From 91edfef2b3970f32b641d6c77a9d4288ae341894 Mon Sep 17 00:00:00 2001
From: ZHAISHUI04 <3150778793@qq.com>
Date: Sun, 22 Jun 2025 19:22:22 +0800
Subject: [PATCH] 6.22

---
 MDK-ARM/.vscode/keil-assistant.log |   4 +++
 MDK-ARM/R2.uvoptx                  |  38 +++--------------------------
 MDK-ARM/R2/R2.axf                  | Bin 2850364 -> 2850364 bytes
 User/Module/config.c               |   2 +-
 User/Module/up.c                   |   2 +-
 5 files changed, 10 insertions(+), 36 deletions(-)

diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 19d8611..488f11b 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -467,3 +467,7 @@
 
 [info] Log at : 2025/6/18|17:47:04|GMT+0800
 
+[info] Log at : 2025/6/18|19:43:09|GMT+0800
+
+[info] Log at : 2025/6/22|14:26:08|GMT+0800
+
diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx
index 8aacd56..42438c7 100644
--- a/MDK-ARM/R2.uvoptx
+++ b/MDK-ARM/R2.uvoptx
@@ -208,53 +208,23 @@
         <Ww>
           <count>10</count>
           <WinNumber>1</WinNumber>
-          <ItemText>valid_check,0x0A</ItemText>
+          <ItemText>nuc_raw,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nuc_raw,0x0A</ItemText>
+          <ItemText>cmd_fromnuc,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>12</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd_fromnuc,0x0A</ItemText>
+          <ItemText>nucbuf,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>13</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nucbuf,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>14</count>
-          <WinNumber>1</WinNumber>
           <ItemText>LD_raw,0x0A</ItemText>
         </Ww>
-        <Ww>
-          <count>15</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>aeeaa,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>16</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>aaaaaaaaaaaa,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>17</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>valid_check,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>18</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>aaaaaaaaaaaaaaaaaaaaaaaaaa,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>19</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>aaaaaaaaaaaaaaaaaaa,0x0A</ItemText>
-        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -262,7 +232,7 @@
       <DebugFlag>
         <trace>0</trace>
         <periodic>1</periodic>
-        <aLwin>0</aLwin>
+        <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>
diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index 7fb44343cac780fec4c33ed4c2722bfc97b68ed9..9765c5f85d53f1232eb429a6e4cc0894f0407245 100644
GIT binary patch
delta 330
zcmWN{y-Nad0LJm(d0y(3X7*zC=9yXDwR8k!6qG~d(BN`4_F{w460`+DOWab^AvZcT
z26+az2o3!K(O*!sA1y&75`7=|3=e$U-3O_S$4)cy9$0E4upG%NWOmD<R%zCQkZK2E
zwGKOosY2U!HoSDaRQ~<>{1aOAqY<n*Rqrby*#679EHse}ZMF_u-&fL}ZJ826kP(K0
z9z+mD3@Uojhd2`GM-l@_VGu(Y#t70FMFwLS#{?!Zg)B7WFpWHBP{1taFc00gOryIa
zSIwep-s`V^{?gDD`DAs;J-Xv&uZ@nZh~ta%12=bTl-x>9fAUi|hW#wBEHAp|Dbd;1
H!dvkl$-Zxf

delta 330
zcmXBLy-Nad0LJm(y_kBXnZ203*qK?~H5~>OMA;w-EfP6f=3ul0Z9&iyx3r1e=+qeG
z8QdZ?^an)$L9|~r1d&Meg&z0}&+zT`@1!p7d+p%oyU<$xK|^x0$-Sbem)cEV)@)zZ
zny~$_CiFsM+f79B#h>rDU!jLyTmDw#*!_r>o;DSsi<q1jtaI4;x|H_qvL!)=0u=!a
zAczpc&@hN0L=eR=Vi-XjqZq?DCXm1+l9<9YW-yBs=Aa{ud1SDFEEchZWf)%BGW)wq
zZsW+YPK;+Sb72|*)mp9Q9P5^!x-xr;T0K9jIO!X6$0^l~2QPkY+K)<Yt@huX7FJ%?
F{{Uu=Z*Kqq

diff --git a/User/Module/config.c b/User/Module/config.c
index 54bbfa0..ef628ab 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -113,7 +113,7 @@ static const ConfigParam_t param ={
     .m2006_init =-150,    //释放的角度
 	  .m2006_trig =0,       //可以拉住发射的角度
 		.go_init = -50,       //仅用在go上电，初始位置
-	  .go_pull_pos =-210,
+	  .go_pull_pos =-214,
 		.Pitch_angle  =58,
 			
 		.pull_speed  =5,
diff --git a/User/Module/up.c b/User/Module/up.c
index 95d17c1..f9d6b73 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -258,7 +258,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 	static int is_pitch=1;
 	
 	/*config值限位*/
-		abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-208.0f,2.0f);
+		abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-215.0f,0.0f);
 
 
     switch (c->CMD_CtrlType  )