正反转步进和复位

App/Inc/tmc5160.h

@@ -9,7 +9,7 @@ void tmc5160_init(void);
 void tmc5160_act(void);
 void TMC5160A_Init_Gpio(void);
 signed int Raw_32(uint8_t raw[5]);
-
+void tmc5160_operate(char operate_mode, uint32_t steps);
 extern char tmc5160_sw;
 
 #define RAMPMODE_ADDR 0x20
@@ -22,6 +22,7 @@ extern char tmc5160_sw;
 #define DMAX_ADDR 0x28
 #define XACTUAL_ADDR 0x21
 #define VACTUAL_ADDR 0x22
+#define RAMP_STAT_ADDR 0X35
 
 #endif
 

App/Src/app.c

@@ -33,7 +33,7 @@ void app_act (void)
 		             	
 		TEMP = M1820_Get_Temp();		//温度采集
 		
-		tmc5160_act();					//电机执行功能
+//		tmc5160_act();					//电机执行功能
 		
 		
 	}
@@ -46,7 +46,7 @@ void app_act (void)
 	{
 		it_100ms_flag  = 0;
 		
-		OLED_Act();						//OLED刷新
+//		OLED_Act();						//OLED刷新
 		
 		X_ads1220 = GetAD(4); 			//电阻尺采集
 		X_ads1220_prc =( X_ads1220 - X_ads1220_L )/(X_ads1220_H - X_ads1220_L);
@@ -59,11 +59,7 @@ void app_act (void)
  //   X_ads1220 = GetAD(4);
 	
 	//6 电机
-//	if(it_1000ms_flag)
+	tmc5160_operate(tmc5160_sw, 0x0000C800);
-//	{
-//		it_1000ms_flag = 0;
-//		tmc5160_act();
-//	}
 	
 	//7 串口数据处理
 	Deal_Uart_Data_For_Module();

App/Src/key.c

@@ -58,51 +58,21 @@ void key_act(void)
 {
 	if(key_msg[0] == 1)					//K1完成按下后
 	{
-		if( speed_max < 0x007EA5E0 )	//电机加速
+		tmc5160_sw = 3;
-		{
-			speed_max += 10000;
-			TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
-		}else
-		{
-			speed_max = 0x007EA5E0;
-			TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
-		}
 		
 		key_msg[0] = 2;
 	}
 	
 	if(key_msg[1] == 1)					//K2完成按下后
 	{
-//		if(oled_page >= PAGEMAX)		//OLED翻页
+		tmc5160_sw = 2*(tmc5160_sw == 0)+(tmc5160_sw == 3);
-//		{
-//			oled_page = 1;
-//		}else oled_page++;
-//		OLED_NewFrame();
-		
-		if( speed_max > 0 )				//电机减速
-		{
-			speed_max -= 10000;
-			TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
-		}else
-		{
-			speed_max = 0;
-			TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
-		}
 		
 		key_msg[1] = 2;	
 	}
 	
 	if(key_msg[2] == 1)//K3完成按下后
 	{
-		tmc5160_sw =(tmc5160_sw == 0);
+		tmc5160_sw = (tmc5160_sw == 0)+(tmc5160_sw == 3);
-		
-		if(tmc5160_sw == 1)										//0->1时初始化
-		{
-			speed_max = 0x000061A8;
-			tmc5160_init();
-		}
-		
-		if(tmc5160_sw == 0) TMC5160_SPIWriteInt(RAMPMODE_ADDR, 0x00000000,1);	//1->0时切换至位置模式，通过减速停止电机
 		
 		key_msg[2] = 2;	
 	}

App/Src/tmc5160.c

@@ -56,12 +56,12 @@ void TMC5160A_Init_Gpio(void)
 /*************常用参数配置***************/
 uint32_t rampmode = 0x00000000;			//斜坡运动模式 0-位置；1-速度
 int xtarget = 0x00000000;			//位置模式的目标位置，51200/圈
-uint32_t speed_1 = 0x0000186A;			//V1 过渡阶段的目标速度
+uint32_t speed_1 = 0x00004E20;			//V1 过渡阶段的目标速度
-uint32_t speed_max = 0x000061A8;		//VMAX 目标速度
+uint32_t speed_max = 0x00009C40;		//VMAX 目标速度
-uint32_t acc_1 = 0x000003E8;			//A1 过渡阶段的加速度
+uint32_t acc_1 = 0x000005DC;			//A1 过渡阶段的加速度
-uint32_t acc_max = 0x000001F4;			//AMAX 最大加速度
+uint32_t acc_max = 0x000003E8;			//AMAX 最大加速度
-uint32_t dcr_1 = 0x000007D0;			//D1 过渡阶段的减速度
+uint32_t dcr_1 = 0x00000BB8;			//D1 过渡阶段的减速度
-uint32_t dcr_max = 0x000003E8;			//DMAX 最大减速度
+uint32_t dcr_max = 0x000007D0;			//DMAX 最大减速度
 /*************常用参数配置***************/
 
 void tmc5160_init(void)
@@ -212,8 +212,8 @@ void TMC5160_SPIReadInt(uint8_t addr, uint8_t record[5])//从addr寄存器读取
 	memcpy(record, data_r, 5);
 }
 
-uint8_t XA[5]={0},VA[5]={0};
+uint8_t XA[5]={0},VA[5]={0},RAMP_STAT[5];
-signed int XA_32 = 0,VA_32 = 0;				//有正负
+signed int XA_32 = 0,VA_32 = 0,RAMP_STAT_32 = 0;				//有正负
 char tmc5160_sw =0;
 void tmc5160_act()
 {	
@@ -272,7 +272,91 @@ signed int Raw_32(uint8_t raw[5]) //把5*8bit数据中的0~31位拼接成1*32bit
 	return result;
 }
 
-
+uint32_t X_temp = 0;
+char busy_flag = 0;
+void tmc5160_operate(char operate_mode, uint32_t steps)
+{
+	TMC5160_SPIReadInt(XACTUAL_ADDR,XA);			//读取实际位置XACTUAL
+	XA_32 = Raw_32(XA);
+	TMC5160_SPIReadInt(VACTUAL_ADDR,VA);			//读取实际速度VACTUAL
+	VA_32 = Raw_32(VA);
+	TMC5160_SPIReadInt(RAMP_STAT_ADDR,RAMP_STAT);	//读取状态
+	RAMP_STAT_32 = Raw_32(RAMP_STAT);
+	
+	switch(operate_mode)
+	{
+		case 0 :	//电机停止
+		{
+			rampmode = 0x00000000;
+			TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1);		//开启位置模式
+
+			TMC5160_SPIWriteInt(XTARGET_ADDR, XA_32, 1);
+			
+			busy_flag = 0;
+		}
+		break;
+		case 1 :	//电机开始正向运动
+		{
+			if( busy_flag == 0)
+			{
+				busy_flag = 1;
+				X_temp = XA_32;
+				
+				rampmode = 0x00000000;
+				TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1);		//开启位置模式
+				
+				TMC5160_SPIWriteInt(XTARGET_ADDR, X_temp + steps, 1);
+			}
+			if( RAMP_STAT_32 & 0x00000200 ) 						//到达目标位置，XACTUAL = XTARGET时，第9位会被置 1
+			{
+				busy_flag = 0;
+				X_temp = 0;
+			}
+		}
+		break;
+		case 2 :	//电机开始反向运动
+		{
+			if( busy_flag == 0)
+			{
+				busy_flag = 1;
+				X_temp = XA_32;
+				
+				rampmode = 0x00000000;
+				TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1);		//开启位置模式
+				
+				TMC5160_SPIWriteInt(XTARGET_ADDR, X_temp - steps, 1);
+			}
+			if( RAMP_STAT_32 & 0x00000200 )
+			{
+				busy_flag = 0;
+				X_temp = 0;
+			}
+		}
+		break;
+		
+		case 3 :	//电机回到起点
+		{
+			if( busy_flag == 0)
+			{
+				busy_flag = 1;
+				rampmode = 0x00000000;
+				TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1);		//开启位置模式
+				
+				speed_max <<=1;
+				TMC5160_SPIWriteInt(VMAX_ADDR, speed_max, 1);		//以二倍速返回
+				TMC5160_SPIWriteInt(XTARGET_ADDR, 0x00000000, 1);
+			}
+			if( RAMP_STAT_32 & 0x00000200 )
+			{
+				busy_flag = 0;
+				speed_max >>=1;
+				TMC5160_SPIWriteInt(VMAX_ADDR, speed_max, 1);		//恢复原速
+			}
+		}
+		break;
+	}
+		
+}
 
 
 

MDK-ARM/mfps.uvoptx

@@ -158,27 +158,42 @@
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>speed_max</ItemText>
+          <ItemText>VA_32</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>VA_32</ItemText>
+          <ItemText>XA_32</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>XA_32</ItemText>
+          <ItemText>X_ads1220</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>X_ads1220</ItemText>
+          <ItemText>X_ads1220_prc</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>X_ads1220_prc</ItemText>
+          <ItemText>RAMP_STAT_32</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>busy_flag</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>tmc5160_sw</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>key_msg</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>

MDK-ARM/mfps/mfps.build_log.htm

@@ -27,9 +27,9 @@ Project File Date:  04/22/2024
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'E:\Softwares\Keil_v5\ARM\ARMCC\Bin'
 Build target 'mfps'
-compiling app.c...
+compiling tmc5160.c...
 linking...
-Program Size: Code=25082 RO-data=3982 RW-data=196 ZI-data=3468  
+Program Size: Code=20418 RO-data=378 RW-data=208 ZI-data=3472  
 FromELF: creating hex file...
 "mfps\mfps.axf" - 0 Error(s), 0 Warning(s).
 

MDK-ARM/mfps/mfps_mfps.dep

@@ -37,11 +37,11 @@ I (..\Inc\spi.h)(0x660BB230)
 I (..\Inc\tim.h)(0x66035A28)
 I (..\Inc\usart.h)(0x660A2CEE)
 I (..\Inc\gpio.h)(0x66035A04)
-I (..\Inc\app.h)(0x661E2E8F)
+I (..\Inc\app.h)(0x6628607B)
 I (..\App\Inc\oled.h)(0x661E2E8F)
 I (..\App\Inc\MyLib.h)(0x660B9CD2)
 I (..\App\Inc\ads1220.h)(0x661629CA)
-I (..\App\Inc\tmc5160.h)(0x66275C39)
+I (..\App\Inc\tmc5160.h)(0x6628B615)
 I (..\App\Inc\m1820.h)(0x661E2349)
 I (..\App\Inc\delay.h)(0x6614F624)
 I (..\Inc\Uart1.h)(0x6625BD3B)
@@ -237,7 +237,7 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x66011732)
 I (..\Inc\stm32f1xx_it.h)(0x660BB230)
-I (..\Inc\app.h)(0x661E2E8F)
+I (..\Inc\app.h)(0x6628607B)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (..\App\Inc\serial_port.h)(0x6625D9EB)
 I (..\Inc\Uart1.h)(0x6625BD3B)
@@ -782,7 +782,7 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x66011732)
-F (..\App\Src\app.c)(0x66285FCA)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\app.o --omf_browse mfps\app.crf --depend mfps\app.d)
+F (..\App\Src\app.c)(0x6628C48D)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\app.o --omf_browse mfps\app.crf --depend mfps\app.d)
 I (..\Inc\main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x66011732)
 I (..\Inc\stm32f1xx_hal_conf.h)(0x660A2CEE)
@@ -819,19 +819,19 @@ I (..\Inc\tim.h)(0x66035A28)
 I (..\Inc\usart.h)(0x660A2CEE)
 I (..\Inc\gpio.h)(0x66035A04)
 I (..\App\Inc\key.h)(0x66271314)
-I (..\Inc\app.h)(0x661E2E8F)
+I (..\Inc\app.h)(0x6628607B)
 I (..\App\Inc\serial_port.h)(0x6625D9EB)
 I (..\App\Inc\m1820.h)(0x661E2349)
 I (..\App\Inc\oled.h)(0x661E2E8F)
 I (..\App\Inc\MyLib.h)(0x660B9CD2)
 I (..\App\Inc\ads1220.h)(0x661629CA)
-I (..\App\Inc\tmc5160.h)(0x66275C39)
+I (..\App\Inc\tmc5160.h)(0x6628B615)
 I (..\Inc\uart1.h)(0x6625BD3B)
 F (..\App\Src\delay.c)(0x6614FF58)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\delay.o --omf_browse mfps\delay.crf --depend mfps\delay.d)
 I (..\App\Inc\delay.h)(0x6614F624)
-I (../Inc/main.h)(0x660A29E6)
+I (..\Inc\main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x66011732)
-I (../Inc/stm32f1xx_hal_conf.h)(0x660A2CEE)
+I (..\Inc\stm32f1xx_hal_conf.h)(0x660A2CEE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h)(0x66011732)
 I (../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h)(0x66011732)
@@ -859,9 +859,9 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x66011732)
-I (../Inc/tim.h)(0x66035A28)
+I (..\Inc\tim.h)(0x66035A28)
-I (../Inc/app.h)(0x661E2E8F)
+I (..\Inc\app.h)(0x6628607B)
-F (..\App\Src\key.c)(0x6628544F)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\key.o --omf_browse mfps\key.crf --depend mfps\key.d)
+F (..\App\Src\key.c)(0x6628C45D)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\key.o --omf_browse mfps\key.crf --depend mfps\key.d)
 I (..\App\Inc\key.h)(0x66271314)
 I (..\Inc\main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x66011732)
@@ -893,7 +893,7 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x66011732)
-I (..\App\Inc\tmc5160.h)(0x66275C39)
+I (..\App\Inc\tmc5160.h)(0x6628B615)
 I (..\App\Inc\oled.h)(0x661E2E8F)
 I (..\App\Inc\MyLib.h)(0x660B9CD2)
 I (..\App\Inc\delay.h)(0x6614F624)
@@ -931,13 +931,13 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x66011732)
 I (..\Inc\usart.h)(0x660A2CEE)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-I (..\Inc\app.h)(0x661E2E8F)
+I (..\Inc\app.h)(0x6628607B)
 I (..\Inc\Uart1.h)(0x6625BD3B)
 F (..\App\Src\oled.c)(0x662712B5)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\oled.o --omf_browse mfps\oled.crf --depend mfps\oled.d)
 I (..\App\Inc\oled.h)(0x661E2E8F)
-I (../Inc/main.h)(0x660A29E6)
+I (..\Inc\main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x66011732)
-I (../Inc/stm32f1xx_hal_conf.h)(0x660A2CEE)
+I (..\Inc\stm32f1xx_hal_conf.h)(0x660A2CEE)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h)(0x66011732)
 I (../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h)(0x66011732)
@@ -966,8 +966,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x66011732)
 I (..\App\Inc\MyLib.h)(0x660B9CD2)
-I (../Inc/i2c.h)(0x66035A28)
+I (..\Inc\i2c.h)(0x66035A28)
-I (../Inc/app.h)(0x661E2E8F)
+I (..\Inc\app.h)(0x6628607B)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 F (..\App\Src\ads1220.c)(0x66162B00)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\ads1220.o --omf_browse mfps\ads1220.crf --depend mfps\ads1220.d)
@@ -1068,8 +1068,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x66011732)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x66011732)
-F (..\App\Src\tmc5160.c)(0x662859F2)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\tmc5160.o --omf_browse mfps\tmc5160.crf --depend mfps\tmc5160.d)
+F (..\App\Src\tmc5160.c)(0x6628C6CF)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\tmc5160.o --omf_browse mfps\tmc5160.crf --depend mfps\tmc5160.d)
-I (..\App\Inc\tmc5160.h)(0x66275C39)
+I (..\App\Inc\tmc5160.h)(0x6628B615)
 I (..\Inc\main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x66011732)
 I (..\Inc\stm32f1xx_hal_conf.h)(0x660A2CEE)
@@ -1106,6 +1106,7 @@ I (..\App\Inc\delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (..\App\Inc\key.h)(0x66271314)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
+I (..\Inc\app.h)(0x6628607B)
 F (..\App\Src\misc.c)(0x661F7271)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ..\Inc -I ..\Src -I ..\App\Inc -I ..\App\Src

-I.\RTE\_mfps

-IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include

-IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER

-o mfps\misc.o --omf_browse mfps\misc.crf --depend mfps\misc.d)
 I (..\Inc\misc.h)(0x661F73D7)
 I (E:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x661E19E4)

MDK-ARM/mfps/tmc5160.d

@@ -37,3 +37,4 @@ mfps\tmc5160.o: ..\App\Inc\delay.h
 mfps\tmc5160.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\tmc5160.o: ..\App\Inc\key.h
 mfps\tmc5160.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
+mfps\tmc5160.o: ..\Inc\app.h