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898 @@ -3606,9 +3606,9 @@ 0 ..\User\module\gimbal.c - 78 - 286 - 300 + 22 + 294 + 301 1 0 @@ -3624,7 +3624,7 @@ ..\User\module\config.c - 6 + 21 34 43 1 @@ -3652,7 +3652,7 @@ ..\User\task\remote.c 0 - 11 + 14 25 1 @@ -3661,12 +3661,39 @@ ..\User\component\user_math.c 12 - 22 + 25 36 1 0 + + ..\User\device\motor_rm.c + 39 + 88 + 97 + 1 + + 0 + + + ..\User\device\motor_dm.c + 6 + 221 + 232 + 1 + + 0 + + + ..\User\device\bmi088.c + 73 + 114 + 103 + 1 + + 0 + diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf index e53b01d..833aa16 100644 Binary files a/MDK-ARM/gimbal/gimbal.axf and b/MDK-ARM/gimbal/gimbal.axf differ diff --git a/MDK-ARM/gimbal/gimbal.build_log.htm b/MDK-ARM/gimbal/gimbal.build_log.htm index f8e93a6..31d6822 100644 --- a/MDK-ARM/gimbal/gimbal.build_log.htm +++ b/MDK-ARM/gimbal/gimbal.build_log.htm @@ -21,7 +21,7 @@ Target DLL: CMSIS_AGDI.dll V1.32.13.0 Dialog DLL: TCM.DLL V1.48.0.0

Project:

-D:\yunha\gimbal\motor\gimbal\MDK-ARM\gimbal.uvprojx +D:\yunha\gimbal\MDK-ARM\gimbal.uvprojx Project File Date: 10/25/2025

Output:

@@ -31,6 +31,9 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.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... +linking... +Program Size: Code=84848 RO-data=996 RW-data=404 ZI-data=34268 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -55,7 +58,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h -Build Time Elapsed: 00:00:01 +Build Time Elapsed: 00:00:02 diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index b26a67f..44a9da0 100644 --- a/MDK-ARM/gimbal/gimbal.htm +++ b/MDK-ARM/gimbal/gimbal.htm @@ -3,7 +3,7 @@ Static Call Graph - [gimbal\gimbal.axf]

Static Call Graph for image gimbal\gimbal.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Fri Nov 14 21:27:19 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sun Nov 30 19:50:03 2025

Maximum Stack Usage = 432 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map index 31fe738..1d6badd 100644 --- a/MDK-ARM/gimbal/gimbal.map +++ b/MDK-ARM/gimbal/gimbal.map @@ -8699,7 +8699,7 @@ Image component sizes 134 0 0 0 0 3297 dma.o 780 8 0 0 0 3412 filter.o 98 0 48 0 4 3084 freertos.o - 2740 48 0 0 0 8732 gimbal.o + 2740 48 0 0 0 8719 gimbal.o 236 12 0 0 772 5081 gimbal_ctrl.o 554 0 0 0 0 4164 gpio.o 576 12 56 0 64 4722 gpio_1.o @@ -8745,7 +8745,7 @@ Image component sizes 0 0 183 0 80 3063 user_task.o ---------------------------------------------------------------------- - 77128 314 804 404 34172 454349 Object Totals + 77128 314 804 404 34172 454336 Object Totals 0 0 32 0 0 0 (incl. Generated) 394 8 3 3 30 0 (incl. Padding) @@ -8836,8 +8836,8 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 84848 990 996 404 34268 456113 Grand Totals - 84848 990 996 120 34268 456113 ELF Image Totals (compressed) + 84848 990 996 404 34268 456100 Grand Totals + 84848 990 996 120 34268 456100 ELF Image Totals (compressed) 84848 990 996 120 0 0 ROM Totals ============================================================================== diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o index be6871a..1ce82e9 100644 Binary files a/MDK-ARM/gimbal/gimbal.o and b/MDK-ARM/gimbal/gimbal.o differ diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep index 692bda7..1a1c4af 100644 --- a/MDK-ARM/gimbal/gimbal_gimbal.dep +++ b/MDK-ARM/gimbal/gimbal_gimbal.dep @@ -2534,7 +2534,7 @@ I (..\User\device\motor_rm.h)(0x68F22F87) I (..\User\module\config.h)(0x68DD3463) I (..\User\device\motor_lz.h)(0x68F22F87) I (..\User\device\motor_lk.h)(0x68F22F87) -F (..\User\module\gimbal.c)(0x69172E35)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD) +F (..\User\module\gimbal.c)(0x692C2F69)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD) I (..\User\module\gimbal.h)(0x6917284C) I (..\User\component\ahrs.h)(0x68F3410E) I (..\User\component\user_math.h)(0x68F22FA9) diff --git a/User/module/gimbal.c b/User/module/gimbal.c index c535ba2..b79f6b0 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -298,7 +298,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { case GIMBAL_MODE_RELATIVE: /*计算零点*/ g->zero.travel.yaw=motor_imu_offset(&g->feedback.motor.yaw.rotor_abs_angle,&g->feedback.imu.eulr.yaw); - g->zero.travel.yaw=motor_imu_offset(&g->feedback.motor.pit.rotor_abs_angle,&g->feedback.imu.eulr.pit); + g->zero.travel.pit=motor_imu_offset(&g->feedback.motor.pit.rotor_abs_angle,&g->feedback.imu.eulr.pit); g->zero.yaw = g->param->zero.yaw_encoder - g->zero.travel.yaw; g->zero.pit = g->param->zero.pit_encoder - g->zero.travel.pit;