ELCT/New-Infantry-C-Board-Legacy
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同步更改，修复了云台pid超限问题，修复云台编码器上下限，关闭磁力计输入

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LSMushui
2026-03-10 14:43:29 +08:00
parent 7992640d72
commit 23a65b17a6
32 changed files with 461 additions and 298 deletions
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底盘/底盘/.vscode/c_cpp_properties.json
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@@ -100,21 +100,16 @@
{
"name": "Target 1",
"includePath": [
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Start",
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Library",
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\System",
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Algorithm",
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Hardware",
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Motor",
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Function",
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\Control",
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\CarBody",
"f:\\桌面\\V1.0\\new-infantry\\底盘\\底盘\\User",
"C:\\Keil_v5\\ARM\\ARMCC\\include",
"C:\\Keil_v5\\ARM\\ARMCC\\include\\arm_linux",
"C:\\Keil_v5\\ARM\\ARMCC\\include\\arm_linux_compat",
"C:\\Keil_v5\\ARM\\ARMCC\\include\\libcxx",
"C:\\Keil_v5\\ARM\\ARMCC\\include\\rw"
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Start",
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Library",
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\System",
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Algorithm",
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Hardware",
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Motor",
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Function",
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\Control",
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\CarBody",
"c:\\Users\\LSMushui\\Desktop\\RM\\New-Infantry-C-Board-Legacy\\底盘\\底盘\\User"
],
"defines": [
"USE_STDPERIPH_DRIVER",
底盘/底盘/.vscode/keil-assistant.log
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+2
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@@ -29,3 +29,5 @@
[info] Log at : 2025/10/17|12:12:21|GMT+0800
[info] Log at : 2026/2/1|21:52:40|GMT+0800
底盘/底盘/Objects/Project.axf
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底盘/底盘/Objects/Project.build_log.htm
+34 -34
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@@ -29,69 +29,69 @@ Project File Date: 11/02/2025
Rebuild target 'Target 1'
assembling startup_stm32f40_41xxx.s...
compiling misc.c...
compiling stm32f4xx_dbgmcu.c...
compiling stm32f4xx_dfsdm.c...
compiling stm32f4xx_cryp_tdes.c...
compiling system_stm32f4xx.c...
compiling stm32f4xx_cryp.c...
compiling stm32f4xx_adc.c...
compiling stm32f4xx_can.c...
compiling stm32f4xx_dma2d.c...
compiling stm32f4xx_dsi.c...
compiling stm32f4xx_dcmi.c...
compiling stm32f4xx_flash_ramfunc.c...
compiling stm32f4xx_cryp_des.c...
compiling stm32f4xx_cec.c...
compiling stm32f4xx_cryp_aes.c...
compiling stm32f4xx_fmpi2c.c...
compiling stm32f4xx_gpio.c...
compiling stm32f4xx_exti.c...
compiling stm32f4xx_crc.c...
compiling stm32f4xx_fsmc.c...
compiling stm32f4xx_flash.c...
compiling stm32f4xx_dcmi.c...
compiling stm32f4xx_dac.c...
compiling stm32f4xx_fsmc.c...
compiling stm32f4xx_crc.c...
compiling system_stm32f4xx.c...
compiling stm32f4xx_cryp_tdes.c...
compiling stm32f4xx_cryp.c...
compiling stm32f4xx_flash_ramfunc.c...
compiling stm32f4xx_cec.c...
compiling stm32f4xx_fmpi2c.c...
compiling stm32f4xx_dsi.c...
compiling stm32f4xx_dbgmcu.c...
compiling stm32f4xx_exti.c...
compiling stm32f4xx_dfsdm.c...
compiling stm32f4xx_cryp_des.c...
compiling stm32f4xx_dma2d.c...
compiling stm32f4xx_gpio.c...
compiling stm32f4xx_dma.c...
compiling stm32f4xx_cryp_aes.c...
compiling stm32f4xx_hash.c...
compiling stm32f4xx_hash_md5.c...
compiling stm32f4xx_iwdg.c...
compiling stm32f4xx_hash_sha1.c...
compiling stm32f4xx_hash_md5.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 Delay.c...
compiling TIM.c...
compiling stm32f4xx_syscfg.c...
compiling stm32f4xx_wwdg.c...
compiling stm32f4xx_rtc.c...
compiling stm32f4xx_spi.c...
compiling stm32f4xx_sdio.c...
compiling UART.c...
compiling stm32f4xx_sai.c...
compiling stm32f4xx_wwdg.c...
compiling stm32f4xx_spi.c...
compiling TIM.c...
compiling Delay.c...
compiling stm32f4xx_rcc.c...
compiling stm32f4xx_usart.c...
compiling CAN.c...
compiling stm32f4xx_rtc.c...
compiling stm32f4xx_tim.c...
compiling UART.c...
compiling LED.c...
compiling Buzzer.c...
compiling CAN.c...
compiling Remote.c...
compiling GM6020.c...
compiling CToC.c...
compiling M3508.c...
compiling GM6020.c...
compiling Warming.c...
compiling LinkCheck.c...
compiling CloseLoopControl.c...
compiling CToC.c...
compiling PID.c...
compiling RefereeSystem.c...
compiling Mecanum.c...
compiling RefereeSystem_CRCTable.c...
compiling UI.c...
compiling Ultra_CAP.c...
compiling UI_Base.c...
compiling Mecanum.c...
compiling UI.c...
compiling stm32f4xx_it.c...
compiling UI_Base.c...
compiling main.c...
compiling UI_Library.c...
linking...
@@ -108,7 +108,7 @@ Package Vendor: Keil
<h2>Collection of Component include folders:</h2>
<h2>Collection of Component Files used:</h2>
Build Time Elapsed: 00:00:04
Build Time Elapsed: 00:00:05
</pre>
</body>
</html>
底盘/底盘/Objects/Project.htm
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@@ -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: Sun Nov 02 21:03:24 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Wed Jan 21 18:47:23 2026
<BR><P>
<H3>Maximum Stack Usage = 232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
底盘/底盘/Objects/Project_Target 1.dep
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@@ -2407,7 +2407,7 @@ I (CarBody\UI_Base.h)(0x664C499A)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
I (.\System\UART.h)(0x669CFA98)
F (.\CarBody\UI_Library.h)(0x66A113C6)()
F (.\User\main.c)(0x66A10DEC)(--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\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
F (.\User\main.c)(0x6970AEB5)(--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\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
I (.\Start\stm32f4xx.h)(0x64F48C00)
I (.\Start\core_cm4.h)(0x64D03162)
I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
底盘/底盘/Objects/main.crf
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底盘/底盘/Project.uvguix.LSMushui
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底盘/底盘/Project.uvoptx
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@@ -1975,7 +1975,7 @@
<Group>
<GroupName>User</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
底盘/底盘/User/main.c
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@@ -7,7 +7,7 @@ int main()
{
Warming_Init();//报警初始化
LED_BON();//蓝灯点亮表示代码在运行
Delay_s(2);//延时,等待校准和模块启动
Delay_s(4);//延时,等待校准和模块启动
RefereeSystem_Init();//裁判系统数据接收初始化
LinkCheck_Init();//连接检测初始化
Ultra_CAP_Init();//超电初始化