RMUL2026最终上场版本

2026-04-09 17:12:18 +08:00
parent e67934f531
commit c2fa517996
28 changed files with 385 additions and 521 deletions
--- a/底盘/底盘/CarBody/Mecanum.c
+++ b/底盘/底盘/CarBody/Mecanum.c
@@ -54,7 +54,7 @@ void Mecanum_Init(void)
 	PID_PositionSetOUTRange(&Mecanum_SpeedPID[3],-15000,15000);
 	
 	PID_PositionStructureInit(&Mecanum_TrackPID,Yaw_GM6020PositionValue);//底盘跟随
-	PID_PositionSetParameter(&Mecanum_TrackPID,0.007,0,0.8);
+	PID_PositionSetParameter(&Mecanum_TrackPID,0.01,0,0.8);
 	PID_PositionSetEkRange(&Mecanum_TrackPID,-1,1);
 	PID_PositionSetOUTRange(&Mecanum_TrackPID,-4,4);
 }
--- a/底盘/底盘/Objects/Project.axf
+++ b/底盘/底盘/Objects/Project.axf
--- a/底盘/底盘/Objects/Project.build_log.htm
+++ b/底盘/底盘/Objects/Project.build_log.htm
@@ -17,83 +17,83 @@ 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
 Dialog DLL:      DCM.DLL V1.17.5.0
-Target DLL:      CMSIS_AGDI.dll V1.33.24.0
+Target DLL:      UL2CM3.DLL V1.164.16.0
 Dialog DLL:      TCM.DLL V1.56.6.0
 
 <h2>Project:</h2>
-C:\Users\LSMushui\Desktop\RM\New-Infantry-C-Board-Legacy\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
-Project File Date:  11/02/2025
+C:\Users\LSMushui\Desktop\RM\workspace\Infantry-C-Board-from-PG\<5C><><EFBFBD><EFBFBD>\<5C><><EFBFBD><EFBFBD>\Project.uvprojx
+Project File Date:  03/28/2026

 <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 misc.c...
 compiling stm32f4xx_adc.c...
 compiling stm32f4xx_can.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_dac.c...
+compiling stm32f4xx_dfsdm.c...
+compiling stm32f4xx_crc.c...
+compiling stm32f4xx_dma2d.c...
+compiling stm32f4xx_dbgmcu.c...
+compiling stm32f4xx_fmpi2c.c...
+compiling stm32f4xx_dma.c...
+compiling stm32f4xx_cryp_des.c...
+compiling stm32f4xx_dsi.c...
+compiling stm32f4xx_cryp_tdes.c...
+compiling stm32f4xx_gpio.c...
+compiling stm32f4xx_exti.c...
+compiling stm32f4xx_dcmi.c...
+compiling stm32f4xx_fsmc.c...
+compiling stm32f4xx_cryp.c...
+compiling stm32f4xx_flash.c...
 compiling stm32f4xx_hash.c...
-compiling stm32f4xx_hash_sha1.c...
 compiling stm32f4xx_hash_md5.c...
-compiling stm32f4xx_i2c.c...
+compiling stm32f4xx_hash_sha1.c...
 compiling stm32f4xx_iwdg.c...
+compiling stm32f4xx_i2c.c...
 compiling stm32f4xx_lptim.c...
 compiling stm32f4xx_pwr.c...
 compiling stm32f4xx_qspi.c...
 compiling stm32f4xx_ltdc.c...
+compiling stm32f4xx_rcc.c...
 compiling stm32f4xx_rng.c...
 compiling stm32f4xx_spdifrx.c...
-compiling stm32f4xx_syscfg.c...
-compiling stm32f4xx_sdio.c...
 compiling stm32f4xx_sai.c...
-compiling stm32f4xx_wwdg.c...
-compiling stm32f4xx_spi.c...
+compiling stm32f4xx_syscfg.c...
 compiling TIM.c...
+compiling stm32f4xx_spi.c...
+compiling stm32f4xx_wwdg.c...
 compiling Delay.c...
-compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_sdio.c...
 compiling stm32f4xx_usart.c...
+compiling UART.c...
 compiling stm32f4xx_rtc.c...
 compiling stm32f4xx_tim.c...
-compiling UART.c...
+compiling CAN.c...
 compiling LED.c...
 compiling Buzzer.c...
-compiling CAN.c...
 compiling Remote.c...
-compiling M3508.c...
 compiling GM6020.c...
-compiling Warming.c...
+compiling M3508.c...
 compiling LinkCheck.c...
-compiling CloseLoopControl.c...
+compiling Warming.c...
 compiling CToC.c...
 compiling PID.c...
-compiling RefereeSystem.c...
+compiling CloseLoopControl.c...
 compiling RefereeSystem_CRCTable.c...
-compiling Ultra_CAP.c...
 compiling Mecanum.c...
+compiling RefereeSystem.c...
 compiling UI.c...
 compiling stm32f4xx_it.c...
+compiling Ultra_CAP.c...
+compiling UI_Library.c...
 compiling UI_Base.c...
 compiling main.c...
-compiling UI_Library.c...
 linking...
 Program Size: Code=18636 RO-data=1224 RW-data=408 ZI-data=2496  
 ".\Objects\Project.axf" - 0 Error(s), 0 Warning(s).
@@ -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>
--- a/底盘/底盘/Objects/Project.htm
+++ b/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: Wed Jan 21 18:47:23 2026
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Thu Apr 09 17:08:04 2026
 <BR><P>
 <H3>Maximum Stack Usage =        232 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
--- a/底盘/底盘/Objects/Project_Target
+++ b/底盘/底盘/Objects/Project_Target
@@ -2132,7 +2132,7 @@ I (.\Library\stm32f4xx_dcmi.h)(0x64D03164)
 I (C:\Users\LSMushui\AppData\Local\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (.\Start\core_cmInstr.h)(0x64D03162)
 I (.\Start\core_cmFunc.h)(0x64D03162)
-I (.\Start\core_cmSimd.h)(0x64D03162)
+I (.\Start\core_cmSimd.h)(0x64D03162)
 I (.\Start\system_stm32f4xx.h)(0x64D03132)
 I (.\User\stm32f4xx_conf.h)(0x64D03180)
 I (.\Library\stm32f4xx_adc.h)(0x64D03164)
@@ -2172,7 +2172,7 @@ I (.\Motor\M3508.h)(0x669D0F64)
 -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)(0x64F48C00)
+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)
 I (.\Start\core_cmInstr.h)(0x64D03162)
@@ -2458,14 +2458,14 @@ I (.\Function\LinkCheck.h)(0x65F5DCF4)
 I (.\Library\stm32f4xx_dma.h)(0x64D03164)
 I (.\Library\stm32f4xx_exti.h)(0x64D03164)
 I (.\Library\stm32f4xx_flash.h)(0x64D03164)
-I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
+I (.\Library\stm32f4xx_gpio.h)(0x64D03164)
 I (.\Library\stm32f4xx_i2c.h)(0x64D03164)
 I (.\Library\stm32f4xx_iwdg.h)(0x64D03164)
 I (.\Library\stm32f4xx_pwr.h)(0x64D03164)
 I (.\Library\stm32f4xx_rcc.h)(0x64D03164)
 I (.\Library\stm32f4xx_rtc.h)(0x64D03164)
 I (.\Library\stm32f4xx_sdio.h)(0x64D03164)
-I (.\Library\stm32f4xx_spi.h)(0x64D03164)
+I (.\Library\stm32f4xx_spi.h)(0x64D03164)
 I (.\Library\stm32f4xx_syscfg.h)(0x64D03164)
 I (.\Library\stm32f4xx_tim.h)(0x64D03164)
 I (.\Library\stm32f4xx_usart.h)(0x64D03164)
--- a/底盘/底盘/Objects/main.crf
+++ b/底盘/底盘/Objects/main.crf
--- a/底盘/底盘/Objects/mecanum.crf
+++ b/底盘/底盘/Objects/mecanum.crf
--- a/底盘/底盘/Project.uvoptx
+++ b/底盘/底盘/Project.uvoptx
@@ -12,7 +12,7 @@
    <lExt>*.lib</lExt>
    <tExt>*.txt; *.h; *.inc; *.md</tExt>
    <pExt>*.plm</pExt>
-    <CppX>*.cpp</CppX>
+    <CppX>*.cpp; *.cc; *.cxx</CppX>
    <nMigrate>0</nMigrate>
  </Extensions>

@@ -28,7 +28,7 @@
    <TargetOption>
      <CLKADS>12000000</CLKADS>
      <OPTTT>
-        <gFlags>1</gFlags>
+        <gFlags>0</gFlags>
        <BeepAtEnd>1</BeepAtEnd>
        <RunSim>0</RunSim>
        <RunTarget>1</RunTarget>
@@ -73,11 +73,11 @@
        <LExpSel>0</LExpSel>
      </OPTXL>
      <OPTFL>
-        <tvExp>1</tvExp>
+        <tvExp>0</tvExp>
        <tvExpOptDlg>0</tvExpOptDlg>
        <IsCurrentTarget>1</IsCurrentTarget>
      </OPTFL>
-      <CpuCode>18</CpuCode>
+      <CpuCode>0</CpuCode>
      <DebugOpt>
        <uSim>0</uSim>
        <uTrg>1</uTrg>
@@ -103,7 +103,7 @@
        <bEvRecOn>1</bEvRecOn>
        <bSchkAxf>0</bSchkAxf>
        <bTchkAxf>0</bTchkAxf>
-        <nTsel>3</nTsel>
+        <nTsel>0</nTsel>
        <sDll></sDll>
        <sDllPa></sDllPa>
        <sDlgDll></sDlgDll>
@@ -114,39 +114,9 @@
        <tDlgDll></tDlgDll>
        <tDlgPa></tDlgPa>
        <tIfile></tIfile>
-        <pMon>BIN\CMSIS_AGDI.dll</pMon>
+        <pMon>BIN\UL2CM3.DLL</pMon>
      </DebugOpt>
      <TargetDriverDllRegistry>
-        <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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ARMRTXEVENTFLAGS</Key>
-          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>DLGTARM</Key>
-          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ARMDBGFLAGS</Key>
-          <Name></Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>DLGUARM</Key>
-          <Name></Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U00650059572D430C4E4C3054 -O206 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
-        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
          <Key>UL2CM3</Key>
@@ -154,165 +124,18 @@
        </SetRegEntry>
      </TargetDriverDllRegistry>
      <Breakpoint/>
-      <WatchWindow1>
-        <Ww>
-          <count>0</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>IST8310_MagneticField</ItemText>
-        </Ww>
-        <Ww>
-          <count>1</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>IST8310_Temperature</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>BMI088_Accel</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>BMI088_Gyro</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>BMI088_Temperature</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>ui_default_Ungroup_0</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>RefereeSystem_Power</ItemText>
-        </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>RefereeSystem_Buffer</ItemText>
-        </Ww>
-        <Ww>
-          <count>8</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>RefereeSystem_Ref</ItemText>
-        </Ww>
-        <Ww>
-          <count>9</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>RefereeSystem_RobotID</ItemText>
-        </Ww>
-        <Ww>
-          <count>10</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>RefereeSystem_RxData</ItemText>
-        </Ww>
-        <Ww>
-          <count>11</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>RefereeSystem_RxHEXPacket</ItemText>
-        </Ww>
-        <Ww>
-          <count>12</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>Remote_RxData</ItemText>
-        </Ww>
-        <Ww>
-          <count>13</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>M3508_MotorStatus</ItemText>
-        </Ww>
-        <Ww>
-          <count>14</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>Odometer_dx</ItemText>
-        </Ww>
-      </WatchWindow1>
-      <WatchWindow2>
-        <Ww>
-          <count>0</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>AttitudeAlgorithms_RadYaw</ItemText>
-        </Ww>
-        <Ww>
-          <count>1</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>AttitudeAlgorithms_RadPitch</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>AttitudeAlgorithms_RadRoll</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>AttitudeAlgorithms_DegYaw</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>AttitudeAlgorithms_DegPitch</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>AttitudeAlgorithms_DegRoll</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>halfex</ItemText>
-        </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>halfey</ItemText>
-        </Ww>
-        <Ww>
-          <count>8</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>halfez</ItemText>
-        </Ww>
-        <Ww>
-          <count>9</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>Gyro_</ItemText>
-        </Ww>
-        <Ww>
-          <count>10</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>BMI088_Gyro</ItemText>
-        </Ww>
-        <Ww>
-          <count>11</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>AttitudeAlgorithms_q</ItemText>
-        </Ww>
-      </WatchWindow2>
-      <MemoryWindow1>
-        <Mm>
-          <WinNumber>1</WinNumber>
-          <SubType>0</SubType>
-          <ItemText>0x2000093C</ItemText>
-          <AccSizeX>0</AccSizeX>
-        </Mm>
-      </MemoryWindow1>
      <Tracepoint>
        <THDelay>0</THDelay>
      </Tracepoint>
      <DebugFlag>
        <trace>0</trace>
-        <periodic>1</periodic>
-        <aLwin>1</aLwin>
+        <periodic>0</periodic>
+        <aLwin>0</aLwin>
        <aCover>0</aCover>
        <aSer1>0</aSer1>
        <aSer2>0</aSer2>
        <aPa>0</aPa>
-        <viewmode>1</viewmode>
+        <viewmode>0</viewmode>
        <vrSel>0</vrSel>
        <aSym>0</aSym>
        <aTbox>0</aTbox>
@@ -345,7 +168,7 @@
      <pMultCmdsp></pMultCmdsp>
      <DebugDescription>
        <Enable>1</Enable>
-        <EnableFlashSeq>0</EnableFlashSeq>
+        <EnableFlashSeq>1</EnableFlashSeq>
        <EnableLog>0</EnableLog>
        <Protocol>2</Protocol>
        <DbgClock>10000000</DbgClock>
@@ -1415,7 +1238,7 @@

  <Group>
    <GroupName>System</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -1519,7 +1342,7 @@

  <Group>
    <GroupName>Algorithm</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -1767,7 +1590,7 @@

  <Group>
    <GroupName>Control</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -1799,7 +1622,7 @@

  <Group>
    <GroupName>CarBody</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -1975,7 +1798,7 @@

  <Group>
    <GroupName>User</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
--- a/底盘/底盘/User/Parameter.h
+++ b/底盘/底盘/User/Parameter.h
@@ -11,7 +11,7 @@
 #define Mecanum_ry											18.75f//底盘中心到轮子中心的距离的y轴分量(单位cm)

 #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_GyroScopeAngularVelocity					10.0f//小陀螺角速度
+#define Mecanum_NormalSpeedRate								1.1f//底盘正常速度和超功率速度的比值

 #endif