更新 匀速测试初版已完成

App/Inc/app.h

@@ -2,7 +2,7 @@
  * @Author: wujunchao 24472040@qq.com
  * @Date: 2024-05-21 13:47:11
  * @LastEditors: wujunchao 24472040@qq.com
- * @LastEditTime: 2024-10-14 15:22:14
+ * @LastEditTime: 2024-10-15 08:49:52
  * @FilePath: \mfps\App\Inc\app.h
  * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
  */
@@ -28,14 +28,17 @@
 #include "stdlib.h"
 #include "string.h"
 #include "flash.h"
+#include "uniform.h"
 
 #define ocin1 HAL_GPIO_ReadPin(OCIN1_GPIO_Port,OCIN1_Pin)
 #define ocin2 HAL_GPIO_ReadPin(OCIN2_GPIO_Port,OCIN2_Pin)
 
 #define GREEN_ON HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_RESET)
 #define GREEN_OFF HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_SET)
+#define GREEN_TOG HAL_GPIO_TogglePin(LED_NOR_GPIO_Port, LED_NOR_Pin)
 #define BLUE_ON HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_RESET)
 #define BLUE_OFF HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_SET)
+#define BLUE_TOG HAL_GPIO_TogglePin(LED_ERR_GPIO_Port, LED_ERR_Pin)
 
 void app_act (void);
 void motor_protect_ads(float threshold_neg, float threshold_pos);
@@ -47,11 +50,13 @@ extern int it_5ms_cnt ,it_5ms_flag;
 extern int it_10ms_cnt ,it_10ms_flag;
 extern int it_50ms_cnt ,it_50ms_flag;
 extern int it_100ms_cnt ,it_100ms_flag;
-extern int it_300ms_cnt ,it_300ms_flag;
+extern int it_250ms_cnt ,it_250ms_flag;
 extern int it_500ms_cnt ,it_500ms_flag;
 extern int it_1000ms_cnt ,it_1000ms_flag;
 extern int it_5000ms_cnt,it_5000ms_flag;
 extern int tick_500ms;
+extern int tick_250ms;
+
 extern uint8_t rx_data2[6];
 extern uint8_t magnet_tx[7];
 extern unsigned int smp_intr_temp[2];

App/Inc/key.h

@@ -1,7 +1,8 @@
 #ifndef _KEY_H
 #define _KEY_H
 
-#include "main.h"
+#include "app.h"
+
 //void Key_Init(void);
 void Key_Scan(void);
 
@@ -26,5 +27,6 @@ extern uint32_t dcr_max;
 extern uint8_t old2new_flag;
 extern uint8_t speed_select;
 extern uint8_t speed_ensure;
+extern uint8_t direc_select;
 
 #endif

App/Inc/myLib.h

@@ -19,28 +19,28 @@ extern const ASCIIFont afont16x8;
 extern const ASCIIFont afont24x12;
 
 /**
- * @brief 字体结构体
- * @note  字库前4字节存储utf8编码 剩余字节存储字模数据
- * @note 字库数据可以使用波特律动LED取模助手生成(https://led.baud-dance.com)
+ * @brief 字体结构体
+ * @note  字库前4字节存储utf8编码 剩余字节存储字模数据
+ * @note 字库数据可以使用波特律动LED取模助手生成(https://led.baud-dance.com)
  */
 typedef struct Font {
-  uint8_t h;              // 字高度
-  uint8_t w;              // 字宽度
-  const uint8_t *chars;   // 字库 字库前4字节存储utf8编码 剩余字节存储字模数据
-  uint8_t len;            // 字库长度 超过256则请改为uint16_t
-  const ASCIIFont *ascii; // 缺省ASCII字体 当字库中没有对应字符且需要显示ASCII字符时使用
+  uint8_t h;              // 字高度
+  uint8_t w;              // 字宽度
+  const uint8_t *chars;   // 字库 字库前4字节存储utf8编码 剩余字节存储字模数据
+  uint8_t len;            // 字库长度 超过256则请改为uint16_t
+  const ASCIIFont *ascii; // 缺省ASCII字体 当字库中没有对应字符且需要显示ASCII字符时使用
 } Font;
 
-extern const Font font16x16;//声明你的想要显示数据的结构体
+extern const Font font16x16;//声明你的想要显示数据的结构体
 
 /**
- * @brief 图片结构体
- * @note  图片数据可以使用波特律动LED取模助手生成(https://led.baud-dance.com)
+ * @brief 图片结构体
+ * @note  图片数据可以使用波特律动LED取模助手生成(https://led.baud-dance.com)
  */
 typedef struct Image {
-  uint8_t w;           // 图片宽度
-  uint8_t h;           // 图片高度
-  const uint8_t *data; // 图片数据
+  uint8_t w;           // 图片宽度
+  uint8_t h;           // 图片高度
+  const uint8_t *data; // 图片数据
 } Image;
 
 extern const Image bilibiliImg;

App/Inc/uniform.h

@@ -3,7 +3,17 @@
 
 #include "app.h"
 
+void uniform_motion(void);
+char uniform_limit(float start, float end);
+void speed_set(uint32_t uni_speed);
 
+#define SLOW_SPEED (uint32_t)10000
+#define MEDIUM_SLOW_SPEED (uint32_t)30000
+#define MEDIUM_SPEED (uint32_t)60000
+#define MEDIUM_FAST_SPEED (uint32_t)90000
+#define FAST_SPEED (uint32_t)120000
 
+extern uint32_t uniform_speed;
+extern uint32_t uniform_speed_prv;
 
 #endif

App/Src/app.c

@@ -35,6 +35,7 @@ void app_act (void)
 	if(old2new_flag == 0)
 	{
 		key_act(); 			//执行旧版功能
+		Deal_Motor();
 	}else
 	{
 		key_act_new();		//执行新版功能
@@ -93,7 +94,7 @@ void app_act (void)
 	
 	// 电机
 	motor_protect_ads(100,1900);											//电阻尺限位	
-	Deal_Motor();
+//	Deal_Motor();
 	
 	
 	// 串口数据处理

App/Src/key.c

@@ -296,23 +296,19 @@ void key_act_new(void)
 {
 	if(key_val[1] == 1 || key_val[2] == 1) 	//组合键是否按下
 	{										//未按下组合键时，执行新版程序
-		if(key_msg[0] == 1)
+		if(key_msg[0] == 1)		//确认，用于切换运动和停止
 		{
-			GREEN_ON;
 			speed_ensure = 1;
 			key_msg[0] = 2;
 		}
-		if(key_msg[1] == 1)
+		if(key_msg[1] == 1)		//移动方向切换
 		{
-			BLUE_ON;
-			speed_select = (speed_select <= 0)?(2):(speed_select - 1);
+			direc_select = !direc_select;
 			key_msg[1] = 2;
 		}
-		if(key_msg[2] == 1)
+		if(key_msg[2] == 1)		//速度档位切换
 		{
-			GREEN_OFF;
-			BLUE_OFF;
-			speed_select = (speed_select >= 2)?(0):(speed_select + 1);
+			speed_select = (speed_select >= 4)?(0):(speed_select + 1);
 			key_msg[2] = 2;
 		}
 

App/Src/motor.c

@@ -1,80 +1,80 @@
 #include "motor.h"
 #include "app.h"
 
-#define STEP_LIN  16		//直行程步长单位数值（脉冲数）
-#define STEP_ROT  20		//角行程步长单位数值（脉冲数）
-#define DATA_LEN  10		//角行程步长单位数值（脉冲数）
+#define STEP_LIN  16		//直行程步长单位数值（脉冲数）
+#define STEP_ROT  20		//角行程步长单位数值（脉冲数）
+#define DATA_LEN  10		//角行程步长单位数值（脉冲数）
 
-#define MOTOR_STOP    0		//电机停止
-#define MOTOR_POS     1		//电机正向运动
-#define MOTOR_REV     2		//电机反向运动
-#define MOTOR_RETURN  3		//电机返回
+#define MOTOR_STOP    0		//电机停止
+#define MOTOR_POS     1		//电机正向运动
+#define MOTOR_REV     2		//电机反向运动
+#define MOTOR_RETURN  3		//电机返回
 
-int magnet_middle = 1240;	//磁条中点
-int magnet_start = 800;		//磁条范围-起点mv
-int magnet_end = 1200;		//磁条范围-终点mv
-#define motor_start 150		//电机运动范围起点mv
-#define motor_end 1850		//电机运动范围终点mv
+int magnet_middle = 1240;	//磁条中点
+int magnet_start = 800;		//磁条范围-起点mv
+int magnet_end = 1200;		//磁条范围-终点mv
+#define motor_start 150		//电机运动范围起点mv
+#define motor_end 1850		//电机运动范围终点mv
 
-int Travle_Flag = 0;            //0 直    1 角
-char Motor_Run = 2;         	//0 停止  1 运行  	2 运行到起始点  3 运行到结束点
-char Run_Mode = 0;          	//0 点动  1 方案一	2 方案二
-unsigned int Run_Step = 0;  	//电机运行步长
-unsigned int Run_Inter = 0; 	//电机运行间隔时长
-unsigned int Run_Stop = 0;  	//到“结束点”后，停止时间
-unsigned int Run_mm = 1;	  	//行进长度（mm）/转动角度（°）
-unsigned int Run_num = 0;	  	//角行程电机转动圈数
-unsigned int ct_num = 0;	  	//磁条长度
+int Travle_Flag = 0;            //0 直    1 角
+char Motor_Run = 2;         	//0 停止  1 运行  	2 运行到起始点  3 运行到结束点
+char Run_Mode = 0;          	//0 点动  1 方案一	2 方案二
+unsigned int Run_Step = 0;  	//电机运行步长
+unsigned int Run_Inter = 0; 	//电机运行间隔时长
+unsigned int Run_Stop = 0;  	//到“结束点”后，停止时间
+unsigned int Run_mm = 1;	  	//行进长度（mm）/转动角度（°）
+unsigned int Run_num = 0;	  	//角行程电机转动圈数
+unsigned int ct_num = 0;	  	//磁条长度
 
-int mov_flag = 0;	//脉冲标志
-int send_flag = 0;	//发送标志
-int seat_flag = 0;	//位置标志
-int motor_dire = 1;	//电机转动方向
+int mov_flag = 0;	//脉冲标志
+int send_flag = 0;	//发送标志
+int seat_flag = 0;	//位置标志
+int motor_dire = 1;	//电机转动方向
 int flag = 0;
 
-int motor_direc = 1;//电机转动方向
+int motor_direc = 1;//电机转动方向
 
 char motor_control = 0;
 
 
-//步骤
+//步骤
 unsigned char Runmotor_step = 0;
 
-//次数
+//次数
 unsigned int Runmotor_Nums = 0;
 
-//清除电机标记
+//清除电机标记
 void ClrRunmotorStep(void)
 {
-	//步骤
+	//步骤
 	Runmotor_step = 0;
-	//次数
+	//次数
 	Runmotor_Nums = 0;	
-	//脉冲标记清0
+	//脉冲标记清0
 	mov_flag = 0; 	
-	//发送标记清0
+	//发送标记清0
 	send_flag = 0;
-	//位置标记清0
+	//位置标记清0
 	seat_flag = 0;
 }
 
-//处理马达运行
-#define SPEED_MIN 0x00003A98		//最大速度，用于复位&远距离接近
-#define SPEED_NORMAL 0x00007530		//常规速度，用于步进
-#define SPEED_MAX 0x0001D4C0		//最小速度，用于近距离接近
+//处理马达运行
+#define SPEED_MIN 0x00003A98		//最大速度，用于复位&远距离接近
+#define SPEED_NORMAL 0x00007530		//常规速度，用于步进
+#define SPEED_MAX 0x0001D4C0		//最小速度，用于近距离接近
 int first_flag = 1;
 void Deal_Motor(void)
 {
-	//判断直行程还是角行程
-	if(Travle_Flag == 0)//直行程——电机旋转一圈，磁条水平位移5mm
+	//判断直行程还是角行程
+	if(Travle_Flag == 0)//直行程——电机旋转一圈，磁条水平位移5mm
 	{
-		motor_data[0] = 0x00;//00 直行程 01 角行程
-		//判断电机停止还是运行，运行到起始位还是结束位
-		if( Motor_Run == 0) 		//停止
+		motor_data[0] = 0x00;//00 直行程 01 角行程
+		//判断电机停止还是运行，运行到起始位还是结束位
+		if( Motor_Run == 0) 		//停止
 		{
 			tmc5160_operate(MOTOR_STOP,0);
 			
-			if( speed_max !=  SPEED_NORMAL)				//速度调整至常规速度，调整完成后不再进入此处
+			if( speed_max !=  SPEED_NORMAL)				//速度调整至常规速度，调整完成后不再进入此处
 			{
 				speed_max = SPEED_NORMAL;				//VMAX
 				TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
@@ -84,42 +84,42 @@ void Deal_Motor(void)
 			}
 			
 		}
-		else if((Motor_Run == 1) && (first_flag == 0))	//运行，上电复位完成后才生效
+		else if((Motor_Run == 1) && (first_flag == 0))	//运行，上电复位完成后才生效
 		{
 			if(Motor_Run >= 1 && Runmotor_step == 0) 
 			{
                 Runmotor_step = 1;
 			}	
 			
-			//判断电机运行方式是点动还是连续，点动为方案三，方案一和方案二为连续
-			if(Run_Mode == 0)//点动（方案三）
+			//判断电机运行方式是点动还是连续，点动为方案三，方案一和方案二为连续
+			if(Run_Mode == 0)//点动（方案三）
 			{
 
-				mov_step();//点动
+				mov_step();//点动
 			}
-			else if(Run_Mode == 1)//连续（方案一）“步长过大可能会越过限位开关”
+			else if(Run_Mode == 1)//连续（方案一）“步长过大可能会越过限位开关”
 			{
 
-				mov_loop1();//方案一
+				mov_loop1();//方案一
 			}
-//			else if(Run_Mode == 2)//连续（方案二）“步长过大可能会越过限位开关”
+//			else if(Run_Mode == 2)//连续（方案二）“步长过大可能会越过限位开关”
 //			{
 
-//				//磁条循环“起始点-结束点-起始点”，一定次数后停在起始点
-//				mov_loop2();//方案二
+//				//磁条循环“起始点-结束点-起始点”，一定次数后停在起始点
+//				mov_loop2();//方案二
 //			}
-			else//初始化
+			else//初始化
 			{
 				tmc5160_operate(MOTOR_STOP,0);
 			}
 		}
-		else if(Motor_Run == 2)//运行到起始位
+		else if(Motor_Run == 2)//运行到起始位
 		{
-			int rt2_stop_cnt = 0;									//停止计数，防止while卡死
-			if( ocin1 == 0 )										//判断是否到达始限位1
+			int rt2_stop_cnt = 0;									//停止计数，防止while卡死
+			if( ocin1 == 0 )										//判断是否到达始限位1
 			{
-				tmc5160_operate(MOTOR_STOP,0);						//立即停止
-				while(busy_flag == 1)								//加速停止动作
+				tmc5160_operate(MOTOR_STOP,0);						//立即停止
+				while(busy_flag == 1)								//加速停止动作
 				{
 					tmc5160_operate(MOTOR_STOP,0);		
 					
@@ -127,31 +127,31 @@ void Deal_Motor(void)
 					if(rt2_stop_cnt > 10000) 
 					{
 						rt2_stop_cnt = 0;
-						break;										//防止卡死
+						break;										//防止卡死
 					}
 					
 					if(busy_flag == 0) rt2_stop_cnt = 0;
 				}
 				
-				if(first_flag == 1)								//停止后记录第一次复位时电机位置
+				if(first_flag == 1)								//停止后记录第一次复位时电机位置
 				{
-					TMC5160_SPIReadInt(XACTUAL_ADDR,XA);			//读取实际位置XACTUAL
+					TMC5160_SPIReadInt(XACTUAL_ADDR,XA);			//读取实际位置XACTUAL
 					XA_32 = Raw_32(XA);
 					
 					first_xa_32 = XA_32;
 					first_flag = 0;
 				}
 				
-				motor_direc = MOTOR_POS;							//在限位1处仅允许正向运动
+				motor_direc = MOTOR_POS;							//在限位1处仅允许正向运动
 				Runmotor_step = 0;	
 				Motor_Run = 0;
 				return;
 			}
 			
-			if( (X_ads1220 <= (motor_start) ) && (X_ads1220 != 0) )	//电机起点限位，上电初期读取到的X值为0
+			if( (X_ads1220 <= (motor_start) ) && (X_ads1220 != 0) )	//电机起点限位，上电初期读取到的X值为0
 			{	
-				tmc5160_operate(MOTOR_STOP,0);						//立即停止
-				while(busy_flag == 1)								//加速停止动作
+				tmc5160_operate(MOTOR_STOP,0);						//立即停止
+				while(busy_flag == 1)								//加速停止动作
 				{
 					tmc5160_operate(MOTOR_STOP,0);		
 					
@@ -159,7 +159,7 @@ void Deal_Motor(void)
 					if(rt2_stop_cnt > 10000) 
 					{
 						rt2_stop_cnt = 0;
-						break;										//防止卡死
+						break;										//防止卡死
 					}
 					
 					if(busy_flag == 0) rt2_stop_cnt = 0;
@@ -169,9 +169,9 @@ void Deal_Motor(void)
 				Runmotor_step = 0;
 				Motor_Run = 0;
 				
-				if(first_flag)										//记录第一次复位时电机位置
+				if(first_flag)										//记录第一次复位时电机位置
 				{
-					TMC5160_SPIReadInt(XACTUAL_ADDR,XA);			//读取实际位置XACTUAL
+					TMC5160_SPIReadInt(XACTUAL_ADDR,XA);			//读取实际位置XACTUAL
 					XA_32 = Raw_32(XA);
 					
 					first_xa_32 = XA_32;
@@ -181,9 +181,9 @@ void Deal_Motor(void)
 				
 			}
 			
-			if((ocin2 == 1) && (ocin2 == 1) && (X_ads1220 != 0))	//未到达限位时，快速大步长运行，上电初期：ocin1 == 1，ocin2 == 1，Xads == 0
+			if((ocin2 == 1) && (ocin2 == 1) && (X_ads1220 != 0))	//未到达限位时，快速大步长运行，上电初期：ocin1 == 1，ocin2 == 1，Xads == 0
 			{
-				if( speed_max != SPEED_MAX )						//目标速度调整为最大速度，调整完成后不再进入此处
+				if( speed_max != SPEED_MAX )						//目标速度调整为最大速度，调整完成后不再进入此处
 				{
 					speed_max = SPEED_MAX;
 					TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1); 	// VMAX
@@ -196,13 +196,13 @@ void Deal_Motor(void)
 			}
 			
 		}
-		else if((Motor_Run == 3) && (first_flag == 0))				//运行到结束位
+		else if((Motor_Run == 3) && (first_flag == 0))				//运行到结束位
 		{
 			int rt3_stop_cnt = 0;
-			if( ocin2 == 0 )										//判断是否到达终限位
+			if( ocin2 == 0 )										//判断是否到达终限位
 			{
-				tmc5160_operate(MOTOR_STOP,0);						//立即停止
-				while(busy_flag == 1)								//加速停止动作
+				tmc5160_operate(MOTOR_STOP,0);						//立即停止
+				while(busy_flag == 1)								//加速停止动作
 				{
 					tmc5160_operate(MOTOR_STOP,0);		
 					
@@ -210,7 +210,7 @@ void Deal_Motor(void)
 					if(rt3_stop_cnt > 10000) 
 					{
 						rt3_stop_cnt = 0;
-						break;										//防止卡死
+						break;										//防止卡死
 					}
 					
 					if(busy_flag == 0) rt3_stop_cnt = 0;
@@ -222,10 +222,10 @@ void Deal_Motor(void)
 				return;
 			}
 			
-			if(X_ads1220 >= (motor_end))							//达到电机终点限位后停止
+			if(X_ads1220 >= (motor_end))							//达到电机终点限位后停止
 			{	
-				tmc5160_operate(MOTOR_STOP,0);						//立即停止
-				while(busy_flag == 1)								//加速停止动作
+				tmc5160_operate(MOTOR_STOP,0);						//立即停止
+				while(busy_flag == 1)								//加速停止动作
 				{
 					tmc5160_operate(MOTOR_STOP,0);		
 					
@@ -233,7 +233,7 @@ void Deal_Motor(void)
 					if(rt3_stop_cnt > 10000) 
 					{
 						rt3_stop_cnt = 0;
-						break;										//防止卡死
+						break;										//防止卡死
 					}
 					
 					if(busy_flag == 0) rt3_stop_cnt = 0;
@@ -245,7 +245,7 @@ void Deal_Motor(void)
 				return;
 			}
 			
-			if((ocin2 == 1) && (ocin2 == 1) && (X_ads1220 != 0))	//上电初期Xads值为零
+			if((ocin2 == 1) && (ocin2 == 1) && (X_ads1220 != 0))	//上电初期Xads值为零
 			{
 				if(  speed_max != SPEED_MAX)
 				{
@@ -259,107 +259,107 @@ void Deal_Motor(void)
 				tmc5160_operate(MOTOR_POS,51200*30);
 			}
 		}
-		else//数据错误
+		else//数据错误
 		{
 			//SC_Init();
 		}
 	}
-	else				//角行程——电机旋转一圈，磁条旋转4°
+	else				//角行程——电机旋转一圈，磁条旋转4°
 	{
-//		motor_data[0] = 0x01;//00 直行程 01 角行程
-//		//判断电机停止还是运行，运行到起始位还是结束位
-//		if( Motor_Run == 0)//停止
+//		motor_data[0] = 0x01;//00 直行程 01 角行程
+//		//判断电机停止还是运行，运行到起始位还是结束位
+//		if( Motor_Run == 0)//停止
 //		{
 //			tmc5160_operate(0,0);
 //		}
-//		else if(Motor_Run == 1)//运行
+//		else if(Motor_Run == 1)//运行
 //		{
 //			if(Motor_Run >= 1 && Runmotor_step == 0) 
 //			{
 //                Runmotor_step = 1;
 //			}	
 //			
-//			//判断电机运行方式是点动还是连续，点动为方案三，方案一和方案二为连续
-//			if(Run_Mode == 0)//点动（方案三）
+//			//判断电机运行方式是点动还是连续，点动为方案三，方案一和方案二为连续
+//			if(Run_Mode == 0)//点动（方案三）
 //			{
-//				motor_data[2] = 0x00;//发送时反馈的数据	
-//				mov_step_ang();//电机点动运行
+//				motor_data[2] = 0x00;//发送时反馈的数据	
+//				mov_step_ang();//电机点动运行
 //			}
-//			else if(Run_Mode == 1)//连续（方案一）
+//			else if(Run_Mode == 1)//连续（方案一）
 //			{
-//				motor_data[2] = 0x01;//发送时反馈的数据
-//				mov_loop1_ang();//磁条旋转一圈
+//				motor_data[2] = 0x01;//发送时反馈的数据
+//				mov_loop1_ang();//磁条旋转一圈
 //			}
-//			else if(Run_Mode == 2)//连续（方案二）
+//			else if(Run_Mode == 2)//连续（方案二）
 //			{
-//				motor_data[2] = 0x02;//发送时反馈的数据
+//				motor_data[2] = 0x02;//发送时反馈的数据
 //				if(seat_flag == 0)
 //				{
-//					if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0)	//判断是否到达限位处
+//					if(GPIO_ReadPin(GPIO1,GPIO_PIN_4) == 0)	//判断是否到达限位处
 //					{
-//						motor_stop(); //电机停止
+//						motor_stop(); //电机停止
 //						Run_mm = 0;
-//						seat_flag = 1;//位置标记
+//						seat_flag = 1;//位置标记
 //					}
 //					else
 //					{	
-//						REV();			//反转
-//						motor_start();	//运行
-//						motor_mov(1);	//提供脉冲信号
+//						REV();			//反转
+//						motor_start();	//运行
+//						motor_mov(1);	//提供脉冲信号
 //					}						
 //				}
 //				else
 //				{
-//					mov_loop2_ang();//磁条旋转一圈
+//					mov_loop2_ang();//磁条旋转一圈
 //				}
 //			}
-//			else//初始化
+//			else//初始化
 //			{
 //				motor_stop();
 //			}
 //		}
-//		else if(Motor_Run == 2 || Motor_Run == 3)//运行到起始位
+//		else if(Motor_Run == 2 || Motor_Run == 3)//运行到起始位
 //		{
-//			mov_begin();//回到起始位
+//			mov_begin();//回到起始位
 //		}
-//		else//数据错误
+//		else//数据错误
 //			SC_Init();
 	}	
 }
 
 
 
-//电机点动运行，方案三（直行程）
+//电机点动运行，方案三（直行程）
 void mov_step(void)
 {
-	if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )//判断是否到达始限位，考虑到再次启动的问题，判断条件增加了方向
+	if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )//判断是否到达始限位，考虑到再次启动的问题，判断条件增加了方向
 	{
-		motor_direc = MOTOR_POS;					//到达限位后反向
+		motor_direc = MOTOR_POS;					//到达限位后反向
 		Runmotor_step = 0;	
-		Motor_Run = 0;								//跳转至静止模式
+		Motor_Run = 0;								//跳转至静止模式
 		return;
 	}
-	if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )//判断是否到达终限位
+	if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )//判断是否到达终限位
 	{
-		motor_direc = MOTOR_REV;					//到达限位后反向
+		motor_direc = MOTOR_REV;					//到达限位后反向
 		Runmotor_step = 0;	
-		Motor_Run = 0;								//跳转至静止模式
+		Motor_Run = 0;								//跳转至静止模式
 		return;
 	}
 	
 	switch(Runmotor_step)
 	{
-		case 1 : //电机运行准备
+		case 1 : //电机运行准备
 			{
 
-				Runmotor_Nums = 0;	//运行次数	
+				Runmotor_Nums = 0;	//运行次数	
                 mov_flag = 0;		 	
                 Runmotor_step++; 							
 			}
 			break;
-		case 2 : //电机运行过程						
+		case 2 : //电机运行过程						
 			{
-				if(Run_Step == 0)									//上位机无消息时使用下位机的控制参数Run_mm
+				if(Run_Step == 0)									//上位机无消息时使用下位机的控制参数Run_mm
 				{
 					tmc5160_operate(motor_direc,Run_mm * 10240);	//1 Run_mm = 1 mm
 
@@ -367,7 +367,7 @@ void mov_step(void)
 				{
 					tmc5160_operate(motor_direc,Run_Step * 1024);	//1 Runstep = 10 mm 
 				}
-				if(busy_flag == 0)									//电机到达目标位置后busy_flag == 0
+				if(busy_flag == 0)									//电机到达目标位置后busy_flag == 0
 				{
 					Runmotor_step++; 
 				}
@@ -380,25 +380,25 @@ void mov_step(void)
 			break;
 		case 4 : 
 			{
-				if(it_50ms_flag)			//检查50ms定时标志
+				if(it_50ms_flag)			//检查50ms定时标志
 				{
-					it_50ms_flag = 0;		//定时标志清零
+					it_50ms_flag = 0;		//定时标志清零
 					Runmotor_Nums++;
 				}
-				if(Runmotor_Nums >= 10)		//时间
+				if(Runmotor_Nums >= 10)		//时间
 				{
 					Runmotor_Nums = 0;
 					Runmotor_step++;
 							
-					get_state();													//读取电机当前状态
-					send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);	//数据发送
+					get_state();													//读取电机当前状态
+					send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);	//数据发送
 				}
 			}
 			break;			
 		case 5 : 
 			{
 				Runmotor_step = 0;	
-				Motor_Run = 0;   			//运行标记清除，等待下一次上位机发送命令
+				Motor_Run = 0;   			//运行标记清除，等待下一次上位机发送命令
 			}
 			break;
 		default :	
@@ -410,33 +410,33 @@ void mov_step(void)
 }
 
 
-//电机连续运行，方案一（直行程）
+//电机连续运行，方案一（直行程）
 int stop_cnt = 0;
 signed int motor_x_start = 0,motor_x_end = 0;
-uint8_t loop_flag = 0;						//阶段标志，0阶段：接近磁条，1阶段：磁条范围内正向步进，2阶段：磁条范围内反向步进，3阶段：离开磁条返回并复位。
+uint8_t loop_flag = 0;						//阶段标志，0阶段：接近磁条，1阶段：磁条范围内正向步进，2阶段：磁条范围内反向步进，3阶段：离开磁条返回并复位。
 void mov_loop1(void)
 {
 	switch(Runmotor_step)
 	{
-		case 1 : //电机运行准备
+		case 1 : //电机运行准备
 			{
 				
-//				motor_direc = MOTOR_POS;	//由上位机控制
+//				motor_direc = MOTOR_POS;	//由上位机控制
 				Run_num = 0;
-				motor_data[2] = 0x00;		//发送时反馈的数据	
-				Runmotor_Nums = 0;   		//运行次数	
+				motor_data[2] = 0x00;		//发送时反馈的数据	
+				Runmotor_Nums = 0;   		//运行次数	
                 mov_flag = 0;
 				busy_flag = 0;
 				Runmotor_step++;
 				
 			}
 			break;
-		case 2 : //电机运行过程，运行至磁条所在范围				
+		case 2 : //电机运行过程，运行至磁条所在范围				
 			{
-				if( X_ads1220 >= magnet_start )					//第一次到达磁条范围的起点,以电阻尺为准
+				if( X_ads1220 >= magnet_start )					//第一次到达磁条范围的起点,以电阻尺为准
 				{
-					tmc5160_operate(MOTOR_STOP,0);				//立即停止
-					while(busy_flag == 1)						//加速停止动作
+					tmc5160_operate(MOTOR_STOP,0);				//立即停止
+					while(busy_flag == 1)						//加速停止动作
 					{
 						tmc5160_operate(MOTOR_STOP,0);		
 						
@@ -444,20 +444,20 @@ void mov_loop1(void)
 						if(stop_cnt > 10000) 
 						{
 							stop_cnt = 0;
-							break;								//防止卡死
+							break;								//防止卡死
 						}
 						
 						if(busy_flag == 0) stop_cnt = 0;
 					}
 					
-					loop_flag = 1;								//0阶段结束，进入1阶段
+					loop_flag = 1;								//0阶段结束，进入1阶段
 					
-					TMC5160_SPIReadInt(XACTUAL_ADDR,XA);		//停止后读取实际位置XACTUAL
+					TMC5160_SPIReadInt(XACTUAL_ADDR,XA);		//停止后读取实际位置XACTUAL
 					XA_32 = Raw_32(XA);
 					
-					motor_x_start = XA_32;						//记录起点时的电机位置
+					motor_x_start = XA_32;						//记录起点时的电机位置
 					
-					switch(magnet_type)							//根据不同规格，计算电机运动的终点
+					switch(magnet_type)							//根据不同规格，计算电机运动的终点
 					{
 						case 25:
 						{
@@ -486,17 +486,17 @@ void mov_loop1(void)
 						break;
 					}
 					
-					if(it_1000ms_flag)													//检查1000ms定时标志
+					if(it_1000ms_flag)													//检查1000ms定时标志
 					{
-						it_1000ms_flag = 0;												//定时标志清零
+						it_1000ms_flag = 0;												//定时标志清零
 						Runmotor_Nums++;
 					}
-					if(Runmotor_Nums >= Run_Stop)										//时间
+					if(Runmotor_Nums >= Run_Stop)										//时间
 					{
 						Runmotor_step++;
 						Runmotor_Nums = 0;
-						get_state();													//读取电机当前状态
-						send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);	//数据发送
+						get_state();													//读取电机当前状态
+						send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);	//数据发送
 					}
 				}
 				else
@@ -504,11 +504,11 @@ void mov_loop1(void)
 					if(send_flag == 0)
 					{
 						send_flag = 1;
-//						get_state();										//读取电机当前状态
-//						send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
+//						get_state();										//读取电机当前状态
+//						send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
 					}
 					
-					if( X_ads1220 <= magnet_start - 150)					//与磁条起点距离超过150时，快速运动，以电阻尺读数为准
+					if( X_ads1220 <= magnet_start - 150)					//与磁条起点距离超过150时，快速运动，以电阻尺读数为准
 					{
 						if(  speed_max != SPEED_MAX)
 						{
@@ -519,7 +519,7 @@ void mov_loop1(void)
 							TMC5160_SPIWriteInt(V1_ADDR, speed_1,1);
 						}
 					}
-					else													//与磁条起点距离小于等于150时，减速至最小速度
+					else													//与磁条起点距离小于等于150时，减速至最小速度
 					{
 						if( speed_max !=  SPEED_MIN)
 						{
@@ -531,16 +531,16 @@ void mov_loop1(void)
 						}
 					}
 					
-					tmc5160_operate( motor_direc, 51200*30 );				//以150mm的大步长循环运动
+					tmc5160_operate( motor_direc, 51200*30 );				//以150mm的大步长循环运动
 					
-					Runmotor_step = 6;										//在case 2 - 6 之间循环，2运动，6限位
+					Runmotor_step = 6;										//在case 2 - 6 之间循环，2运动，6限位
 				}
 			}
 			break;
 		case 3 : 
 			{
-				//进入磁条范围后，以小步长进行运动，单位为mm
-				if( speed_max !=  SPEED_NORMAL)								//速度降低至常规速度
+				//进入磁条范围后，以小步长进行运动，单位为mm
+				if( speed_max !=  SPEED_NORMAL)								//速度降低至常规速度
 				{
 					speed_max = SPEED_NORMAL;								//VMAX
 					TMC5160_SPIWriteInt(VMAX_ADDR, speed_max,1);
@@ -554,33 +554,33 @@ void mov_loop1(void)
 				
 				if(Run_Step == 0)
 				{
-					tmc5160_operate(motor_direc,Run_mm*10240);				//下位机固定为1mm步长，OLED2.c→OLED_MenuTest()→case5
+					tmc5160_operate(motor_direc,Run_mm*10240);				//下位机固定为1mm步长，OLED2.c→OLED_MenuTest()→case5
 				}else
 				{
-					tmc5160_operate(motor_direc,Run_Step*1024);				//上位机给定步长
+					tmc5160_operate(motor_direc,Run_Step*1024);				//上位机给定步长
 				}
-				if(busy_flag == 0)											//到达指定位置后释放busy_flag
+				if(busy_flag == 0)											//到达指定位置后释放busy_flag
 				{
 					Runmotor_step++; 
 				}
 			}
 			break;
-		case 4 : 															//延时
+		case 4 : 															//延时
 			{	
-				if(it_50ms_flag)											//检查50ms定时标志
+				if(it_50ms_flag)											//检查50ms定时标志
 					{
-						it_50ms_flag = 0;									//定时标志清零
+						it_50ms_flag = 0;									//定时标志清零
 						Runmotor_Nums++;
 					}
-				if(Runmotor_Nums >= (Run_Inter / 50))						//时间
+				if(Runmotor_Nums >= (Run_Inter / 50))						//时间
 				{
 					
 					Runmotor_Nums = 0;
 					Runmotor_step++;
 					send_flag = 0;
 					
-					get_state();													//读取电机当前位置
-					send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);	//数据发送
+					get_state();													//读取电机当前位置
+					send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);	//数据发送
 				}
 				
 			}
@@ -588,14 +588,14 @@ void mov_loop1(void)
 		case 5 :
 			{
 
-				if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )				//判断是否到达始限位
+				if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )				//判断是否到达始限位
 				{
 					motor_direc = MOTOR_POS;
 					Runmotor_step = 0;	
 					Motor_Run = 0;
 					break;
 				}
-				if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )				//判断是否到达终限位
+				if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )				//判断是否到达终限位
 				{
 					motor_direc = MOTOR_REV;
 					Runmotor_step = 0;	
@@ -603,18 +603,18 @@ void mov_loop1(void)
 					break;
 				}
 				
-				Runmotor_step = 3;												//超出磁条范围之前，在3-4-5之间循环
+				Runmotor_step = 3;												//超出磁条范围之前，在3-4-5之间循环
 				
-				TMC5160_SPIReadInt(XACTUAL_ADDR,XA);							//读取实际位置XACTUAL
+				TMC5160_SPIReadInt(XACTUAL_ADDR,XA);							//读取实际位置XACTUAL
 				XA_32 = Raw_32(XA);
 				
-				if(motor_x_end != 0)											//未出现异常时以电机为准
+				if(motor_x_end != 0)											//未出现异常时以电机为准
 				{
-					if((XA_32 >= motor_x_end) && (motor_direc != MOTOR_REV))	//到达磁条范围终点后，停止并反向
+					if((XA_32 >= motor_x_end) && (motor_direc != MOTOR_REV))	//到达磁条范围终点后，停止并反向
 					{
-						loop_flag = 2;											//1阶段结束，进入2阶段
-						tmc5160_operate(MOTOR_STOP,0);							//立即停止
-						while(busy_flag == 1)									//加速停止动作
+						loop_flag = 2;											//1阶段结束，进入2阶段
+						tmc5160_operate(MOTOR_STOP,0);							//立即停止
+						while(busy_flag == 1)									//加速停止动作
 						{
 							tmc5160_operate(MOTOR_STOP,0);		
 							
@@ -622,7 +622,7 @@ void mov_loop1(void)
 							if(stop_cnt > 10000) 
 							{
 								stop_cnt = 0;
-								break;											//防止卡死
+								break;											//防止卡死
 							}
 							
 							if(busy_flag == 0) stop_cnt = 0;
@@ -630,18 +630,18 @@ void mov_loop1(void)
 						
 						if(busy_flag == 0) 
 						{
-							motor_direc = MOTOR_REV;							//停止后反向
+							motor_direc = MOTOR_REV;							//停止后反向
 							Runmotor_Nums = 0;
 							Runmotor_step = 7;
 						}
 					}
-				}else															//出现异常时以电阻尺为准
+				}else															//出现异常时以电阻尺为准
 				{
-					if((X_ads1220 >= magnet_end) && (motor_direc != MOTOR_REV))	//到达磁条范围终点后，停止并反向
+					if((X_ads1220 >= magnet_end) && (motor_direc != MOTOR_REV))	//到达磁条范围终点后，停止并反向
 					{
-						loop_flag = 2;											//1阶段结束，进入2阶段
-						tmc5160_operate(MOTOR_STOP,0);							//立即停止
-						while(busy_flag == 1)									//加速停止动作
+						loop_flag = 2;											//1阶段结束，进入2阶段
+						tmc5160_operate(MOTOR_STOP,0);							//立即停止
+						while(busy_flag == 1)									//加速停止动作
 						{
 							tmc5160_operate(MOTOR_STOP,0);		
 							
@@ -649,7 +649,7 @@ void mov_loop1(void)
 							if(stop_cnt > 10000) 
 							{
 								stop_cnt = 0;
-								break;											//防止卡死
+								break;											//防止卡死
 							}
 							
 							if(busy_flag == 0) stop_cnt = 0;
@@ -657,7 +657,7 @@ void mov_loop1(void)
 						
 						if(busy_flag == 0) 
 						{
-							motor_direc = MOTOR_REV;							//停止后反转
+							motor_direc = MOTOR_REV;							//停止后反转
 							Runmotor_Nums = 0;
 							Runmotor_step = 7;
 						}
@@ -666,11 +666,11 @@ void mov_loop1(void)
 				
 				
 				
-				if((XA_32 <= motor_x_start) && (motor_direc == MOTOR_REV))		//反向回到磁条范围起点后，复位
+				if((XA_32 <= motor_x_start) && (motor_direc == MOTOR_REV))		//反向回到磁条范围起点后，复位
 				{
-					loop_flag = 3;												//2阶段结束，进入3阶段
-					tmc5160_operate(MOTOR_STOP,0);								//立即停止
-					while(busy_flag == 1)										//加速停止动作
+					loop_flag = 3;												//2阶段结束，进入3阶段
+					tmc5160_operate(MOTOR_STOP,0);								//立即停止
+					while(busy_flag == 1)										//加速停止动作
 					{
 						tmc5160_operate(MOTOR_STOP,0);		
 						
@@ -678,13 +678,13 @@ void mov_loop1(void)
 						if(stop_cnt > 10000) 
 						{
 							stop_cnt = 0;
-							break;												//防止卡死
+							break;												//防止卡死
 						}
 						
 						if(busy_flag == 0) stop_cnt = 0;
 					}
 					
-					Motor_Run = 2;												//跳转至复位模式
+					Motor_Run = 2;												//跳转至复位模式
 					Runmotor_step = 0;	
 				}
 			
@@ -693,14 +693,14 @@ void mov_loop1(void)
 			break;
 		case 6 :
 			{
-				if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )			//判断是否到达始限位
+				if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )			//判断是否到达始限位
 				{
 					motor_direc = MOTOR_POS;
 					Runmotor_step = 0;	
 					Motor_Run = 0;
 					break;
 				}
-				if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )			//判断是否到达终限位
+				if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )			//判断是否到达终限位
 				{
 					motor_direc = MOTOR_REV;
 					Runmotor_step = 0;	
@@ -708,17 +708,17 @@ void mov_loop1(void)
 					break;
 				}
 				
-				Runmotor_step = 2;											//在case 2 - 6 之间循环，2运动，6限位
+				Runmotor_step = 2;											//在case 2 - 6 之间循环，2运动，6限位
 			}
 			break;
 		case 7 :
 			{
-				if(it_10ms_flag)											//检查1ms定时标志
+				if(it_10ms_flag)											//检查1ms定时标志
 				{
-					it_10ms_flag = 0;										//定时标志清零
+					it_10ms_flag = 0;										//定时标志清零
 					Runmotor_Nums++;
 				}
-				if((Runmotor_Nums/100) >= Run_Stop)							//时间
+				if((Runmotor_Nums/100) >= Run_Stop)							//时间
 				{
 					Runmotor_step = 3;
 					Runmotor_Nums = 0;
@@ -734,9 +734,9 @@ void mov_loop1(void)
 }
 
 uint32_t V_data = 0;
-signed int _data = 0,vol_data = 0;	//用于OLED显示
-char start_check = 0;				//用于定位起始帧的下标
-uint16_t send_xa = 0;				//用于发送当前位置
+signed int _data = 0,vol_data = 0;	//用于OLED显示
+char start_check = 0;				//用于定位起始帧的下标
+uint16_t send_xa = 0;				//用于发送当前位置
 void get_state(void)
 {
 	motor_data[1] = Motor_Run;
@@ -744,29 +744,29 @@ void get_state(void)
 	
 	if(rx_data2[start_check] != 0x05)
 	{
-		start_check = (start_check + 1)*(start_check <5);								//定位起始帧
+		start_check = (start_check + 1)*(start_check <5);								//定位起始帧
 	}
 	else
 	{
-		motor_data[4] = rx_data2[ (start_check + 1) - 6*( (start_check + 1) > 5) ];  	//根据起始帧所在位置，记录磁感应模块的反馈值
+		motor_data[4] = rx_data2[ (start_check + 1) - 6*( (start_check + 1) > 5) ];  	//根据起始帧所在位置，记录磁感应模块的反馈值
 		motor_data[5] = rx_data2[ (start_check + 2) - 6*( (start_check + 2) > 5) ];
 		motor_data[6] = rx_data2[ (start_check + 3) - 6*( (start_check + 3) > 5) ];
 		motor_data[7] = rx_data2[ (start_check + 4) - 6*( (start_check + 4) > 5) ];
 	}
 	
 	
-	/*电阻尺读数*/
-//	motor_data[8] = ((uint16_t)(X_ads1220*10) & 0xff00)>> 8;	//磁条长度高8位
-//	motor_data[9] = (uint16_t)(X_ads1220*10) & 0x00ff;			//磁条长度低8位
+	/*电阻尺读数*/
+//	motor_data[8] = ((uint16_t)(X_ads1220*10) & 0xff00)>> 8;	//磁条长度高8位
+//	motor_data[9] = (uint16_t)(X_ads1220*10) & 0x00ff;			//磁条长度低8位
 	
-	/*电机内部编码*/
-	TMC5160_SPIReadInt(XACTUAL_ADDR,XA);					//读取实际位置XACTUAL
+	/*电机内部编码*/
+	TMC5160_SPIReadInt(XACTUAL_ADDR,XA);					//读取实际位置XACTUAL
 	XA_32 = Raw_32(XA);
 	send_xa = ((XA_32 - first_xa_32)  * 100) / 10240;
-	motor_data[8]  = ((uint16_t)send_xa & 0xff00)>> 8;	//磁条长度高8位
-	motor_data[9]  = ((uint16_t)send_xa & 0x00ff);		//磁条长度低8位
+	motor_data[8]  = ((uint16_t)send_xa & 0xff00)>> 8;	//磁条长度高8位
+	motor_data[9]  = ((uint16_t)send_xa & 0x00ff);		//磁条长度低8位
 	
-	if( ocin1 == 0 )//判断是否到达始限位
+	if( ocin1 == 0 )//判断是否到达始限位
 		motor_data[3] = 1;
 	else if(ocin2 == 0)
 		motor_data[3] = 2;
@@ -777,7 +777,7 @@ void get_state(void)
 void get_magnetv(void)
 {
 	V_data = motor_data[4]*0xffffff + motor_data[5]*0xffff + motor_data[6]*0xff + motor_data[7];
-	//ADS数据转换为实际电压值
+	//ADS数据转换为实际电压值
 	if(V_data & 0x00800000)
 	{
 		_data = 0xffffffff - V_data;

App/Src/myLib.c

@@ -384,6 +384,15 @@ const char Hzk[][32]=
     {0xF0,0x00,0xFF,0x08,0x10,0xC0,0x5F,0x55,0xD5,0x55,0xD5,0x55,0x5F,0xC0,0x00,0x00,
     0x00,0x00,0xFF,0x00,0x80,0x83,0x4A,0x5A,0x2B,0x2A,0x2B,0x5A,0x4A,0x83,0x80,0x00},/*"慢",60*/
     
+    {0x00,0x10,0x88,0xC4,0x33,0x00,0xFE,0x92,0x92,0x92,0x92,0x92,0xFE,0x00,0x00,0x00,
+    0x02,0x01,0x00,0xFF,0x00,0x00,0xFF,0x40,0x20,0x03,0x0C,0x14,0x22,0x41,0x40,0x00},/*"ｺﾜ",61*/
+
+    {0xC8,0xB8,0x8F,0xE8,0x88,0x88,0x80,0x48,0x28,0x09,0x0E,0x08,0x28,0x48,0x88,0x00,
+    0x08,0x18,0x08,0xFF,0x04,0x04,0x80,0x80,0x43,0x2C,0x10,0x2C,0x43,0x80,0x80,0x00},/*"ｽﾏ",62*/
+
+    {0x40,0x40,0x42,0xCC,0x00,0x10,0x92,0x92,0x92,0xFF,0x91,0x91,0x91,0x10,0x10,0x00,
+    0x00,0x40,0x20,0x1F,0x20,0x40,0x5F,0x48,0x48,0x48,0x48,0x48,0x5F,0x40,0x40,0x00},/*"ﾊﾊ",63*/
+
 //  {0x00,0x80,0x40,0x20,0x18,0x06,0x80,0x00,0x07,0x18,0x20,0x40,0x80,0x00,0x00,0x00,
 //   0x01,0x00,0x20,0x70,0x28,0x26,0x21,0x20,0x20,0x24,0x38,0x60,0x00,0x01,0x01,0x00},/*"?",0*/
 };

App/Src/oled2.c

@@ -1495,55 +1495,214 @@ void OLED_MenuTest(void)
 }
 
 char disp_new = 0;
-uint8_t speed_select = 1;	//[0 1 2]->[慢、中、快]
+uint8_t speed_select = 2;	//[0 1 2 3 4]->[很慢、较慢、适中、较快、很快]
 uint8_t speed_select_prv = 1;
 uint8_t speed_ensure = 0;
+uint8_t direc_select = 0;
+uint8_t direc_select_prv = 0;
 void OLED_Menu_New(void)
 {
 	switch (disp_new)
 	{
-		case 0:
+		case 0:	//初始化
 		{
 			OLED_Clear();
-			disp_new++;
-		}
-		break;
-		case 1:
-		{
+
 			OLED_ShowCN(0,0,56,0);					//正常“匀”，第0页
 			OLED_ShowCN(32,0,57,0);					//正常“速”，第0页
 			OLED_ShowCN(64,0,5,0);					//正常“测”，第0页
 			OLED_ShowCN(96,0,58,0);					//正常“试”，第0页
 
-			OLED_ShowCN(0,4,57,0);					//正常“速”，第4页
-			OLED_ShowCN(24,4,17,0);					//正常“度”，第4页
+			OLED_ShowCN(0,2,57,0);					//正常“速”，第2页
+			OLED_ShowCN(20,2,17,0);					//正常“度”，第2页
+			speed_set(MEDIUM_SPEED);
 
-			if(speed_select == 0) OLED_ShowCN(56,4,60,1);					//反显“慢”，第4页
-			if(speed_select == 1) OLED_ShowCN(56,4,41,1);					//反显“中”，第4页
-			if(speed_select == 2) OLED_ShowCN(56,4,59,1);					//反显“快”，第4页
-			speed_select_prv = speed_select;
+			OLED_ShowCN(0,4,32,0);					//正常“方”，第4页
+			OLED_ShowCN(20,4,33,0);	 				//正常“向”，第4页
 
 			disp_new++;
 		}
 		break;
-		case 2:
+
+		case 1:	//显示内容初始化
+		{
+			switch (speed_select)
+			{
+				case 0:
+				{
+					OLED_ShowCN(50,2,61,1);					//反显“很”，第2页
+					OLED_ShowCN(66,2,60,1);					//反显“慢”，第2页
+				}
+				break;
+
+				case 1:
+				{
+					OLED_ShowCN(50,2,62,1);					//反显“较”，第2页
+					OLED_ShowCN(66,2,60,1);					//反显“慢”，第2页
+				}
+				break;
+
+				case 2:
+				{
+					OLED_ShowCN(50,2,63,1);					//反显“适”，第2页
+					OLED_ShowCN(66,2,41,1);					//反显“中”，第2页
+				}
+				break;
+
+				case 3:
+				{
+					OLED_ShowCN(50,2,62,1);					//反显“较”，第2页
+					OLED_ShowCN(66,2,59,1);					//反显“快”，第2页
+				}
+				break;
+
+				case 4:
+				{
+					OLED_ShowCN(50,2,61,1);					//反显“很”，第2页
+					OLED_ShowCN(66,2,59,1);					//反显“快”，第2页
+				}
+				break;
+			
+				default:
+				break;
+			}
+			speed_select_prv = speed_select;
+
+			if(direc_select == 0) OLED_ShowCN(50,4,34,1);					//反显“正”，第4页
+			if(direc_select == 1) OLED_ShowCN(50,4,35,1);					//反显“反”，第4页
+			direc_select_prv = direc_select;
+
+			disp_new++;
+		}
+		break;
+
+		case 2:	//菜单选择，确定后取消反显
 		{
 			if(speed_select != speed_select_prv)
 			{
-				if(speed_select == 0) OLED_ShowCN(56,4,60,1);					//反显“慢”，第4页
-				if(speed_select == 1) OLED_ShowCN(56,4,41,1);					//反显“中”，第4页
-				if(speed_select == 2) OLED_ShowCN(56,4,59,1);					//反显“快”，第4页
+				switch (speed_select)
+				{
+					case 0:
+					{
+						OLED_ShowCN(50,2,61,1);					//反显“很”，第2页
+						OLED_ShowCN(66,2,60,1);					//反显“慢”，第2页
+					}
+					break;
+
+					case 1:
+					{
+						OLED_ShowCN(50,2,62,1);					//反显“较”，第2页
+						OLED_ShowCN(66,2,60,1);					//反显“慢”，第2页
+					}
+					break;
+
+					case 2:
+					{
+						OLED_ShowCN(50,2,63,1);					//反显“适”，第2页
+						OLED_ShowCN(66,2,41,1);					//反显“中”，第2页
+					}
+					break;
+
+					case 3:
+					{
+						OLED_ShowCN(50,2,62,1);					//反显“较”，第2页
+						OLED_ShowCN(66,2,59,1);					//反显“快”，第2页
+					}
+					break;
+
+					case 4:
+					{
+						OLED_ShowCN(50,2,61,1);					//反显“很”，第2页
+						OLED_ShowCN(66,2,59,1);					//反显“快”，第2页
+					}
+					break;
+				
+					default:
+					break;
+				}
 
 				speed_select_prv = speed_select;
 			}
 
+			if(direc_select != direc_select_prv)
+			{
+				if(direc_select == 0) OLED_ShowCN(50,4,34,1);					//反显“正”，第4页
+				if(direc_select == 1) OLED_ShowCN(50,4,35,1);					//反显“反”，第4页
+				direc_select_prv = direc_select;
+			}
+
 			if(speed_ensure == 1)
 			{
 				speed_ensure = 0;
-				if(speed_select == 0) OLED_ShowCN(56,4,59,0);					//正常“慢”，第4页
-				if(speed_select == 1) OLED_ShowCN(56,4,41,0);					//正常“中”，第4页
-				if(speed_select == 2) OLED_ShowCN(56,4,60,0);					//正常“快”，第4页
 
+				switch (speed_select)
+				{
+					case 0:
+					{
+						OLED_ShowCN(50,2,61,0);					//正常“很”，第2页
+						OLED_ShowCN(66,2,60,0);					//正常“慢”，第2页
+						speed_set(SLOW_SPEED);
+					}
+					break;
+
+					case 1:
+					{
+						OLED_ShowCN(50,2,62,0);					//正常“较”，第2页
+						OLED_ShowCN(66,2,60,0);					//正常“慢”，第2页
+						speed_set(MEDIUM_SLOW_SPEED);
+					}
+					break;
+
+					case 2:
+					{
+						OLED_ShowCN(50,2,63,0);					//正常“适”，第2页
+						OLED_ShowCN(66,2,41,0);					//正常“中”，第2页
+						speed_set(MEDIUM_SPEED);
+					}
+					break;
+
+					case 3:
+					{
+						OLED_ShowCN(50,2,62,0);					//正常“较”，第2页
+						OLED_ShowCN(66,2,59,0);					//正常“快”，第2页
+						speed_set(MEDIUM_FAST_SPEED);
+					}
+					break;
+
+					case 4:
+					{
+						OLED_ShowCN(50,2,61,0);					//正常“很”，第2页
+						OLED_ShowCN(66,2,59,0);					//正常“快”，第2页
+						speed_set(FAST_SPEED);
+					}
+					break;
+				
+					default:
+					break;
+				}
+
+				if(direc_select == 0) OLED_ShowCN(50,4,34,0);					//正常“正”，第4页
+				if(direc_select == 1) OLED_ShowCN(50,4,35,0);					//正常“反”，第4页
+
+				disp_new++;
+			}
+		}
+		break;
+
+		case 3:	//控制电机
+		{
+			uniform_motion();
+
+			if(speed_ensure == 1)	//电机停止
+			{
+				tmc5160_operate(0,0);
+
+				GREEN_ON;
+				BLUE_ON;
+
+				speed_ensure = 0;
+
+				disp_new = 1;
 			}
 		}
 		break;

App/Src/uniform.c

@@ -1,4 +1,151 @@
+/*
+ * @Author: wujunchao 24472040@qq.com
+ * @Date: 2024-10-14 14:42:21
+ * @LastEditors: wujunchao 24472040@qq.com
+ * @LastEditTime: 2024-10-15 17:15:02
+ * @FilePath: \mfps\App\Src\uniform.c
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
 #include "uniform.h"
 //2024_10_14新增功能：匀速往/返运动，要求速度可调
 //为避免与旧程序冲突，使用↑↓组合键对[OLED,Key,LED]程序进行切换
 
+uint32_t uniform_speed;
+uint32_t uniform_speed_prv;
+uint8_t limit_old = 0;
+
+void uniform_motion(void)
+{
+    switch (uniform_limit(200, 1800))
+    {
+        case 0:
+        {
+            if(limit_old != 0)
+            {
+                OLED_ShowString(0,6,"-----",16,0);
+                OLED_ShowString(64,6,"-----",16,0);
+
+                limit_old = 0;
+            }
+            
+        }
+        break;
+
+        case 1:
+        {
+            if(limit_old != 1)
+            {
+                OLED_ShowCN(0,6,20,0);				//正常“到”，第6页
+                OLED_ShowCN(20,6,21,0);				//正常“达”，第6页
+
+                GREEN_OFF;
+                BLUE_ON;
+
+                limit_old = 1;   
+            }
+            disp_new = 1;
+            return;
+        }
+
+        case 2:
+        {
+            if(limit_old != 2)
+            {
+                OLED_ShowCN(64,6,20,0);				//正常“到”，第6页
+                OLED_ShowCN(84,6,21,0);				//正常“达”，第6页
+
+                GREEN_ON;
+                BLUE_OFF;
+
+                limit_old = 2;
+            }
+            disp_new = 1;
+            return;
+        }
+        
+        default:
+        break;
+    }
+
+    switch (direc_select)
+    {
+        case 0:     //正向运动
+        {
+            tmc5160_operate(1,51200*60);
+
+            if(it_500ms_flag)
+            {
+                it_500ms_flag = 0;
+
+                GREEN_TOG;
+                BLUE_OFF;
+            }
+        }
+        break;
+
+        case 1:     //反向运动
+        {
+             tmc5160_operate(2,51200*60);
+
+            if(it_500ms_flag)
+            {
+                it_500ms_flag = 0;
+
+                GREEN_OFF;
+                BLUE_TOG;
+            }
+        }
+        break;
+        
+        default:
+        break;
+    }
+}
+
+char uniform_limit(float start, float end)
+{
+    if( ( ocin1 == 0 )&&( direc_select != 0 ) )
+    {
+        //电机停止
+        tmc5160_operate(0,0);
+        return 1;
+    }
+    if( ( ocin2 == 0 )&&( direc_select != 1 ) )
+    {
+        //电机停止
+         tmc5160_operate(0,0);
+         return 2;
+    }
+
+    if( ( X_ads1220 <= start )&&( direc_select != 0 ) )
+    {
+        //电机停止
+         tmc5160_operate(0,0);
+         return 1;
+    }
+    if( ( X_ads1220 >= end )&&( direc_select != 1 ) )
+    {
+        //电机停止
+        tmc5160_operate(0,0);
+        return 2;
+    }
+    
+    return 0;
+}
+
+void speed_set(uint32_t uni_speed)
+{
+    if(uni_speed != uniform_speed)
+    {
+        uniform_speed =uni_speed;
+        uniform_speed_prv = uniform_speed;
+
+        //VMAX
+        TMC5160_SPIWriteInt(VMAX_ADDR, uniform_speed,1);
+        //V1 
+        TMC5160_SPIWriteInt(V1_ADDR, uniform_speed/2,1);
+    }
+}
+
+
+

MDK-ARM/mfps.uvguix.吴俊潮

@@ -93,8 +93,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -110,8 +110,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>1544</Len>
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+        <Len>1438</Len>
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       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1822,7 +1822,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>968</Len>
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         </Buttons>
         <OriginalItems>
           <Len>583</Len>
@@ -1838,7 +1838,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2373</Len>
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         </Buttons>
         <OriginalItems>
           <Len>898</Len>
@@ -3579,7 +3579,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2362</Len>
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         </Buttons>
         <OriginalItems>
           <Len>898</Len>
@@ -3603,48 +3603,39 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>5</ActiveTab>
+      <ActiveTab>4</ActiveTab>
       <Doc>
         <Name>..\App\Src\uniform.c</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>5</CurrentLine>
+        <ColumnNumber>26</ColumnNumber>
+        <TopLine>56</TopLine>
+        <CurrentLine>78</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>../App/Inc/uniform.h</Name>
-        <ColumnNumber>0</ColumnNumber>
+        <ColumnNumber>34</ColumnNumber>
         <TopLine>1</TopLine>
-        <CurrentLine>10</CurrentLine>
+        <CurrentLine>14</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>..\App\Src\key.c</Name>
-        <ColumnNumber>27</ColumnNumber>
-        <TopLine>291</TopLine>
-        <CurrentLine>311</CurrentLine>
+        <ColumnNumber>22</ColumnNumber>
+        <TopLine>290</TopLine>
+        <CurrentLine>301</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>../Src/stm32f1xx_it.c</Name>
-        <ColumnNumber>54</ColumnNumber>
-        <TopLine>393</TopLine>
-        <CurrentLine>419</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
-        <PaneID>0</PaneID>
-      </Doc>
-      <Doc>
-        <Name>startup_stm32f103xe.s</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>133</TopLine>
-        <CurrentLine>148</CurrentLine>
+        <ColumnNumber>100</ColumnNumber>
+        <TopLine>384</TopLine>
+        <CurrentLine>406</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3660,27 +3651,18 @@
       </Doc>
       <Doc>
         <Name>..\App\Src\app.c</Name>
-        <ColumnNumber>8</ColumnNumber>
-        <TopLine>61</TopLine>
-        <CurrentLine>84</CurrentLine>
+        <ColumnNumber>5</ColumnNumber>
+        <TopLine>16</TopLine>
+        <CurrentLine>40</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>..\App\Src\oled2.c</Name>
-        <ColumnNumber>68</ColumnNumber>
-        <TopLine>1498</TopLine>
-        <CurrentLine>1533</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
-        <PaneID>0</PaneID>
-      </Doc>
-      <Doc>
-        <Name>..\App\Src\Uart1.c</Name>
-        <ColumnNumber>1</ColumnNumber>
-        <TopLine>486</TopLine>
-        <CurrentLine>511</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1550</TopLine>
+        <CurrentLine>1585</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3694,6 +3676,24 @@
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
+      <Doc>
+        <Name>..\App\Src\tmc5160.c</Name>
+        <ColumnNumber>30</ColumnNumber>
+        <TopLine>227</TopLine>
+        <CurrentLine>252</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>startup_stm32f103xe.s</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>133</TopLine>
+        <CurrentLine>148</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
     </MDIGroup>
   </MDIGroups>
 

MDK-ARM/mfps.uvoptx

@@ -295,6 +295,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>old2new_flag</ItemText>
         </Ww>
+        <Ww>
+          <count>29</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>tick_check</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>

MDK-ARM/mfps/ads1220.d

@@ -44,9 +44,11 @@ mfps\ads1220.o: ../Inc/usart.h
 mfps\ads1220.o: ../App/Inc/Uart1.h
 mfps\ads1220.o: ../Inc/gpio.h
 mfps\ads1220.o: ../App/Inc/key.h
+mfps\ads1220.o: ../App/Inc/app.h
 mfps\ads1220.o: ../App/Inc/motor.h
 mfps\ads1220.o: ../App/Inc/delay.h
 mfps\ads1220.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\ads1220.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\ads1220.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\ads1220.o: ../App/Inc/flash.h
+mfps\ads1220.o: ../App/Inc/uniform.h

MDK-ARM/mfps/app.d

@@ -44,9 +44,11 @@ mfps\app.o: ../Inc/usart.h
 mfps\app.o: ../App/Inc/Uart1.h
 mfps\app.o: ../Inc/gpio.h
 mfps\app.o: ../App/Inc/key.h
+mfps\app.o: ../App/Inc/app.h
 mfps\app.o: ../App/Inc/motor.h
 mfps\app.o: ../App/Inc/delay.h
 mfps\app.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\app.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\app.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\app.o: ../App/Inc/flash.h
+mfps\app.o: ../App/Inc/uniform.h

MDK-ARM/mfps/delay.d

@@ -45,8 +45,10 @@ mfps\delay.o: ../Inc/usart.h
 mfps\delay.o: ../App/Inc/Uart1.h
 mfps\delay.o: ../Inc/gpio.h
 mfps\delay.o: ../App/Inc/key.h
+mfps\delay.o: ../App/Inc/app.h
 mfps\delay.o: ../App/Inc/motor.h
 mfps\delay.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\delay.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\delay.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\delay.o: ../App/Inc/flash.h
+mfps\delay.o: ../App/Inc/uniform.h

MDK-ARM/mfps/key.d

@@ -1,5 +1,7 @@
 mfps\key.o: ..\App\Src\key.c
 mfps\key.o: ../App/Inc/key.h
+mfps\key.o: ../App/Inc/app.h
+mfps\key.o: ../App/Inc/MyLib.h
 mfps\key.o: ../Inc/main.h
 mfps\key.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h
 mfps\key.o: ../Inc/stm32f1xx_hal_conf.h
@@ -31,8 +33,6 @@ mfps\key.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h
 mfps\key.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h
 mfps\key.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h
 mfps\key.o: ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h
-mfps\key.o: ../App/Inc/app.h
-mfps\key.o: ../App/Inc/MyLib.h
 mfps\key.o: ../App/Inc/m1820.h
 mfps\key.o: ../App/Inc/oled2.h
 mfps\key.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\inttypes.h
@@ -44,9 +44,12 @@ mfps\key.o: ../Inc/tim.h
 mfps\key.o: ../Inc/usart.h
 mfps\key.o: ../App/Inc/Uart1.h
 mfps\key.o: ../Inc/gpio.h
+mfps\key.o: ../App/Inc/key.h
 mfps\key.o: ../App/Inc/motor.h
 mfps\key.o: ../App/Inc/delay.h
 mfps\key.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\key.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\key.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\key.o: ../App/Inc/flash.h
+mfps\key.o: ../App/Inc/uniform.h
+mfps\key.o: ../App/Inc/app.h

MDK-ARM/mfps/m1820.d

@@ -44,9 +44,11 @@ mfps\m1820.o: ../Inc/usart.h
 mfps\m1820.o: ../App/Inc/Uart1.h
 mfps\m1820.o: ../Inc/gpio.h
 mfps\m1820.o: ../App/Inc/key.h
+mfps\m1820.o: ../App/Inc/app.h
 mfps\m1820.o: ../App/Inc/motor.h
 mfps\m1820.o: ../App/Inc/delay.h
 mfps\m1820.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\m1820.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\m1820.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\m1820.o: ../App/Inc/flash.h
+mfps\m1820.o: ../App/Inc/uniform.h

MDK-ARM/mfps/main.d

@@ -45,9 +45,11 @@ mfps\main.o: ../App/Inc/ads1220.h
 mfps\main.o: ../App/Inc/tmc5160.h
 mfps\main.o: ../App/Inc/Uart1.h
 mfps\main.o: ../App/Inc/key.h
+mfps\main.o: ../App/Inc/app.h
 mfps\main.o: ../App/Inc/motor.h
 mfps\main.o: ../App/Inc/delay.h
 mfps\main.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\main.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\main.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\main.o: ../App/Inc/flash.h
+mfps\main.o: ../App/Inc/uniform.h

MDK-ARM/mfps/mfps.build_log.htm

@@ -21,15 +21,15 @@ Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.2.0.0
 Dialog DLL:      TCM.DLL V1.56.4.0
  
 <h2>Project:</h2>
-F:\Desktop\Work\00_Projects\01_Magnet_Feedback_Position_System\01_CODE\01_New\2024.05.27\mfps\MDK-ARM\mfps.uvprojx
+F:\Desktop\Work\00_Projects\01_Magnet_Feedback_Position_System\01_CODE\01_New\mfps\MDK-ARM\mfps.uvprojx
 Project File Date:  10/14/2024
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'E:\Softwares\Keil_v5\ARM\ARMCC\Bin'
 Build target 'mfps'
-compiling oled2.c...
+compiling uniform.c...
 linking...
-Program Size: Code=36130 RO-data=4578 RW-data=468 ZI-data=5204  
+Program Size: Code=37014 RO-data=4674 RW-data=492 ZI-data=5204  
 FromELF: creating hex file...
 "mfps\mfps.axf" - 0 Error(s), 0 Warning(s).
 
@@ -54,7 +54,7 @@ Package Vendor: Keil
 <h2>Collection of Component Files used:</h2>
 
    * Component: ARM::CMSIS:CORE@5.6.0
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>

MDK-ARM/mfps/mfps_mfps.dep

@@ -38,21 +38,22 @@ I (../Inc/spi.h)(0x660BB230)
 I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled2.h)(0x670CEDDC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x6641AC72)
 I (../App/Inc/tmc5160.h)(0x663852C9)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
+I (../App/Inc/uniform.h)(0x670E3176)
 F (../Src/gpio.c)(0x660BB22E)(--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\gpio.o --omf_browse mfps\gpio.crf --depend mfps\gpio.d)
 I (../Inc/gpio.h)(0x66035A04)
 I (../Inc/main.h)(0x660A29E6)
@@ -245,7 +246,7 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-F (../Src/stm32f1xx_it.c)(0x670CC5FD)(--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\stm32f1xx_it.o --omf_browse mfps\stm32f1xx_it.crf --depend mfps\stm32f1xx_it.d)
+F (../Src/stm32f1xx_it.c)(0x670E23DF)(--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\stm32f1xx_it.o --omf_browse mfps\stm32f1xx_it.crf --depend mfps\stm32f1xx_it.d)
 I (../Inc/main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
 I (../Inc/stm32f1xx_hal_conf.h)(0x663B393C)
@@ -277,8 +278,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
 I (../Inc/stm32f1xx_it.h)(0x663C41CD)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled2.h)(0x670CEDDC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
@@ -290,13 +291,14 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
+I (../App/Inc/uniform.h)(0x670E3176)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../Inc/Uart1.h)(0x6625BD3B)
 F (../Src/stm32f1xx_hal_msp.c)(0x6603B078)(--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\stm32f1xx_hal_msp.o --omf_browse mfps\stm32f1xx_hal_msp.crf --depend mfps\stm32f1xx_hal_msp.d)
@@ -840,9 +842,9 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-F (..\App\Src\app.c)(0x670CD695)(--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 (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+F (..\App\Src\app.c)(0x670E168A)(--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 (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../Inc/main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
 I (../Inc/stm32f1xx_hal_conf.h)(0x663B393C)
@@ -884,13 +886,14 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
+I (../App/Inc/uniform.h)(0x670E3176)
 F (..\App\Src\delay.c)(0x66397ED2)(--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)
@@ -923,8 +926,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled2.h)(0x670CEDDC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
@@ -936,14 +939,17 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
-F (..\App\Src\key.c)(0x670CED69)(--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)(0x670CED69)
+I (../App/Inc/uniform.h)(0x670E3176)
+F (..\App\Src\key.c)(0x670E220F)(--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)(0x670DBC30)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../Inc/main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
 I (../Inc/stm32f1xx_hal_conf.h)(0x663B393C)
@@ -974,8 +980,6 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled2.h)(0x670CEDDC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
@@ -993,6 +997,7 @@ I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
+I (../App/Inc/uniform.h)(0x670E3176)
 F (..\App\Src\ads1220.c)(0x6646C6DB)(--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)
 I (../App/Inc/ads1220.h)(0x6641AC72)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
@@ -1024,8 +1029,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../Inc/main.h)(0x660A29E6)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled2.h)(0x670CEDDC)
@@ -1037,13 +1042,14 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
+I (../App/Inc/uniform.h)(0x670E3176)
 F (..\App\Src\m1820.c)(0x66397F62)(--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\m1820.o --omf_browse mfps\m1820.crf --depend mfps\m1820.d)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../Inc/main.h)(0x660A29E6)
@@ -1076,8 +1082,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../App/Inc/oled2.h)(0x670CEDDC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x6641AC72)
@@ -1088,15 +1094,16 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
-F (..\App\Src\myLib.c)(0x670CEBCD)(--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\mylib.o --omf_browse mfps\mylib.crf --depend mfps\mylib.d)
-I (../App/Inc/myLib.h)(0x662A0C9C)
+I (../App/Inc/uniform.h)(0x670E3176)
+F (..\App\Src\myLib.c)(0x670E1B57)(--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\mylib.o --omf_browse mfps\mylib.crf --depend mfps\mylib.d)
+I (../App/Inc/myLib.h)(0x670DB683)
 I (../Inc/main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
 I (../Inc/stm32f1xx_hal_conf.h)(0x663B393C)
@@ -1159,8 +1166,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled2.h)(0x670CEDDC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
@@ -1171,13 +1178,14 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
+I (../App/Inc/uniform.h)(0x670E3176)
 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)(0x6629F174)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
@@ -1209,7 +1217,7 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-F (..\App\Src\oled2.c)(0x670CEEC6)(--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\oled2.o --omf_browse mfps\oled2.crf --depend mfps\oled2.d)
+F (..\App\Src\oled2.c)(0x670E3176)(--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\oled2.o --omf_browse mfps\oled2.crf --depend mfps\oled2.d)
 I (../App/Inc/oled2.h)(0x670CEDDC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -1242,8 +1250,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/ads1220.h)(0x6641AC72)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -1253,14 +1261,15 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
-F (..\App\Src\motor.c)(0x66541C56)(--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\motor.o --omf_browse mfps\motor.crf --depend mfps\motor.d)
+I (../App/Inc/uniform.h)(0x670E3176)
+F (..\App\Src\motor.c)(0x670DC7EC)(--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\motor.o --omf_browse mfps\motor.crf --depend mfps\motor.d)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../Inc/main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
@@ -1292,8 +1301,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled2.h)(0x670CEDDC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
@@ -1305,12 +1314,13 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
+I (../App/Inc/uniform.h)(0x670E3176)
 F (..\App\Src\Uart1.c)(0x664EEF9E)(--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\uart1.o --omf_browse mfps\uart1.crf --depend mfps\uart1.d)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)
 I (../Inc/main.h)(0x660A29E6)
@@ -1345,8 +1355,8 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/usart.h)(0x660A2CEE)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled2.h)(0x670CEDDC)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
@@ -1357,12 +1367,13 @@ I (../Inc/spi.h)(0x660BB230)
 I (../Inc/tim.h)(0x66035A28)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdlib.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (../App/Inc/flash.h)(0x66457FD4)
+I (../App/Inc/uniform.h)(0x670E3176)
 F (..\App\Src\flash.c)(0x66446348)(--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\flash.o --omf_browse mfps\flash.crf --depend mfps\flash.d)
 I (../App/Inc/flash.h)(0x66457FD4)
 I (../Inc/main.h)(0x660A29E6)
@@ -1395,10 +1406,10 @@ I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h)(0x663B42E9)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h)(0x663B42E9)
-F (..\App\Src\uniform.c)(0x670CC5FD)(--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\uniform.o --omf_browse mfps\uniform.crf --depend mfps\uniform.d)
-I (../App/Inc/uniform.h)(0x670CE9D3)
-I (../App/Inc/app.h)(0x670CCE51)
-I (../App/Inc/MyLib.h)(0x662A0C9C)
+F (..\App\Src\uniform.c)(0x670E3296)(--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\uniform.o --omf_browse mfps\uniform.crf --depend mfps\uniform.d)
+I (../App/Inc/uniform.h)(0x670E3176)
+I (../App/Inc/app.h)(0x670E23F8)
+I (../App/Inc/MyLib.h)(0x670DB683)
 I (../Inc/main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
 I (../Inc/stm32f1xx_hal_conf.h)(0x663B393C)
@@ -1440,7 +1451,7 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../App/Inc/Uart1.h)(0x63EC23DC)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/key.h)(0x670CED69)
+I (../App/Inc/key.h)(0x670DBC30)
 I (../App/Inc/motor.h)(0x664EB0AC)
 I (../App/Inc/delay.h)(0x6614F624)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E3CC2)

MDK-ARM/mfps/motor.d

@@ -45,8 +45,10 @@ mfps\motor.o: ../Inc/usart.h
 mfps\motor.o: ../App/Inc/Uart1.h
 mfps\motor.o: ../Inc/gpio.h
 mfps\motor.o: ../App/Inc/key.h
+mfps\motor.o: ../App/Inc/app.h
 mfps\motor.o: ../App/Inc/delay.h
 mfps\motor.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\motor.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\motor.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\motor.o: ../App/Inc/flash.h
+mfps\motor.o: ../App/Inc/uniform.h

MDK-ARM/mfps/oled2.d

@@ -44,9 +44,11 @@ mfps\oled2.o: ../Inc/usart.h
 mfps\oled2.o: ../App/Inc/Uart1.h
 mfps\oled2.o: ../Inc/gpio.h
 mfps\oled2.o: ../App/Inc/key.h
+mfps\oled2.o: ../App/Inc/app.h
 mfps\oled2.o: ../App/Inc/motor.h
 mfps\oled2.o: ../App/Inc/delay.h
 mfps\oled2.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\oled2.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\oled2.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\oled2.o: ../App/Inc/flash.h
+mfps\oled2.o: ../App/Inc/uniform.h

MDK-ARM/mfps/stm32f1xx_it.d

@@ -45,11 +45,13 @@ mfps\stm32f1xx_it.o: ../Inc/usart.h
 mfps\stm32f1xx_it.o: ../App/Inc/Uart1.h
 mfps\stm32f1xx_it.o: ../Inc/gpio.h
 mfps\stm32f1xx_it.o: ../App/Inc/key.h
+mfps\stm32f1xx_it.o: ../App/Inc/app.h
 mfps\stm32f1xx_it.o: ../App/Inc/motor.h
 mfps\stm32f1xx_it.o: ../App/Inc/delay.h
 mfps\stm32f1xx_it.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\stm32f1xx_it.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\stm32f1xx_it.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\stm32f1xx_it.o: ../App/Inc/flash.h
+mfps\stm32f1xx_it.o: ../App/Inc/uniform.h
 mfps\stm32f1xx_it.o: ../App/Inc/serial_port.h
 mfps\stm32f1xx_it.o: ../Inc/Uart1.h

MDK-ARM/mfps/tmc5160.d

@@ -44,9 +44,11 @@ mfps\tmc5160.o: ../Inc/usart.h
 mfps\tmc5160.o: ../App/Inc/Uart1.h
 mfps\tmc5160.o: ../Inc/gpio.h
 mfps\tmc5160.o: ../App/Inc/key.h
+mfps\tmc5160.o: ../App/Inc/app.h
 mfps\tmc5160.o: ../App/Inc/motor.h
 mfps\tmc5160.o: ../App/Inc/delay.h
 mfps\tmc5160.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\tmc5160.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\tmc5160.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\tmc5160.o: ../App/Inc/flash.h
+mfps\tmc5160.o: ../App/Inc/uniform.h

MDK-ARM/mfps/uart1.d

@@ -46,8 +46,10 @@ mfps\uart1.o: ../Inc/tim.h
 mfps\uart1.o: ../App/Inc/Uart1.h
 mfps\uart1.o: ../Inc/gpio.h
 mfps\uart1.o: ../App/Inc/key.h
+mfps\uart1.o: ../App/Inc/app.h
 mfps\uart1.o: ../App/Inc/motor.h
 mfps\uart1.o: ../App/Inc/delay.h
 mfps\uart1.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\uart1.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\uart1.o: ../App/Inc/flash.h
+mfps\uart1.o: ../App/Inc/uniform.h

MDK-ARM/mfps/uniform.d

@@ -45,9 +45,11 @@ mfps\uniform.o: ../Inc/usart.h
 mfps\uniform.o: ../App/Inc/Uart1.h
 mfps\uniform.o: ../Inc/gpio.h
 mfps\uniform.o: ../App/Inc/key.h
+mfps\uniform.o: ../App/Inc/app.h
 mfps\uniform.o: ../App/Inc/motor.h
 mfps\uniform.o: ../App/Inc/delay.h
 mfps\uniform.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
 mfps\uniform.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\stdlib.h
 mfps\uniform.o: E:\Softwares\Keil_v5\ARM\ARMCC\Bin\..\include\string.h
 mfps\uniform.o: ../App/Inc/flash.h
+mfps\uniform.o: ../App/Inc/uniform.h

Src/stm32f1xx_it.c

@@ -71,8 +71,8 @@ extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;
 /* USER CODE BEGIN EV */
 
-static volatile uint8_t txcplt_flag = 0;    // 发送完成标志，1完成0未完成
-static volatile uint8_t rxcplt_flag = 0;    // 接收完成标志，1完成0未完成
+static volatile uint8_t txcplt_flag = 0;    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɱ<EFBFBD>־<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>0δ<EFBFBD><EFBFBD><EFBFBD>
+static volatile uint8_t rxcplt_flag = 0;    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɱ<EFBFBD>־<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>0δ<EFBFBD><EFBFBD><EFBFBD>
 
 uint8_t rx_data = 0, rx_data2[6] = {0},rx2_cnt = 0;
 //HAL_StatusTypeDef hal_check_rx;
@@ -308,12 +308,12 @@ void USART1_IRQHandler(void)
   HAL_UART_IRQHandler(&huart1);
   /* USER CODE BEGIN USART1_IRQn 1 */
 	
-//	HAL_UART_IRQHandler(&huart1);   // HAL库中的UART统一中断服务函数，通过形参判断是要处理谁的中?
+//	HAL_UART_IRQHandler(&huart1);   // HAL<EFBFBD><EFBFBD><EFBFBD>е<EFBFBD>UARTͳһ<EFBFBD>жϷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD>β<EFBFBD><EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>˭<EFBFBD><EFBFBD><EFBFBD><EFBFBD>?
 	
 
-	if((USART1->SR &(1<<5)) != 0)   // 判断USART1的状态寄存器的第五位即RXNE位是否被置位
+	if((USART1->SR &(1<<5)) != 0)   // <EFBFBD>ж<EFBFBD>USART1<EFBFBD><EFBFBD>״̬<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>RXNEλ<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD>λ
 	{
-		rx_data = USART1->DR; // RXNE=1，表明DR寄存器有值，就将它读出来保存到临时变量中；
+		rx_data = USART1->DR; // RXNE=1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DR<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD>ͽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>浽<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD>
 
 //	HAL_UART_Receive_IT(&huart1,&rx_data,1);	
 	
@@ -337,7 +337,7 @@ void USART2_IRQHandler(void)
   /* USER CODE BEGIN USART2_IRQn 1 */
 //	hal_check_rx = HAL_UART_Receive_IT(&huart2,rx_data2,4);	
 
-//	if((USART2->SR &(2<<5)) != 0)   // 判断USART1的状态寄存器的第五位即RXNE位是否被置位
+//	if((USART2->SR &(2<<5)) != 0)   // <EFBFBD>ж<EFBFBD>USART1<EFBFBD><EFBFBD>״̬<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>RXNEλ<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD>λ
 //	{
 //		if(rx2_cnt < 4)
 //		{
@@ -351,7 +351,7 @@ void USART2_IRQHandler(void)
 //		}
 //	}
 	
-	HAL_UARTEx_ReceiveToIdle_DMA(&huart2,rx_data2,6);		//接收来自磁感应模块的数据
+	HAL_UARTEx_ReceiveToIdle_DMA(&huart2,rx_data2,6);		//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԴŸ<EFBFBD>Ӧģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	
   /* USER CODE END USART2_IRQn 1 */
 }
@@ -378,36 +378,44 @@ int it_5ms_cnt = 0,it_5ms_flag = 0;
 int it_10ms_cnt = 0,it_10ms_flag = 0;
 int it_50ms_cnt = 0,it_50ms_flag = 0;
 int it_100ms_cnt = 0,it_100ms_flag = 0;
-int it_300ms_cnt = 0,it_300ms_flag = 0;
+int it_250ms_cnt = 0,it_250ms_flag = 0;
 int it_500ms_cnt = 0,it_500ms_flag = 0;
 int it_1000ms_cnt = 0,it_1000ms_flag = 0;
 int it_5000ms_cnt = 0,it_5000ms_flag = 0;
 
 int tick_500ms = 0;
+int tick_250ms = 0;
 
 void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef *htim)
 {
-	if(htim == &htim1) // 中断执行程序
+	if(htim == &htim1) // <EFBFBD>ж<EFBFBD>ִ<EFBFBD>г<EFBFBD><EFBFBD><EFBFBD>
 	{
-		//按档位统计中断发生次数
-		it_1ms_cnt = (it_1ms_cnt+1)*(it_1ms_cnt < 1);					//已被使用，ads1220记录
+		//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>λͳ<EFBFBD><EFBFBD><EFBFBD>жϷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		it_1ms_cnt = (it_1ms_cnt+1)*(it_1ms_cnt < 1);					//<EFBFBD>ѱ<EFBFBD>ʹ<EFBFBD>ã<EFBFBD>ads1220<EFBFBD><EFBFBD>¼
 		if(it_1ms_cnt == 1 ) it_1ms_flag = 1;
 		
-		it_200ms_cnt = (it_200ms_cnt+1)*(it_200ms_cnt<200);				//已被使用，LED闪烁
+		it_200ms_cnt = (it_200ms_cnt+1)*(it_200ms_cnt<200);				//<EFBFBD>ѱ<EFBFBD>ʹ<EFBFBD>ã<EFBFBD>LED<EFBFBD><EFBFBD>˸
 		if(it_200ms_cnt == 2 ) it_200ms_flag = 1;
 		
 		it_5ms_cnt = (it_5ms_cnt+1)*(it_5ms_cnt<5);
 		if(it_5ms_cnt == 5 ) it_5ms_flag = 1;
 		
-		it_10ms_cnt = (it_10ms_cnt+1)*(it_10ms_cnt<10);					//已被使用，电机停止计时
+		it_10ms_cnt = (it_10ms_cnt+1)*(it_10ms_cnt<10);					//<EFBFBD>ѱ<EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD><EFBFBD>ʱ
 		if(it_10ms_cnt == 10 ) it_10ms_flag = 1;
 		
-		it_50ms_cnt = (it_50ms_cnt+1)*(it_50ms_cnt<50);					//已被使用，给上位机发送数据，等待计时
+		it_50ms_cnt = (it_50ms_cnt+1)*(it_50ms_cnt<50);					//<EFBFBD>ѱ<EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><EFBFBD>ȴ<EFBFBD><EFBFBD><EFBFBD>ʱ
 		if(it_50ms_cnt == 50 ) it_50ms_flag = 1;
 		
-		it_100ms_cnt = (it_100ms_cnt+1)*(it_100ms_cnt<100);				//已被使用，大循环数据采集
+		it_100ms_cnt = (it_100ms_cnt+1)*(it_100ms_cnt<100);				//<EFBFBD>ѱ<EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݲɼ<EFBFBD>
 		if(it_100ms_cnt == 100 ) it_100ms_flag = 1;		
 		
+    it_250ms_cnt = (it_250ms_cnt+1)*(it_250ms_cnt<250);
+		if(it_250ms_cnt == 250 ) 
+    { 
+      it_250ms_flag = 1;
+      tick_250ms = (tick_250ms > 14400)?(0):(tick_250ms + 1);
+    }
+
 		it_500ms_cnt = (it_500ms_cnt+1)*(it_500ms_cnt<500);
 		if(it_500ms_cnt == 500 ) 
     { 
@@ -415,13 +423,13 @@ void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef *htim)
       tick_500ms = (tick_500ms > 7200)?(0):(tick_500ms + 1);
     }
 		
-		it_1000ms_cnt = (it_1000ms_cnt+1)*(it_1000ms_cnt<1000);			//已被使用，电机停止计时
+		it_1000ms_cnt = (it_1000ms_cnt+1)*(it_1000ms_cnt<1000);			//<EFBFBD>ѱ<EFBFBD>ʹ<EFBFBD>ã<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD><EFBFBD>ʱ
 		if(it_1000ms_cnt == 1000 ) it_1000ms_flag = 1;
 		
 		it_5000ms_cnt = (it_5000ms_cnt+1)*(it_5000ms_cnt<5000);	
-		if(it_5000ms_cnt == 5000 ) it_5000ms_flag = !it_5000ms_flag;	//在debug中查看，用于验证定时的准确性
+		if(it_5000ms_cnt == 5000 ) it_5000ms_flag = !it_5000ms_flag;	//<EFBFBD><EFBFBD>debug<EFBFBD>в鿴<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>׼ȷ<EFBFBD><EFBFBD>
 		
-		Key_Scan();														//按键扫描
+		Key_Scan();														//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD><EFBFBD>
 	}
 }
 
@@ -440,7 +448,7 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) //HAL_UART_Receive_IT ca
 {
 	if(huart->Instance == USART2)
 	{
-		HAL_GPIO_WritePin(RS485_EN1_GPIO_Port,RS485_EN1_Pin,GPIO_PIN_RESET); //发送完成后使能接收														
+		HAL_GPIO_WritePin(RS485_EN1_GPIO_Port,RS485_EN1_Pin,GPIO_PIN_RESET); //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ<EFBFBD>ʹ<EFBFBD>ܽ<EFBFBD><EFBFBD><EFBFBD>														
 	}
 }