基本没问题

MDK-ARM/.vscode/keil-assistant.log

@@ -2,3 +2,7 @@
 
 [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
+

MDK-ARM/gimbal.uvoptx

@@ -153,7 +153,40 @@
           <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>38</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>..\User\module\gimbal.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
+          <LineNumber>38</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134229624</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>D:\yunha\浜戝彴\澶х枂鐢垫満\gimbal\User\module\gimbal.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\gimbal\../User/module/gimbal.c\38</Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -195,56 +228,6 @@
           <WinNumber>1</WinNumber>
           <ItemText>remote_cmd</ItemText>
         </Ww>
-        <Ww>
-          <count>8</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>pit_set1</ItemText>
-        </Ww>
-        <Ww>
-          <count>9</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>pit_set2</ItemText>
-        </Ww>
-        <Ww>
-          <count>10</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>yaw_set1</ItemText>
-        </Ww>
-        <Ww>
-          <count>11</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>yaw_set2</ItemText>
-        </Ww>
-        <Ww>
-          <count>12</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>y</ItemText>
-        </Ww>
-        <Ww>
-          <count>13</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>motor_imu_offset</ItemText>
-        </Ww>
-        <Ww>
-          <count>14</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>motor_imu_offset</ItemText>
-        </Ww>
-        <Ww>
-          <count>15</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>\\gimbal\../User/task/gimbal_ctrl.c\gimbal</ItemText>
-        </Ww>
-        <Ww>
-          <count>16</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>bmi088</ItemText>
-        </Ww>
-        <Ww>
-          <count>17</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>motor_imu_offset</ItemText>
-        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -1207,18 +1190,6 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\device\motor_lz.c</PathWithFileName>
-      <FilenameWithoutPath>motor_lz.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>8</GroupNumber>
-      <FileNumber>72</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
       <PathWithFileName>..\User\device\remote_control.c</PathWithFileName>
       <FilenameWithoutPath>remote_control.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -1226,7 +1197,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>73</FileNumber>
+      <FileNumber>72</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1246,7 +1217,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>74</FileNumber>
+      <FileNumber>73</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1258,7 +1229,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>75</FileNumber>
+      <FileNumber>74</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1270,7 +1241,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>76</FileNumber>
+      <FileNumber>75</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1282,7 +1253,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>77</FileNumber>
+      <FileNumber>76</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1294,7 +1265,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>78</FileNumber>
+      <FileNumber>77</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1314,7 +1285,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>79</FileNumber>
+      <FileNumber>78</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1326,7 +1297,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>80</FileNumber>
+      <FileNumber>79</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

MDK-ARM/gimbal.uvprojx

@@ -138,7 +138,7 @@
           </Flash1>
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2V8M.DLL</Flash2>
-          <Flash3></Flash3>
+          <Flash3>"" ()</Flash3>
           <Flash4></Flash4>
           <pFcarmOut></pFcarmOut>
           <pFcarmGrp></pFcarmGrp>
@@ -322,7 +322,7 @@
             <PlainCh>0</PlainCh>
             <Ropi>0</Ropi>
             <Rwpi>0</Rwpi>
-            <wLevel>2</wLevel>
+            <wLevel>1</wLevel>
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
@@ -2010,11 +2010,6 @@
               <FileType>1</FileType>
               <FilePath>..\User\device\motor_lk.c</FilePath>
             </File>
-            <File>
-              <FileName>motor_lz.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\device\motor_lz.c</FilePath>
-            </File>
             <File>
               <FileName>remote_control.c</FileName>
               <FileType>1</FileType>

MDK-ARM/gimbal/gimbal.build_log.htm

@@ -17,12 +17,12 @@ Library Manager: ArmAr.exe V5.06 update 7 (build 960)
 Hex Converter:   FromElf.exe V5.06 update 7 (build 960)
 CPU DLL:         SARMCM3.DLL V5.34.0.0
 Dialog DLL:      DCM.DLL V1.17.3.0
-Target DLL:      CMSIS_AGDI.dll V1.32.13.0
+Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.0.8.0
 Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\yunha\ÔÆ̨\´ó½®µç»ú\gimbal\MDK-ARM\gimbal.uvprojx
-Project File Date:  10/07/2025
+Project File Date:  10/12/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\KEIL_MDK\ARM\ARMCC\Bin'
@@ -32,31 +32,10 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.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(135): warning:  #940-D: missing return statement at end of non-void function "Gimbal_UpdateIMU" 
-  }
-..\User\module\gimbal.c(199): warning:  #1035-D: single-precision operand implicitly converted to double-precision
-  	if(g->setpoint.eulr.pit>pit_max)g->setpoint.eulr.pit=pit_max;
-..\User\module\gimbal.c(223): warning:  #111-D: statement is unreachable
-      g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
-..\User\module\gimbal.c(228): warning:  #940-D: missing return statement at end of non-void function "Gimbal_Control" 
-  }
-..\User\module\gimbal.c: 10 warnings, 0 errors
 linking...
-Program Size: Code=59824 RO-data=984 RW-data=396 ZI-data=31708  
+Program Size: Code=59892 RO-data=980 RW-data=404 ZI-data=33788  
 FromELF: creating hex file...
-"gimbal\gimbal.axf" - 0 Error(s), 10 Warning(s).
+"gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
 

MDK-ARM/gimbal/gimbal.lnp

@@ -69,7 +69,6 @@
 "gimbal\motor.o"
 "gimbal\motor_rm.o"
 "gimbal\motor_lk.o"
-"gimbal\motor_lz.o"
 "gimbal\remote_control.o"
 "gimbal\ai.o"
 "gimbal\init.o"