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滑膜yaw过零点问题

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yunhai8432 2025-12-09 22:33:32 +08:00
parent 8d842248b8
commit 464b37b66c
4 changed files with 0 additions and 136 deletions
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88
MDK-ARM/.vscode/c_cpp_properties.json vendored
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{
"configurations": [
{
"name": "gimbal",
"includePath": [
"d:\\yunha\\1\\sling\\gimbal\\Core\\Inc",
"d:\\yunha\\1\\sling\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
"d:\\yunha\\1\\sling\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
"d:\\yunha\\1\\sling\\gimbal\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
"d:\\yunha\\1\\sling\\gimbal\\Drivers\\CMSIS\\Include",
"d:\\yunha\\1\\sling\\gimbal\\User\\bsp",
"d:\\yunha\\1\\sling\\gimbal\\User\\component",
"d:\\yunha\\1\\sling\\gimbal\\User\\device",
"d:\\yunha\\1\\sling\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
"d:\\yunha\\1\\sling\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
"d:\\yunha\\1\\sling\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
"d:\\yunha\\1\\sling\\gimbal\\User\\task",
"d:\\yunha\\1\\sling\\gimbal\\User",
"d:\\yunha\\1\\sling\\gimbal\\User\\module",
"d:\\yunha\\1\\sling\\gimbal\\MDK-ARM",
"d:\\yunha\\1\\sling\\gimbal\\Core\\Src",
"d:\\yunha\\1\\sling\\gimbal\\Drivers\\STM32F4xx_HAL_Driver\\Src",
"d:\\yunha\\1\\sling\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source",
"d:\\yunha\\1\\sling\\gimbal\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
],
"defines": [
"USE_HAL_DRIVER",
"STM32F407xx",
"__alignof__(x)=",
"__asm(x)=",
"__asm__(x)=",
"__forceinline=",
"__restrict=",
"__volatile__=",
"__inline=",
"__inline__=",
"__declspec(x)=",
"__attribute__(x)=",
"__nonnull__(x)=",
"__unaligned=",
"__promise(x)=",
"__irq=",
"__swi=",
"__weak=",
"__register=",
"__pure=",
"__value_in_regs=",
"__breakpoint(x)=",
"__current_pc()=0U",
"__current_sp()=0U",
"__disable_fiq()=",
"__disable_irq()=",
"__enable_fiq()=",
"__enable_irq()=",
"__force_stores()=",
"__memory_changed()=",
"__schedule_barrier()=",
"__semihost(x,y)=0",
"__vfp_status(x,y)=0",
"__builtin_arm_nop()=",
"__builtin_arm_wfi()=",
"__builtin_arm_wfe()=",
"__builtin_arm_sev()=",
"__builtin_arm_sevl()=",
"__builtin_arm_yield()=",
"__builtin_arm_isb(x)=",
"__builtin_arm_dsb(x)=",
"__builtin_arm_dmb(x)=",
"__builtin_bswap32(x)=0U",
"__builtin_bswap16(x)=0U",
"__builtin_arm_rbit(x)=0U",
"__builtin_clz(x)=0U",
"__builtin_arm_ldrex(x)=0U",
"__builtin_arm_strex(x,y)=0U",
"__builtin_arm_clrex()=",
"__builtin_arm_ssat(x,y)=0U",
"__builtin_arm_usat(x,y)=0U",
"__builtin_arm_ldaex(x)=0U",
"__builtin_arm_stlex(x,y)=0U",
"__GNUC__=4",
"__GNUC_MINOR__=2",
"__GNUC_PATCHLEVEL__=1"
],
"intelliSenseMode": "${default}"
}
],
"version": 4
}

16
MDK-ARM/.vscode/keil-assistant.log vendored
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[info] Log at : 2025/10/1|17:11:55|GMT+0800
[info] Log at : 2025/10/2|00:17:56|GMT+0800
[info] Log at : 2025/10/10|18:54:43|GMT+0800
[info] Log at : 2025/10/10|18:54:48|GMT+0800
[info] Log at : 2025/10/12|20:17:36|GMT+0800
[info] Log at : 2025/12/5|21:57:12|GMT+0800
[info] Log at : 2025/12/5|21:57:22|GMT+0800
[info] Log at : 2025/12/5|21:57:34|GMT+0800

31
MDK-ARM/.vscode/uv4.log vendored
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*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\KEIL_MDK\ARM\ARMCC\Bin'
Build target 'gimbal'
Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o' to 'gimbal\can_1.o'.Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.o'.Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'.Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'.compiling gimbal.c...
../User/component/user_math.h(179): warning: #1-D: last line of file ends without a newline
/* USER FUNCTION END */
../User/bsp/can.h(255): warning: #1-D: last line of file ends without a newline
#endif
../User/device/motor_rm.h(132): warning: #1-D: last line of file ends without a newline
#endif
../User/bsp/time.h(24): warning: #1295-D: Deprecated declaration BSP_TIME_Get_ms - give arg types
uint32_t BSP_TIME_Get_ms();
../User/bsp/time.h(26): warning: #1295-D: Deprecated declaration BSP_TIME_Get_us - give arg types
uint64_t BSP_TIME_Get_us();
../User/bsp/time.h(28): warning: #1295-D: Deprecated declaration BSP_TIME_Get - give arg types
uint64_t BSP_TIME_Get();
..\User\module\gimbal.c(141): warning: #940-D: missing return statement at end of non-void function "Gimbal_UpdateIMU"
}
..\User\module\gimbal.c(239): warning: #111-D: statement is unreachable
g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
..\User\module\gimbal.c(244): warning: #940-D: missing return statement at end of non-void function "Gimbal_Control"
}
..\User\module\gimbal.c(257): warning: #1035-D: single-precision operand implicitly converted to double-precision
output.torque = g->out.yaw * 2.5;
..\User\module\gimbal.c(256): warning: #550-D: variable "output" was set but never used
MOTOR_MIT_Output_t output = {0};
..\User\module\gimbal.c: 11 warnings, 0 errors
linking...
Program Size: Code=46272 RO-data=944 RW-data=384 ZI-data=31544
FromELF: creating hex file...
"gimbal\gimbal.axf" - 0 Error(s), 11 Warning(s).
Build Time Elapsed: 00:00:05

1
MDK-ARM/.vscode/uv4.log.lock vendored
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2025/10/2 22:09:13