1_FrictionWheelPID;//摩擦轮转速PID
-PID_PositionInitTypedef Gimbal_RammerSpinSpeedPID;//拨弹盘旋转PID
+PID_PositionInitTypedef Gimbal_RammerSpinPositionPID;//拨弹盘旋转PID
 
 /*
  *函数简介:云台初始化
@@ -60,51 +61,50 @@ 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);
 	PID_PositionSetParameter(&Gimbal_YawAngleSpeedPID,150,0,20);
 	PID_PositionSetEkRange(&Gimbal_YawAngleSpeedPID,-1,1);
-	PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-50000,50000);
+	PID_PositionSetOUTRange(&Gimbal_YawAngleSpeedPID,-30000,30000);
 	
 	PID_PositionStructureInit(&Gimbal_PitchAnglePositionPID,0);//Pitch轴陀螺仪闭环
-	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,5,0,0);
+	PID_PositionSetParameter(&Gimbal_PitchAnglePositionPID,40,0,700);
-	PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-1,1);
+	PID_PositionSetEkRange(&Gimbal_PitchAnglePositionPID,-0.1,0.1);
-	PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-150,150);
+	PID_PositionSetOUTRange(&Gimbal_PitchAnglePositionPID,-200,200);
 	PID_PositionStructureInit(&Gimbal_PitchAngleSpeedPID,150);
-	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,200,0,10);
+	PID_PositionSetParameter(&Gimbal_PitchAngleSpeedPID,150,0.001,7);
-	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-0,0);
+	PID_PositionSetEkRange(&Gimbal_PitchAngleSpeedPID,-0.1,0.1);
 	PID_PositionSetOUTRange(&Gimbal_PitchAngleSpeedPID,-30000,30000);
 	
 	PID_PositionStructureInit(&Gimbal_L1_FrictionWheelPID,0);//左摩擦轮
-	PID_PositionSetParameter(&Gimbal_L1_FrictionWheelPID,0.1,0,0);
+	PID_PositionSetParameter(&Gimbal_L1_FrictionWheelPID,15,0,0);
-	PID_PositionSetEkRange(&Gimbal_L1_FrictionWheelPID,-5,5);
+	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_PositionSetParameter(&Gimbal_R1_FrictionWheelPID,15,0,0);
-	PID_PositionSetEkRange(&Gimbal_R1_FrictionWheelPID,-5,5);
+	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_PositionSetParameter(&Gimbal_L2_FrictionWheelPID,15,0,0);
-	PID_PositionSetEkRange(&Gimbal_L2_FrictionWheelPID,-5,5);
+	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_PositionSetParameter(&Gimbal_R2_FrictionWheelPID,15,0,0);
-	PID_PositionSetEkRange(&Gimbal_R2_FrictionWheelPID,-5,5);
+	PID_PositionSetEkRange(&Gimbal_R2_FrictionWheelPID,-1,1);
 	PID_PositionSetOUTRange(&Gimbal_R2_FrictionWheelPID,-15000,15000);
 
-	PID_PositionStructureInit(&Gimbal_RammerSpinSpeedPID,Gimbal_RammerSpeed);//拨弹盘
+	PID_PositionStructureInit(&Gimbal_RammerSpinPositionPID,Gimbal_RammerSpeed);//拨弹盘
-	PID_PositionSetParameter(&Gimbal_RammerSpinSpeedPID,50,0,0);
+	PID_PositionSetParameter(&Gimbal_RammerSpinPositionPID,20,0,0);
-	PID_PositionSetEkRange(&Gimbal_RammerSpinSpeedPID,-20,20);
+	PID_PositionSetEkRange(&Gimbal_RammerSpinPositionPID,-20,20);
-	PID_PositionSetOUTRange(&Gimbal_RammerSpinSpeedPID,-2000,2000);
+	PID_PositionSetOUTRange(&Gimbal_RammerSpinPositionPID,-20000,20000);
 
 	
 	
-	
 	Laser_Init();
 }
 
@@ -124,7 +124,7 @@ void Gimbal_CleanPID(void)
 	PID_PositionClean(&Gimbal_R1_FrictionWheelPID);
 	PID_PositionClean(&Gimbal_L2_FrictionWheelPID);
 	PID_PositionClean(&Gimbal_R2_FrictionWheelPID);
-	PID_PositionClean(&Gimbal_RammerSpinSpeedPID);
+	PID_PositionClean(&Gimbal_RammerSpinPositionPID);
 }
 
 
@@ -140,12 +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)>1030) && 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)<1020) && 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;
 	
@@ -160,10 +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)
@@ -186,14 +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>1028)//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<1022)
 	{
 		if(PC_Spin==0)
 		Gimbal_YawAnglePositionPID.Need_Value+=Gimbal_LeverSpeedMapRate*Gimbal_YawPitchSpeedRate*Gimbal_YawPitchSpeedRate*0.0439453125f*((1024-Remote_RxData.Remote_L_RL)/660.0f);
@@ -205,8 +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);
-
+	//UART2_Printf("%lld\n",GM6020_MotorStatus[Gimbal_YawMotor-0x205].Position);
 }
 
 /*
@@ -220,7 +221,7 @@ void Gimbal_FiringMechanismControl(void)
 	if(((Remote_RxData.Remote_LS==1 && RefereeSystem_Status==0) || PC_FrictionWheel==1) && RefereeSystem_ShooterStatus==1)//摩擦轮开
 	{
 		Gimbal_L1_FrictionWheelPID.Need_Value=-Gimbal_FrictionWheelSpeed;Gimbal_R1_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;
-Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;Gimbal_R2_FrictionWheelPID.Need_Value=-               Gimbal_FrictionWheelSpeed;
+		Gimbal_L2_FrictionWheelPID.Need_Value=Gimbal_FrictionWheelSpeed;Gimbal_R2_FrictionWheelPID.Need_Value=-Gimbal_FrictionWheelSpeed;
 		Laser_ON();//开激光
 		Gimbal_FrictionWheelFlag=1;
 	}
@@ -250,24 +251,57 @@ void Gimbal_Rammer(void)
 	if(Gimbal_FrictionWheelFlag==1)
 	{
 		if((Remote_RxData.Remote_ThumbWheel<1000 && RefereeSystem_Status==0) || PC_Fire==1)
-			Gimbal_RammerSpinSpeedPID.Need_Value=-Gimbal_RammerSpeed;
+			Gimbal_RammerSpinPositionPID.Need_Value=-Gimbal_RammerSpeed;
 		else if((Remote_RxData.Remote_ThumbWheel>1050 && RefereeSystem_Status==0) || PC_Ejection==1)
-			Gimbal_RammerSpinSpeedPID.Need_Value=Gimbal_RammerSpeed;
+			Gimbal_RammerSpinPositionPID.Need_Value=Gimbal_RammerSpeed;
 		else
-			Gimbal_RammerSpinSpeedPID.Need_Value=0;
+			Gimbal_RammerSpinPositionPID.Need_Value=0;
 	}
-	else Gimbal_RammerSpinSpeedPID.Need_Value=0;
+	else Gimbal_RammerSpinPositionPID.Need_Value=0;
 	
-	PID_PositionCalc(&Gimbal_RammerSpinSpeedPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
+	PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
-	M2006_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinSpeedPID.OUT,0);
+	M3508_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
-
+	Delay_us(1500);
-	//M3508_CANSetLIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
+	//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinPositionPID.OUT,0);
-	//M3508_CANSetHIDCurrent(0,0,Gimbal_RammerSpinSpeedPID.OUT,0);
 }
 
+/*
+ *函数简介:拨弹盘单发
+ *参数说明:无
+ *返回类型:无
+ *备注:俯仰轴GM6020报文标识符和M2006高位ID一致,故均在拨弹盘控制函数中统一发送控制报文
+ */
+void Gimbal_Rammer_Single_fire(void)
+{
+	if(Gimbal_FrictionWheelFlag==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;
+				}
+			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_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？
+		Fire_Flag=0;
+	
+	PID_PositionCalc(&Gimbal_RammerSpinPositionPID,M3508_MotorStatus[Gimbal_RammerSpinMotor-0x201].RotorSpeed);
+	//M3508_CANSetHIDCurrent(0,Gimbal_PitchAngleSpeedPID.OUT,Gimbal_RammerSpinPositionPID.OUT,0);
 
-
+}
-
 
 /*
  *函数简介:云台运动控制
@@ -277,10 +311,11 @@ void Gimbal_Rammer(void)
  */
 void Gimbal_MoveControl(void)
 {
-	//Gimbal_PitchControl();//云台Pitch轴控制
+	Gimbal_PitchControl();//云台Pitch轴控制
 	Gimbal_YawControl();//云台Yaw轴控制
 	
 	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);
 }

云台/云台/CarBody/Visual.c

@@ -61,7 +61,7 @@ void Visual_SendData(void)
 	UART2_SendByte((uint8_t)1);
 	UART2_SendByte((uint8_t)1);
 */
-	UART2_Printf("%f %d",AttitudeAlgorithms_DegRoll,GM6020_MotorStatus[0].Position);
+	//UART2_Printf("%f %d",AttitudeAlgorithms_DegRoll,GM6020_MotorStatus[0].Position);
 
 	//UART2_SendByte((uint8_t)'\n');
 	/*if(Visual_ReceiveFlag == 1)

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/Objects/Project.build_log.htm

@@ -22,61 +22,62 @@ 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:  11/02/2025
+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'
 Rebuild target 'Target 1'
 assembling startup_stm32f40_41xxx.s...
-compiling misc.c...
 compiling system_stm32f4xx.c...
-compiling stm32f4xx_dcmi.c...
+compiling misc.c...
-compiling stm32f4xx_adc.c...
-compiling stm32f4xx_fsmc.c...
-compiling stm32f4xx_cryp_tdes.c...
-compiling stm32f4xx_dsi.c...
-compiling stm32f4xx_cec.c...
-compiling stm32f4xx_cryp_des.c...
-compiling stm32f4xx_dac.c...
-compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_dfsdm.c...
-compiling stm32f4xx_fmpi2c.c...
-compiling stm32f4xx_flash_ramfunc.c...
 compiling stm32f4xx_crc.c...
-compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_dfsdm.c...
-compiling stm32f4xx_exti.c...
 compiling stm32f4xx_cryp.c...
-compiling stm32f4xx_dma2d.c...
+compiling stm32f4xx_cryp_des.c...
-compiling stm32f4xx_dma.c...
+compiling stm32f4xx_cec.c...
-compiling stm32f4xx_flash.c...
+compiling stm32f4xx_cryp_tdes.c...
 compiling stm32f4xx_can.c...
+compiling stm32f4xx_adc.c...
+compiling stm32f4xx_dac.c...
+compiling stm32f4xx_dsi.c...
+compiling stm32f4xx_dbgmcu.c...
+compiling stm32f4xx_dma.c...
+compiling stm32f4xx_flash_ramfunc.c...
+compiling stm32f4xx_fmpi2c.c...
+compiling stm32f4xx_exti.c...
+compiling stm32f4xx_dcmi.c...
+compiling stm32f4xx_flash.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_dma2d.c...
+compiling stm32f4xx_fsmc.c...
 compiling stm32f4xx_cryp_aes.c...
 compiling stm32f4xx_hash.c...
 compiling stm32f4xx_hash_md5.c...
 compiling stm32f4xx_hash_sha1.c...
-compiling stm32f4xx_iwdg.c...
 compiling stm32f4xx_i2c.c...
+compiling stm32f4xx_iwdg.c...
 compiling stm32f4xx_lptim.c...
 compiling stm32f4xx_pwr.c...
-compiling stm32f4xx_ltdc.c...
 compiling stm32f4xx_qspi.c...
-compiling stm32f4xx_rng.c...
 compiling stm32f4xx_spdifrx.c...
+compiling stm32f4xx_rng.c...
+compiling TIM.c...
+compiling stm32f4xx_wwdg.c...
+compiling stm32f4xx_ltdc.c...
 compiling stm32f4xx_syscfg.c...
 compiling stm32f4xx_sai.c...
-compiling stm32f4xx_rcc.c...
-compiling stm32f4xx_sdio.c...
-compiling stm32f4xx_spi.c...
-compiling TIM.c...
 compiling Delay.c...
-compiling stm32f4xx_usart.c...
+compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_spi.c...
 compiling AHRS_middleware.c...
-compiling stm32f4xx_wwdg.c...
+compiling stm32f4xx_sdio.c...
-compiling stm32f4xx_rtc.c...
+compiling stm32f4xx_usart.c...
 compiling UART.c...
-compiling user_lib.c...
+compiling stm32f4xx_rtc.c...
 compiling stm32f4xx_tim.c...
+compiling user_lib.c...
 compiling MyI2C.c...
+compiling CAN.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;
@@ -85,36 +86,35 @@ Control\WaveFiltering_Kalman_Filtering.c(13): warning:  #177-D: variable "pDst1"
 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 LED.c...
 compiling Buzzer.c...
-compiling IST8310.c...
 compiling Remote.c...
 compiling BMI088.c...
+compiling IST8310.c...
 compiling Laser.c...
-compiling GM6020.c...
 compiling M3508.c...
 compiling LinkCheck.c...
 compiling M2006.c...
-compiling Warming.c...
+compiling GM6020.c...
 compiling CToC.c...
-compiling AttitudeAlgorithms.c...
+compiling Warming.c...
 compiling CloseLoopControl.c...
-compiling IMUTemperatureControl.c...
+compiling AttitudeAlgorithms.c...
 compiling PID.c...
-compiling Gimbal.c...
+compiling IMUTemperatureControl.c...
-compiling RefereeSystem.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 RefereeSystem.c...
+compiling Gimbal.c...
 compiling Keyboard.c...
-compiling main.c...
 compiling stm32f4xx_it.c...
+compiling main.c...
 linking...
-Program Size: Code=31032 RO-data=1236 RW-data=552 ZI-data=3520  
+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>
@@ -127,7 +127,7 @@ Package Vendor: Keil
 <h2>Collection of Component include folders:</h2>
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:05
+Build Time Elapsed:  00:00:04
 </pre>
 </body>
 </html>

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

@@ -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>
@@ -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>
@@ -1442,7 +1442,7 @@
 
   <Group>
     <GroupName>System</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1578,7 +1578,7 @@
 
   <Group>
     <GroupName>AHRS</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1658,7 +1658,7 @@
 
   <Group>
     <GroupName>Hardware</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

云台/云台/System/CAN.c

@@ -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_GM6020,GM6020_2},{CAN_M3508,M3508_7},{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
 
@@ -222,8 +222,8 @@ void CAN1_RX0_IRQHandler(void)
 			{
 				RefereeSystem_ShooterOpenCounter=0;
 				RefereeSystem_ShooterOpenFlag=0;//发射机构离开上电期间
-				CAN_CAN1DeviceNumber=5;//添加CAN设备
+				CAN_CAN1DeviceNumber=6;//添加CAN设备
-				CAN_DeviceNumber=6;
+				CAN_DeviceNumber=8;
 			}
 		}
 		
@@ -269,8 +269,8 @@ void CAN2_RX1_IRQHandler(void)
 			{
 				RefereeSystem_ShooterOpenCounter=0;
 				RefereeSystem_ShooterOpenFlag=0;//发射机构离开上电期间
-				CAN_CAN1DeviceNumber=4;//添加CAN设备
+				CAN_CAN1DeviceNumber=6;//添加CAN设备
-				CAN_DeviceNumber=6;
+				CAN_DeviceNumber=8;
 			}
 		}
 				

云台/云台/User/Parameter.h

@@ -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
@@ -10,8 +10,9 @@
 #define Pitch_GM6020AngleUpperLinit							-20.0f//Pitch轴编码器值上限
 
 /*=============================================云台参数=============================================*/
-#define Gimbal_FrictionWheelSpeed							-10000//摩擦轮转速,弹速限制30m/s
+#define Gimbal_FrictionWheelSpeed							-3000//摩擦轮转速 对应大弹丸11.7M/s
-#define Gimbal_RammerSpeed									-50//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_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
@@ -24,7 +25,7 @@
 
 #define PC_Spin												(Remote_RxData.Remote_Mouse_RL)//视角水平移动
 #define PC_Pitch											(Remote_RxData.Remote_Mouse_DU)//视角垂直移动
-#define PC_Mouse_RLSensitivity								3.0f//鼠标左右灵敏度
+#define PC_Mouse_RLSensitivity								4.0f//鼠标左右灵敏度
 #define PC_Mouse_DUSensitivity								8.0f//鼠标上下灵敏度
 
 #define PC_FrictionWheel									(Remote_RxData.Remote_KeyPush_Q)//摩擦轮

云台/云台/User/main.c

@@ -41,7 +41,7 @@ int main(void)
 		CToC_MasterSendData();//CToC发送遥控器摇杆数据
 		
 		
-		//Visual_SendData();
+		Visual_SendData();
 
 
 		if(Delay_Count)   //每次大循环只执行一次    

底盘/底盘/CarBody/Mecanum.c

@@ -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);
+	PID_PositionSetParameter(&Mecanum_TrackPID,0.02,0,5);//随便写的PID值，勉强可以用
 	//Testing Code//
-	PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,01);//随便写的PID值，勉强可以用
+	//PID_PositionSetParameter(&Mecanum_TrackPID,0,0,0);
 	
 	PID_PositionSetEkRange(&Mecanum_TrackPID,-1,1);
 	PID_PositionSetOUTRange(&Mecanum_TrackPID,-4,4);
@@ -184,16 +184,16 @@ void Mecanum_PowerMoveControl(void)
 	vx=vx_*cosf(Mecanum_YawTheta)-vy_*sinf(Mecanum_YawTheta);
 	vy=vx_*sinf(Mecanum_YawTheta)+vy_*cosf(Mecanum_YawTheta);//根据底盘云台相对角度修正xy轴速度
 	
-	/*==========小陀螺处理==========*/
+/*==========小陀螺处理==========*/
 	if(Yaw_GM6020PositionValue<4096)//正向小陀螺为逆时针
 	{
 		if((Remote_RxData.Remote_RS==2 || Remote_RxData.Remote_KeyPush_Ctrl==1) || (Mecanum_GyroScopeFlag==1 && Mecanum_GyroScopeCloseFlag==1 && GM6020_MotorStatus[0].Position<Yaw_GM6020PositionValue+500))//小陀螺模式
 		{
-			w=Mecanum_GyroScopeAngularVelocity;
+			w=-Mecanum_GyroScopeAngularVelocity;
 			Mecanum_GyroScopeFlag=1;//处于小陀螺状态
 			Mecanum_GyroScopeCloseFlag=1;//小陀螺处于待关闭状态
 		}
-		else if(Mecanum_GyroScopeFlag==1 && ((GM6020_MotorStatus[0].Angle>Yaw_GM6020PositionValue+100 || GM6020_MotorStatus[0].Angle<Yaw_GM6020PositionValue-100) || (GM6020_MotorStatus[0].Speed>2||GM6020_MotorStatus[0].Speed<-2)))//小陀螺关闭状态
+		else if(Mecanum_GyroScopeFlag==1 && ((GM6020_MotorStatus[0].Angle>Yaw_GM6020PositionValue+200 || GM6020_MotorStatus[0].Angle<Yaw_GM6020PositionValue-200) || (GM6020_MotorStatus[0].Speed>3||GM6020_MotorStatus[0].Speed<-3)))//小陀螺关闭状态
 		{
 			PID_PositionSetOUTRange(&Mecanum_TrackPID,-2,2);
 			PID_PositionCalc(&Mecanum_TrackPID,GM6020_MotorStatus[0].Position);//底盘跟云台
@@ -201,7 +201,7 @@ void Mecanum_PowerMoveControl(void)
 			Mecanum_GyroScopeCloseFlag=0;//小陀螺未处于待关闭状态
 		}
 		else if(Remote_RxData.Remote_RS==1)//反向小陀螺模式(仅检录使用)
-			w=-Mecanum_GyroScopeAngularVelocity;
+			w=Mecanum_GyroScopeAngularVelocity;
 		else
 		{
 			PID_PositionSetOUTRange(&Mecanum_TrackPID,-5,5);
@@ -214,11 +214,11 @@ void Mecanum_PowerMoveControl(void)
 	{
 		if((Remote_RxData.Remote_RS==2 || Remote_RxData.Remote_KeyPush_Ctrl==1) || (Mecanum_GyroScopeFlag==1 && Mecanum_GyroScopeCloseFlag==1 && GM6020_MotorStatus[0].Position>Yaw_GM6020PositionValue-500))//小陀螺模式
 		{
-			w=-Mecanum_GyroScopeAngularVelocity;
+			w=Mecanum_GyroScopeAngularVelocity;
 			Mecanum_GyroScopeFlag=1;//处于小陀螺状态
 			Mecanum_GyroScopeCloseFlag=1;//小陀螺处于待关闭状态
 		}
-		else if(Mecanum_GyroScopeFlag==1 && ((GM6020_MotorStatus[0].Angle>Yaw_GM6020PositionValue+5 || GM6020_MotorStatus[0].Angle<Yaw_GM6020PositionValue-5) || (GM6020_MotorStatus[0].Speed>1||GM6020_MotorStatus[0].Speed<-1)))//小陀螺关闭状态
+		else if(Mecanum_GyroScopeFlag==1 && ((GM6020_MotorStatus[0].Angle>Yaw_GM6020PositionValue+200 || GM6020_MotorStatus[0].Angle<Yaw_GM6020PositionValue-200) || (GM6020_MotorStatus[0].Speed>3||GM6020_MotorStatus[0].Speed<-3)))//小陀螺关闭状态
 		{
 			PID_PositionSetOUTRange(&Mecanum_TrackPID,-2,2);
 			PID_PositionCalc(&Mecanum_TrackPID,GM6020_MotorStatus[0].Position);//底盘跟云台
@@ -226,7 +226,7 @@ void Mecanum_PowerMoveControl(void)
 			Mecanum_GyroScopeCloseFlag=0;//小陀螺未处于待关闭状态
 		}
 		else if(Remote_RxData.Remote_RS==1)//反向小陀螺模式(仅检录使用)
-			w=Mecanum_GyroScopeAngularVelocity;
+			w=-Mecanum_GyroScopeAngularVelocity;
 		else
 		{
 			PID_PositionSetOUTRange(&Mecanum_TrackPID,-5,5);
@@ -235,7 +235,6 @@ void Mecanum_PowerMoveControl(void)
 			w=-Mecanum_TrackPID.OUT;
 		}
 	}		
-	
 	/*==========功率上限处理==========*/
 	/*由缓冲能量得到功率控制功率上限*/
 	float Mecanum_PowerRef=1.0f/(60.0f-Mecanum_PowerControl_UseBuffer)*RefereeSystem_Buffer;//功率增益

底盘/底盘/CarBody/RefereeSystem.c

@@ -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);
 }
 
 /*

底盘/底盘/Objects/ExtDll.iex

@@ -0,0 +1,2 @@
+[EXTDLL]
+Count=0

底盘/底盘/Objects/Project.build_log.htm

@@ -22,80 +22,80 @@ Dialog DLL:      TCM.DLL V1.56.6.0
  
 <h2>Project:</h2>
 C:\Users\LSMushui\Desktop\RM\Hero-C-Board-Legacy\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
-Project File Date:  11/02/2025
+Project File Date:  03/26/2026
 
 <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_adc.c...
-compiling stm32f4xx_dbgmcu.c...
-compiling stm32f4xx_dac.c...
-compiling stm32f4xx_fmpi2c.c...
-compiling stm32f4xx_dma2d.c...
 compiling stm32f4xx_cec.c...
-compiling stm32f4xx_can.c...
-compiling stm32f4xx_dfsdm.c...
-compiling stm32f4xx_cryp.c...
 compiling stm32f4xx_crc.c...
-compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_dsi.c...
-compiling stm32f4xx_exti.c...
-compiling stm32f4xx_dcmi.c...
 compiling misc.c...
-compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_cryp.c...
-compiling stm32f4xx_cryp_tdes.c...
 compiling stm32f4xx_cryp_des.c...
-compiling stm32f4xx_fsmc.c...
+compiling stm32f4xx_flash_ramfunc.c...
-compiling stm32f4xx_dma.c...
+compiling stm32f4xx_can.c...
+compiling stm32f4xx_adc.c...
 compiling stm32f4xx_flash.c...
+compiling stm32f4xx_fsmc.c...
+compiling stm32f4xx_dac.c...
+compiling stm32f4xx_exti.c...
+compiling stm32f4xx_dfsdm.c...
+compiling stm32f4xx_fmpi2c.c...
+compiling stm32f4xx_cryp_tdes.c...
+compiling stm32f4xx_dbgmcu.c...
+compiling stm32f4xx_dsi.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_dma2d.c...
+compiling stm32f4xx_dcmi.c...
+compiling stm32f4xx_dma.c...
 compiling stm32f4xx_cryp_aes.c...
 compiling stm32f4xx_hash.c...
 compiling stm32f4xx_hash_md5.c...
 compiling stm32f4xx_hash_sha1.c...
-compiling stm32f4xx_lptim.c...
-compiling stm32f4xx_iwdg.c...
 compiling stm32f4xx_i2c.c...
+compiling stm32f4xx_iwdg.c...
+compiling stm32f4xx_lptim.c...
 compiling stm32f4xx_qspi.c...
 compiling stm32f4xx_pwr.c...
-compiling stm32f4xx_rng.c...
 compiling stm32f4xx_ltdc.c...
-compiling stm32f4xx_spdifrx.c...
+compiling stm32f4xx_rng.c...
 compiling stm32f4xx_sai.c...
+compiling stm32f4xx_spdifrx.c...
+compiling TIM.c...
+compiling stm32f4xx_syscfg.c...
+compiling Delay.c...
 compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_wwdg.c...
 compiling stm32f4xx_sdio.c...
 compiling stm32f4xx_spi.c...
-compiling stm32f4xx_syscfg.c...
-compiling stm32f4xx_rtc.c...
-compiling stm32f4xx_wwdg.c...
 compiling stm32f4xx_usart.c...
-compiling TIM.c...
-compiling Delay.c...
-compiling CAN.c...
 compiling UART.c...
+compiling stm32f4xx_rtc.c...
 compiling stm32f4xx_tim.c...
+compiling CAN.c...
 compiling LED.c...
 compiling Buzzer.c...
+compiling GM6020.c...
+compiling M3508.c...
 compiling Remote.c...
 compiling LinkCheck.c...
-compiling M3508.c...
-compiling GM6020.c...
-compiling CToC.c...
 compiling Warming.c...
-compiling PID.c...
+compiling CToC.c...
 compiling CloseLoopControl.c...
-compiling RefereeSystem_CRCTable.c...
+compiling PID.c...
 compiling RefereeSystem.c...
-compiling Ultra_CAP.c...
-compiling UI.c...
 compiling Mecanum.c...
+compiling RefereeSystem_CRCTable.c...
+compiling UI.c...
 compiling UI_Base.c...
-compiling UI_Library.c...
+compiling Ultra_CAP.c...
 compiling stm32f4xx_it.c...
 compiling main.c...
+compiling UI_Library.c...
 linking...
-Program Size: Code=18636 RO-data=1224 RW-data=408 ZI-data=2496  
+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>
@@ -108,7 +108,7 @@ Package Vendor: Keil
 <h2>Collection of Component include folders:</h2>
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:05
+Build Time Elapsed:  00:00:04
 </pre>
 </body>
 </html>

底盘/底盘/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: Mon Nov 03 12:34:21 2025
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Sat Mar 28 08:58:46 2026
 <BR><P>
 <H3>Maximum Stack Usage =        232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -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

底盘/底盘/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)
+  }
+}
+